CN105599763A - Vehicle control method and device - Google Patents
Vehicle control method and device Download PDFInfo
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- CN105599763A CN105599763A CN201610048211.1A CN201610048211A CN105599763A CN 105599763 A CN105599763 A CN 105599763A CN 201610048211 A CN201610048211 A CN 201610048211A CN 105599763 A CN105599763 A CN 105599763A
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- 238000000034 method Methods 0.000 title claims abstract description 59
- 238000001514 detection method Methods 0.000 claims description 14
- 230000004888 barrier function Effects 0.000 claims description 12
- 230000000694 effects Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241001076939 Artines Species 0.000 description 1
- 101000595182 Homo sapiens Podocan Proteins 0.000 description 1
- 102100036036 Podocan Human genes 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- UAJUXJSXCLUTNU-UHFFFAOYSA-N pranlukast Chemical compound C=1C=C(OCCCCC=2C=CC=CC=2)C=CC=1C(=O)NC(C=1)=CC=C(C(C=2)=O)C=1OC=2C=1N=NNN=1 UAJUXJSXCLUTNU-UHFFFAOYSA-N 0.000 description 1
- 229960004583 pranlukast Drugs 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a vehicle control method and device, and belongs to the field of vehicle control. The method comprises the following steps of detecting whether an obstacle vehicle exists in front of a target vehicle or not; when no obstacle vehicle exists in front of the target vehicle, controlling the target vehicle to maintain the running on the current running lane; when the obstacle vehicle exists in front of the target vehicle, obtaining the current running speed of the target vehicle and the speed difference of the target vehicle and the obstacle vehicle; when the speed difference equals to the current running speed of the target vehicle, controlling the target vehicle to brake. Whether the obstacle vehicle exists in front of the target vehicle or not is judged; meanwhile, when the obstacle vehicle exists, the operation condition of the obstacle vehicle is judged; different control is performed on the target vehicle according to different conditions. The problem that in the prior art, a user needs to select various control modes according to actual road conditions, so that wrong selection conditions possibly exist is solved. The effect of controlling the vehicle to enter different control modes according to different conditions is achieved.
Description
Technical field
The present invention relates to vehicle control field, particularly a kind of control method for vehicle and device.
Background technology
In the last few years, along with scientific and technological development, (intelligence computation was a kind of empirical in especially intelligence computationComputer thinking property program) develop rapidly, the research of intelligent vehicle becomes the focus that each cart enterprise focuses on.
In correlation technique, there is a kind of control method for vehicle, in the method, set in advance as lane keeping mouldThe various control patterns such as formula and slowing-down brake pattern, carry out different control operations at different mode to vehicle.For example:, control vehicle and remain on current lanes during in lane keeping pattern at vehicle; At vehicle placeIn the time of slowing-down brake pattern, control vehicle deceleration brake, user, can be according to difference in the time of steering vehicleSituation is selected different control models.
Realizing in process of the present invention, inventor finds that correlation technique at least exists following problem: above-mentioned sideMethod needs user to select various control models according to actual road conditions, may have the wrong situation of selecting.
Summary of the invention
Need user to select various control models, Ke Nengcun according to actual road conditions in order to solve in prior artIn the problem of selecting wrong situation, the embodiment of the present invention provides a kind of control method for vehicle and device. InstituteState technical scheme as follows:
According to a first aspect of the invention, provide a kind of control method for vehicle, described method comprises:
Detect target vehicle front and whether have obstacle vehicle, described obstacle vehicle is that described target vehicle is currentVehicle on the track of travelling;
In the time that described target vehicle front does not exist described obstacle vehicle, control described target vehicle and remain on instituteState on the track of current driving and travel;
In the time there is described obstacle vehicle in described target vehicle front, the current driving of obtaining described target vehicleThe speed difference of speed and described target vehicle and described obstacle vehicle;
In the time that described speed difference equals the current driving speed of described target vehicle, control described target vehicle and stopCar.
Alternatively, before whether described detection target vehicle front exists obstacle vehicle, described method also comprises:
Obtain the speed limit in described target vehicle current driving section;
Controlling described target vehicle travels with the speed that is less than or equal to described speed limit.
Alternatively, described in, obtain the current driving speed of described target vehicle and described target vehicle with described inAfter the speed difference of obstacle vehicle, described method also comprises:
Be greater than at 1 o'clock at described speed difference, detect 1-Δ v/v and whether be greater than default coefficient, described △ v is described speedIt is poor to spend, and described v is described speed limit;
In the time that 1-Δ v/v is greater than described default coefficient, controls described target vehicle described obstacle vehicle is carried out certainlyMoving with car;
In the time that 1-Δ v/v is not more than described default coefficient, controls described target vehicle described obstacle vehicle is carried outKeeping away barrier overtakes other vehicles.
Alternatively, the described target vehicle of described control carries out automatically following car to described obstacle vehicle, comprising:
Controlling described target vehicle carries out automatically following car and keeping a safe distance, described peace to described obstacle vehicleFull distance meets:Described S is described safe distance, described v1For working as of described target vehicleFront travel speed.
Alternatively, described in, obtain the current driving speed of described target vehicle and described target vehicle with described inAfter the speed difference of obstacle vehicle, described method also comprises:
Be not more than at 1 o'clock at described speed difference, control described target vehicle and remain on the track of described current drivingOn travel.
Alternatively, described default coefficient is 0.6.
According to a second aspect of the invention, provide a kind of controller of vehicle, described device comprises:
Obstacle detection module, is configured to detect target vehicle front and whether has obstacle vehicle, described obstacleVehicle is the vehicle on the track of described target vehicle current driving;
First lane keeps module, while being configured to not have described obstacle vehicle in described target vehicle front,Control on the track that described target vehicle remains on described current driving and travel;
Speed acquiring module, while being configured to have described obstacle vehicle in described target vehicle front, obtainsThe speed difference of the current driving speed of described target vehicle and described target vehicle and described obstacle vehicle;
Brake control module, is configured to equal at described speed difference the current driving speed of described target vehicleTime, control described target vehicle brake.
Alternatively, described device also comprises:
Speed limit acquisition module, is configured to obtain the speed limit in described target vehicle current driving section;
Rate control module, is configured to described target vehicle and travels with the speed that is less than or equal to described speed limit.
Alternatively, described device also comprises:
Whether speed detection module, is configured to be greater than at 1 o'clock at described speed difference, detect 1-Δ v/v and be greater than in advanceThe number of setting up departments, described △ v is described speed difference, described v is described speed limit;
Automatically with car module, be configured to, in the time that 1-Δ v/v is greater than described default coefficient, control described target carriageDescribed obstacle vehicle is carried out automatically with car;
Keep away and hinder the module of overtaking other vehicles, be configured to, in the time that 1-Δ v/v is not more than described default coefficient, control described targetVehicle is kept away barrier to described obstacle vehicle and is overtaken other vehicles.
Alternatively, described automatically with car module, be configured to:
Controlling described target vehicle carries out automatically following car and keeping a safe distance, described peace to described obstacle vehicleFull distance meets:Described S is described safe distance, described v1For working as of described target vehicleFront travel speed.
Alternatively, described device also comprises:
Second lane keeps module, is configured to be not more than at 1 o'clock at described speed difference, controls described target carriageRemain on the track of described current driving and travel.
Alternatively, described default coefficient is 0.6.
The beneficial effect that the technical scheme that the embodiment of the present invention provides is brought is:
By judging whether target vehicle front exists obstacle vehicle, in the time there is obstacle vehicle, judge simultaneouslyThis obstacle Vehicular behavior, and according to different situations, target vehicle is carried out to different control. SolveIn correlation technique, need user to select various control models according to actual road conditions, may there is selection mistakeSituation. Reach the effect that can enter according to different situation control vehicles different control models.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, institute in describing embodiment belowNeed the accompanying drawing using to be briefly described, apparently, the accompanying drawing in the following describes is only the present inventionSome embodiment, for those of ordinary skill in the art, do not paying under the prerequisite of creative work,Can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the implementation environment schematic diagram of the related control method for vehicle of each embodiment of the present invention;
Fig. 2 is the flow chart of a kind of control method for vehicle of exemplifying of the invention process;
Fig. 3 is the flow chart of the another kind of control method for vehicle that provides of the embodiment of the present invention;
Fig. 4-1st, the structured flowchart of a kind of controller of vehicle that the invention process exemplifies;
Fig. 4-2nd, the structured flowchart of the another kind of controller of vehicle that the invention process exemplifies;
Fig. 4-3rd, the structured flowchart of the another kind of controller of vehicle that the invention process exemplifies;
Fig. 4-4th, the structured flowchart of the another kind of controller of vehicle that the invention process exemplifies.
By above-mentioned accompanying drawing, the embodiment that the present invention is clear and definite has been shown, will there is hereinafter more detailed description.These accompanying drawings and text description are not the scope in order to limit the present invention's design by any mode, but logicalCross with reference to specific embodiment for those skilled in the art illustrate concept of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to the present inventionEmbodiment is described in further detail.
Fig. 1 is the implementation environment schematic diagram of the related control method for vehicle of each embodiment of the present invention, and this is realExecuting environment can comprise: navigation system 11, radar 12, industrial computer 13, video camera 14 and performance element 15.
Navigation system 11 is for being input to industry control by the speed-limiting messages in the section of target vehicle current driving in real timeMachine, navigation system 11 can also be the devices such as cyberdog.
Radar 12 can be millimetre-wave radar, for detection of the obstacle information of vehicles in target vehicle front, and realIn time, is input to obstacle information of vehicles in industrial computer. Millimetre-wave radar can by PCAN, (CAN turns USBInterface) be connected with industrial computer 13.
Industrial computer (IndustrialPersonalComputer, IPC) the 13rd, a kind of bus structures that adopt, to lifeProduct process and electromechanical equipment, technological equipment carry out the instrument general name of Detection & Controling, and industrial computer 13 embeds phaseThe control strategy of answering and logical program, industrial computer 13 is for controlling performance element 15.
Video camera 14 is for detection of front road conditions, and in industrial computer 13 by image processing techniques inspection vehicleDiatom, by lane line input information to industrial computer 13.
Performance element 15 includes multiple working control unit, can include Throttle Opening Control unit, brake controlAt least one in unit processed and steering wheel control module, and then realize straight to throttle, brake and steering wheelConnect control.
Navigation system 11, radar 12, video camera 14 and performance element 15 can all be set up with industrial computer 13There is connection.
Fig. 2 is the flow chart of a kind of control method for vehicle of exemplifying of the invention process, and the present embodiment is with this carControl method is applied in vehicle and illustrates. This control method for vehicle can comprise following several step:
In step 201, detect target vehicle front and whether have obstacle vehicle, obstacle vehicle is target carriageVehicle on the track of current driving.
In step 202, while there is not obstacle vehicle in target vehicle front, control target vehicle and remain onOn the track of current driving, travel.
In step 203, while there is obstacle vehicle in target vehicle front, obtain the current line of target vehicleSail the speed difference of speed and target vehicle and obstacle vehicle.
In step 204, in the time that speed difference equals the current driving speed of target vehicle, control target vehicleBrake.
In sum, the control method for vehicle that the embodiment of the present invention provides, by judging that target vehicle front isThe no obstacle vehicle that exists in the time there is obstacle vehicle, judges this obstacle Vehicular behavior simultaneously, and according toDifferent situations is carried out different control to target vehicle. Having solved in correlation technique needs user according to realityBorder road conditions are selected various control models, may have the wrong situation of selecting. Having reached can be according to differenceSituation control vehicle enter the effect of different control models.
Fig. 3 is the flow chart of the another kind of control method for vehicle that provides of the embodiment of the present invention, and the present embodiment is with thisControl method for vehicle is applied in vehicle and illustrates. This control method for vehicle can comprise following several stepRapid:
In step 301, obtain the speed limit in target vehicle current driving section. Execution step 302.
In the time that the control method for vehicle providing by the embodiment of the present invention is controlled target vehicle, first can obtainGet the speed limit in target vehicle current driving section. This speed limit can be obtained by navigation system or cyberdog.Target vehicle can be intelligent vehicle.
In step 302, control target vehicle and travel with the speed that is less than or equal to speed limit. Execution step 303.
After the speed limit in section of having obtained target vehicle current driving, can control target vehicle to be less thanOr the speed that equals speed limit is travelled.
In step 303, detect target vehicle front and whether have obstacle vehicle. In target vehicle front notWhile there is obstacle vehicle, execution step 304, while there is obstacle vehicle in target vehicle front, execution step305。
In the time that target vehicle travels to be less than or equal to the speed of speed limit, whether can detect target vehicle frontHave obstacle vehicle, obstacle vehicle can be the vehicle on the track of target vehicle current driving. Can pass throughThe devices such as millimetre-wave radar detect target vehicle front and whether have obstacle vehicle. Obtaining after testing result,Can carry out corresponding step according to testing result.
In step 304, control target vehicle and remain on the track of current driving and travel.
In the time that target vehicle front does not exist obstacle vehicle, can control target vehicle and remain on current drivingOn track, travel, control vehicle and enter lane keeping pattern. Vehicle is in the concrete control of lane keeping patternMethod can be with reference to correlation technique, and the embodiment of the present invention repeats no more.
Exemplary, target vehicle can utilize camera acquisition traffic information, and utilizes image processing techniquesBy lane line input information, in industrial computer, industrial computer, according to corresponding control algolithm, is controlled target vehicle and is enteredRunway keeps.
After controlling target vehicle and remaining on and travel on the track of current driving, can perform step 301 real-timeObtain the speed limit in target vehicle current driving section, and the speed of a motor vehicle of target vehicle is carried out to real-time adjustment.
In step 305, obtain the current driving speed of target vehicle and target vehicle and obstacle vehicleSpeed difference.
In the time there is obstacle vehicle in target vehicle front, can obtain target vehicle current driving speed andThe speed difference of target vehicle and obstacle vehicle. The current driving speed of target vehicle can be passed through target vehicleThe parameter acquiring such as vehicle wheel rotational speed, the speed difference of target vehicle and obstacle vehicle can obtain by millimetre-wave radarGet.
In step 306, the poor current driving speed that whether equals target vehicle of detection speed. At speed differenceWhile equaling the current driving speed of target vehicle, execution step 307; Be not equal to working as of target vehicle at speed differenceWhen front travel speed, execution step 308.
After the speed difference of the current driving speed of target vehicle and target vehicle and obstacle vehicle, Ke YigenCarry out corresponding step according to magnitude relationship between the two.
In step 307, control target vehicle brake.
In the time that speed difference equals the current driving speed of target vehicle, the obstacle vehicle in target vehicle front is describedTranslational speed be zero, obstacle vehicle may remain static due to situations such as red lights, now in order to keep awayExempt from target vehicle and obstacle collision happens, can control target vehicle slowing-down brake. Control target vehicleThe concrete grammar of slowing-down brake can be with reference to correlation technique, and the embodiment of the present invention repeats no more.
After obstacle vehicle re-moves, can control target vehicle and restart. Be after this step finishes,Can re-execute step 305, obtain current driving speed and target vehicle and the obstacle vehicle of target vehicleSpeed difference, and according to circumstances carry out corresponding step.
In step 308, whether detection speed is poor is greater than zero. Be greater than at 1 o'clock at speed difference, execution step 309,Be not more than at 1 o'clock at speed difference, execution step 312.
In the time that speed difference is not equal to the current driving speed of target vehicle, can detection speed is poor whether be greater than zero.And according to circumstances carry out corresponding step.
It should be noted that, the speed that speed difference is greater than zero explanation target vehicle is greater than the speed of obstacle vehicle,The speed that speed difference is less than zero explanation target vehicle is less than obstacle vehicle.
In step 309, detect 1-Δ v/v and whether be greater than default coefficient. In the time that 1-Δ v/v is greater than default coefficient,Execution step 310, in the time that 1-Δ v/v is not more than default coefficient, execution step 311.
Be greater than at 1 o'clock at speed difference, can detect 1-Δ v/v and whether be greater than default coefficient, △ v is speed difference, vFor speed limit. When the speed of target vehicle is greater than the speed of obstacle vehicle, 1-Δ v/v can reflect obstacle vehicleSpeed and speed limit between relation. V/v is larger for 1-Δ, illustrates that the gap between obstacle vehicle and speed limit is less,V/v is less for 1-Δ, illustrates that the gap between obstacle vehicle and speed limit is larger.
In step 310, control target vehicle obstacle vehicle is carried out automatically with car.
In the time that 1-Δ v/v is greater than default coefficient, can controls target vehicle obstacle vehicle is carried out automatically with car.In the time that 1-Δ v/v is greater than default coefficient, illustrate that gap between speed and the speed limit of obstacle vehicle is at predetermined modelIn enclosing, the speed of obstacle vehicle can be excessively not slow, can control target vehicle obstacle vehicle is carried out automatically with car.
Exemplary, the speed limit in target vehicle current driving section is 60km/h (km/per hour), target carriageCurrent driving speed be 60km/h, if the current driving speed of obstacle vehicle is 45km/h,1-Δ v/v=0.75 > 0.6, illustrates that gap between the speed of a motor vehicle and the speed limit of obstacle car, in preset range, can controlTarget vehicle processed carries out automatically with car obstacle vehicle.
It should be noted that, in the time that control panel vehicle carries out automatically with car to obstacle vehicle, can control orderMark vehicle and obstacle vehicle keep a safe distance, and safe distance meets:S is safe distance, v1For the current driving speed of target vehicle.
In the time that control target vehicle carries out automatically with car to obstacle vehicle, can perform step 305, obtain targetThe speed difference of the current driving speed of vehicle and target vehicle and obstacle vehicle, according to circumstances carries out correspondingStep, be able to the effect that the real-time control model to target vehicle is adjusted.
In step 311, control target vehicle is kept away barrier to obstacle vehicle and is overtaken other vehicles.
In the time that 1-Δ v/v is not more than default coefficient, illustrate that the gap between the speed of a motor vehicle and the speed limit of obstacle vehicle is larger,The speed of a motor vehicle is slower, can control target vehicle to obstacle vehicle keep away barrier overtake other vehicles. Keep away the detailed process that barrier is overtaken other vehiclesCan be with reference to correlation technique, the embodiment of the present invention repeats no more.
Exemplary, the speed limit in target vehicle current driving section is 60km/h (km/per hour), target carriageCurrent driving speed be 60km/h, if the current driving speed of obstacle vehicle is 25km/h,1-Δ v/v=0.417 < 0.6, illustrates that gap between the speed of a motor vehicle and the speed limit of obstacle car is outside preset range, obstacleThe speed of vehicle is slower, for fear of the normal travel speed that affects target vehicle, can control target vehicleObstacle vehicle is kept away to barrier and overtake other vehicles, to avoid the speed of obstacle vehicle excessively slow, affect the speed of target vehicle.
Keep away barrier overtake other vehicles after, can perform step 301, control target according to the speed limit in current sectionThe travel speed of vehicle.
In step 312, control target vehicle and remain on the track of current driving and travel.
Be not more than at 1 o'clock at speed difference, illustrate that the speed of obstacle vehicle is greater than the speed of target vehicle, can controlTarget vehicle processed remains on the track of current driving and travels, and controls target vehicle and enters lane keeping pattern.Being not more than at 1 o'clock at speed difference, there is not the danger of collision, the speed of obstacle car in obstacle vehicle-to-target vehicleSpend no matter how much fast than target vehicle, target vehicle only need according to limit the speed of a motor vehicle travel, therefore target vehicleCan enter lane keeping pattern. This step enters lane keeping pattern at control target vehicle can be with reference to stepRapid 304, do not repeat them here.
It should be added that, the control method for vehicle that the embodiment of the present invention provides, by obstacle vehicleAnd the gap between speed limit is determined the control mode of target vehicle, reach and can control flexibly target vehicleEffect.
It should be added that, the control method for vehicle that the embodiment of the present invention provides, by with safe distanceObstacle vehicle is carried out automatically following car, reached the effect of the security while improving automatically with car.
It should be added that, the control method for vehicle that the embodiment of the present invention provides, by obstacle vehicleSpeed in speed limit gap hour, obstacle vehicle is carried out automatically with car, in speed and the limit of obstacle vehicleSpeed gap when larger, kept away barrier to obstacle vehicle and is overtaken other vehicles, improved to the flexibility of target vehicle control withAdaptability.
In sum, the control method for vehicle that the embodiment of the present invention provides, by judging that target vehicle front isThe no obstacle vehicle that exists in the time there is obstacle vehicle, judges this obstacle Vehicular behavior simultaneously, and according toDifferent situations is carried out different control to target vehicle. Having solved in correlation technique needs user according to realityBorder road conditions are selected various control models, may have the wrong situation of selecting. Having reached can be according to differenceSituation control vehicle enter the effect of different control models.
Fig. 4-1st, the structural representation of a kind of controller of vehicle that the embodiment of the present invention provides, this vehicle controlCan realize the part that becomes vehicle by software, hardware or both combinations. This controller of vehicle bagDraw together:
Obstacle detection module 410, is configured to detect target vehicle front and whether has obstacle vehicle, obstacle carIt is the vehicle on the track of target vehicle current driving.
First lane keeps module 420, while being configured to not have obstacle vehicle in target vehicle front, controlsTarget vehicle remains on the track of current driving and travels.
Speed acquiring module 430, while being configured to have obstacle vehicle in target vehicle front, obtains target carriageCurrent driving speed and the speed difference of target vehicle and obstacle vehicle.
Brake control module 440, is configured in the time that speed difference equals the current driving speed of target vehicle, controlTarget vehicle brake processed.
In sum, the controller of vehicle that the embodiment of the present invention provides, by judging that target vehicle front isThe no obstacle vehicle that exists in the time there is obstacle vehicle, judges this obstacle Vehicular behavior simultaneously, and according toDifferent situations is carried out different control to target vehicle. Having solved in correlation technique needs user according to realityBorder road conditions are selected various control models, may have the wrong situation of selecting. Having reached can be according to differenceSituation control vehicle enter the effect of different control models.
Alternatively, as shown in Fig. 4-2, this device also comprises:
Speed limit acquisition module 450, is configured to obtain the speed limit in target vehicle current driving section.
Rate control module 460, is configured to target vehicle and travels with the speed that is less than or equal to speed limit.
Alternatively, as shown in Fig. 4-3, this device also comprises:
Whether speed detection module 470, is configured to be greater than at 1 o'clock at speed difference, detect 1-Δ v/v and be greater than defaultCoefficient, △ v is speed difference, v is speed limit.
Automatically with car module 480, be configured in the time that 1-Δ v/v is greater than default coefficient, control target vehicle to barrierHinder vehicle to carry out automatically with car.
Keep away and hinder the module 490 of overtaking other vehicles, be configured to, in the time that 1-Δ v/v is not more than default coefficient, control target vehicle pairObstacle vehicle is kept away barrier and is overtaken other vehicles.
Alternatively, automatically, with car module 480, be configured to:
Control target vehicle obstacle vehicle is carried out automatically following car and keeping a safe distance, safe distance meets:S is safe distance, v1For the current driving speed of target vehicle.
As shown in Fig. 4-4, this device also comprises alternatively:
Second lane keeps module 500, is configured to be not more than at 1 o'clock at speed difference, controls target vehicle and keepsOn the track of current driving, travel.
Alternatively, default coefficient is 0.6.
It should be added that, the controller of vehicle that the embodiment of the present invention provides, by obstacle vehicleAnd the gap between speed limit is determined the control mode of target vehicle, reach and can control flexibly target vehicleEffect.
It should be added that, the controller of vehicle that the embodiment of the present invention provides, by with safe distanceObstacle vehicle is carried out automatically following car, reached the effect of the security while improving automatically with car.
It should be added that, the controller of vehicle that the embodiment of the present invention provides, by obstacle vehicleSpeed in speed limit gap hour, obstacle vehicle is carried out automatically with car, in speed and the limit of obstacle vehicleSpeed gap when larger, kept away barrier to obstacle vehicle and is overtaken other vehicles, improved to the flexibility of target vehicle control withAdaptability.
In sum, the controller of vehicle that the embodiment of the present invention provides, by judging that target vehicle front isThe no obstacle vehicle that exists in the time there is obstacle vehicle, judges this obstacle Vehicular behavior simultaneously, and according toDifferent situations is carried out different control to target vehicle. Having solved in correlation technique needs user according to realityBorder road conditions are selected various control models, may have the wrong situation of selecting. Having reached can be according to differenceSituation control vehicle enter the effect of different control models.
Term in the present invention " at least one of A and B ", is only a kind of incidence relation of describing affiliated partner,Can there are three kinds of relations in expression, for example, at least one of A and B, can represent: individualism A,There is A and B, these three kinds of situations of individualism B simultaneously. In like manner, " at least one of A, B and C " tableShow and can have seven kinds of relations, can represent: individualism A, individualism B, individualism C, simultaneouslyThere is A and B, have A and C simultaneously, have C and B simultaneously, have these seven kinds of A, B and C simultaneouslySituation. In like manner, " at least one of A, B, C and D " represents to have 15 kinds of relations, Ke YibiaoShow: individualism A, individualism B, individualism C,, there is A and B in individualism D simultaneously, withTime there is A and C, there is A and D simultaneously, there is C and B simultaneously, there is D and B simultaneously, deposit simultaneouslyAt C and D, there is A, B and C simultaneously, there is A, B and D simultaneously, there is A, C and D simultaneously,There is B, C and D simultaneously, have A, B, C and D simultaneously, these 15 kinds of situations.
One of ordinary skill in the art will appreciate that all or part of step that realizes above-described embodiment can pass throughHardware completes, and also can carry out the hardware that instruction is relevant by program and complete, and described program can be stored inIn a kind of computer-readable recording medium, the above-mentioned storage medium of mentioning can be read-only storage, disk orCD etc.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all of the present inventionWithin spirit and principle, any amendment of doing, be equal to replacement, improvement etc., all should be included in of the present inventionWithin protection domain.
Claims (12)
1. a control method for vehicle, is characterized in that, described method comprises:
Detect target vehicle front and whether have obstacle vehicle, described obstacle vehicle is that described target vehicle is currentVehicle on the track of travelling;
In the time that described target vehicle front does not exist described obstacle vehicle, control described target vehicle and remain on instituteState on the track of current driving and travel;
In the time there is described obstacle vehicle in described target vehicle front, the current driving of obtaining described target vehicleThe speed difference of speed and described target vehicle and described obstacle vehicle;
In the time that described speed difference equals the current driving speed of described target vehicle, control described target vehicle and stopCar.
2. method according to claim 1, is characterized in that, whether described detection target vehicle frontBefore there is obstacle vehicle, described method also comprises:
Obtain the speed limit in described target vehicle current driving section;
Controlling described target vehicle travels with the speed that is less than or equal to described speed limit.
3. method according to claim 2, is characterized in that, described in obtain described target vehicle work asAfter the speed difference of front travel speed and described target vehicle and described obstacle vehicle, described method also comprises:
Be greater than at 1 o'clock at described speed difference, detect 1-Δ v/v and whether be greater than default coefficient, described △ v is described speedIt is poor to spend, and described v is described speed limit;
In the time that 1-Δ v/v is greater than described default coefficient, controls described target vehicle described obstacle vehicle is carried out certainlyMoving with car;
In the time that 1-Δ v/v is not more than described default coefficient, controls described target vehicle described obstacle vehicle is carried outKeeping away barrier overtakes other vehicles.
4. method according to claim 3, is characterized in that, the described target vehicle of described control is to instituteState obstacle vehicle and carry out automatically following car, comprising:
Controlling described target vehicle carries out automatically following car and keeping a safe distance, described peace to described obstacle vehicleFull distance meets:Described S is described safe distance, described v1For working as of described target vehicleFront travel speed.
5. method according to claim 1, is characterized in that, described in obtain described target vehicle work asAfter the speed difference of front travel speed and described target vehicle and described obstacle vehicle, described method also comprises:
Be not more than at 1 o'clock at described speed difference, control described target vehicle and remain on the track of described current drivingOn travel.
6. method according to claim 3, is characterized in that, described default coefficient is 0.6.
7. a controller of vehicle, is characterized in that, described device comprises:
Obstacle detection module, is configured to detect target vehicle front and whether has obstacle vehicle, described obstacleVehicle is the vehicle on the track of described target vehicle current driving;
First lane keeps module, while being configured to not have described obstacle vehicle in described target vehicle front,Control on the track that described target vehicle remains on described current driving and travel;
Speed acquiring module, while being configured to have described obstacle vehicle in described target vehicle front, obtainsThe speed difference of the current driving speed of described target vehicle and described target vehicle and described obstacle vehicle;
Brake control module, is configured to equal at described speed difference the current driving speed of described target vehicleTime, control described target vehicle brake.
8. device according to claim 7, is characterized in that, described device also comprises:
Speed limit acquisition module, is configured to obtain the speed limit in described target vehicle current driving section;
Rate control module, is configured to described target vehicle and travels with the speed that is less than or equal to described speed limit.
9. device according to claim 8, is characterized in that, described device also comprises:
Whether speed detection module, is configured to be greater than at 1 o'clock at described speed difference, detect 1-Δ v/v and be greater than in advanceThe number of setting up departments, described △ v is described speed difference, described v is described speed limit;
Automatically with car module, be configured to, in the time that 1-Δ v/v is greater than described default coefficient, control described target carriageDescribed obstacle vehicle is carried out automatically with car;
Keep away and hinder the module of overtaking other vehicles, be configured to, in the time that 1-Δ v/v is not more than described default coefficient, control described targetVehicle is kept away barrier to described obstacle vehicle and is overtaken other vehicles.
10. device according to claim 9, is characterized in that, described automatically with car module, is joinedBe set to:
Controlling described target vehicle carries out automatically following car and keeping a safe distance, described peace to described obstacle vehicleFull distance meets:Described S is described safe distance, described v1For working as of described target vehicleFront travel speed.
11. devices according to claim 7, is characterized in that, described device also comprises:
Second lane keeps module, is configured to be not more than at 1 o'clock at described speed difference, controls described target carriageRemain on the track of described current driving and travel.
12. devices according to claim 9, is characterized in that, described default coefficient is 0.6.
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