CN106114500A

CN106114500A - Vehicle travel control method and controlling device for vehicle running

Info

Publication number: CN106114500A
Application number: CN201610457409.5A
Authority: CN
Inventors: 尹岩岩; 赵秀强; 李鑫
Original assignee: BOE Technology Group Co Ltd; Beijing BOE Optoelectronics Technology Co Ltd
Current assignee: BOE Technology Group Co Ltd; Beijing BOE Optoelectronics Technology Co Ltd
Priority date: 2016-06-22
Filing date: 2016-06-22
Publication date: 2016-11-16
Anticipated expiration: 2036-06-22
Also published as: CN106114500B

Abstract

The open a kind of vehicle travel control method of the present invention and controlling device for vehicle running, belong to intelligent driving field.The method includes: during vehicle travels, and whether there is barrier in the running environment of monitoring vehicle；If there is barrier in the running environment of vehicle, then obtaining the characteristic parameter of barrier, characteristic parameter is for characterizing the physical features of barrier；According to the characteristic parameter of barrier, control vehicle and travel.The present invention solves when the dark of environment, the problem that travel safety is relatively low, has reached to improve the effect of travel safety.The present invention travels for vehicle and controls.

Description

Vehicle travel control method and controlling device for vehicle running

Technical field

The present invention relates to intelligence traveling field, travel particularly to a kind of vehicle travel control method and vehicle and control dress Put.

Background technology

Along with the development of science and technology, the vehicle such as automobile is more and more universal in life, and traffic safety is more and more important.

In correlation technique, driver can drive vehicle according to driving experience.Specifically, driver can observe driving ring Whether border exists barrier, when there is barrier in environment, according to driving experience, by control vehicle throttle, Brake etc. controls vehicle and travels, to hide barrier.

During realizing the present invention, inventor finds that correlation technique at least there is problems in that

When dark in environment, the visual range of human eye is narrower, causes human eye to observe environment Accuracy is relatively low, vehicle cannot avoiding barrier in time, easily cause vehicle accident, therefore, in the dark of environment Time, travel safety is relatively low.

Summary of the invention

In order to solve when the dark of environment, the problem that travel safety is relatively low, the present invention provides a kind of car Travel control method and controlling device for vehicle running.Described technical scheme is as follows:

First aspect, it is provided that a kind of vehicle travel control method, described method includes:

During vehicle travels, monitor in the running environment of described vehicle whether there is barrier；

If the running environment of described vehicle exists barrier, then obtain the characteristic parameter of described barrier, described feature Parameter is for characterizing the physical features of described barrier；

According to the characteristic parameter of described barrier, control described vehicle and travel.

Alternatively, the described characteristic parameter according to described barrier, control described vehicle and travel, including:

Judge whether the characteristic parameter of described barrier meets and preset characteristic parameter condition；

If the characteristic parameter of described barrier meets described default characteristic parameter condition, then obtain the orientation of described barrier State with described barrier；

Orientation according to described barrier and the state of described barrier, control described vehicle and travel.

Alternatively, described characteristic parameter includes: color depth, and whether the described characteristic parameter judging described barrier meets Preset characteristic parameter condition, including:

Judge that whether the color depth of described barrier is more than the pre-set color degree of depth；

If the color depth of described barrier is more than the described pre-set color degree of depth, it is determined that the characteristic parameter of described barrier Meet described default characteristic parameter condition.

Alternatively, the surrounding of described vehicle is provided with photographic head,

The characteristic parameter of the described barrier of described acquisition, including:

The image of described barrier is captured by described photographic head；

Obtain the colour temperature of the image of described barrier；

The colour temperature of the image of described barrier is defined as the colour temperature of described barrier；

According to the colour temperature of described barrier, determine the color depth of described barrier；

Whether the described color depth judging described barrier is more than the pre-set color degree of depth, including:

Judge that whether the value of colour temperature of described barrier is more than preset color temperature value；

If the value of the colour temperature of described barrier is more than described pre-set color temperature value, it is determined that the color depth of described barrier More than the described pre-set color degree of depth.

Alternatively, described characteristic parameter includes: material mark, and whether the described characteristic parameter judging described barrier meets Preset characteristic parameter condition, including:

Judge whether the material mark log preset exists the material mark of described barrier, described default material In identification record table, record has at least one material mark；

If described default material mark log existing the material mark of described barrier, it is determined that described barrier Characteristic parameter meet described default characteristic parameter condition.

Alternatively, the surrounding of described vehicle is provided with optical transmitting set and optical receiver, the spy of the described barrier of described acquisition Levy parameter, including:

Light is launched to described barrier by described optical transmitting set；

The reflection light of described barrier is received by described optical receiver；

Determine described transmitting emission of light light quantity and the reflection light quantity of described reflection light；

Using the ratio of described reflection light quantity and described transmitting light quantity as the actual reflectance of described barrier；

According to described actual reflectance, the reflectance that inquiry is preset and the corresponding relation of material mark, obtain described reality The target material mark that reflectance is corresponding, each material mark is used for indicating a kind of material；

Described target material mark is defined as the material mark of described barrier.

Alternatively, the surrounding of described vehicle is provided with optical transmitting set and optical receiver, described according to described barrier Characteristic parameter, before controlling described vehicle traveling, described method also includes:

Light is launched to described barrier by described optical transmitting set；

Determine the reflection light quantity of described reflection light；

The volume of described barrier is determined according to described reflection light quantity；

Judge that whether the volume of described barrier is more than preset vol；

The described characteristic parameter according to described barrier, controls described vehicle and travels, including:

If the volume of described barrier is more than described preset vol, then according to the characteristic parameter of described barrier, control institute State vehicle to travel.

Alternatively, the orientation of described barrier includes: front, rear, left side or right side, the state bag of described barrier Include: mobile status or resting state, the described orientation according to described barrier and the state of described barrier, control described vehicle Travel, including:

When the orientation of described barrier is rear, controls described vehicle and keep current running state；

When the orientation of described barrier is left side, or, the orientation of described barrier is right side and the shape of described barrier When state is resting state, control the minimum range between described vehicle and described barrier more than safe distance；

When the state that the orientation of described barrier is right side and described barrier is mobile status, or, described barrier The state that orientation is front and described barrier when being mobile status, control described vehicle deceleration and travel, and keep with described Minimum range between barrier is more than safe distance；

When the state that orientation is front and described barrier of described barrier is resting state, control described vehicle from The left side of described barrier or right side are by section, described barrier place, and keep between described vehicle and described barrier Minimum range is more than safe distance.

Second aspect, it is provided that a kind of controlling device for vehicle running, described device includes:

Monitoring modular, during travelling at vehicle, monitors in the running environment of described vehicle whether there is obstacle Thing；

Acquisition module, in time there is barrier in the running environment of described vehicle, obtains the feature of described barrier Parameter, described characteristic parameter is for characterizing the physical features of described barrier；

Control module, for the characteristic parameter according to described barrier, controls described vehicle and travels.

Alternatively, described control module, including:

Judging unit, presets characteristic parameter condition for judging whether the characteristic parameter of described barrier meets；

Acquiring unit, for when the characteristic parameter of described barrier meets described default characteristic parameter condition, obtains institute State orientation and the state of described barrier of barrier；

Control unit, for the orientation according to described barrier and the state of described barrier, controls described vehicle and travels.

Alternatively, described characteristic parameter includes: color depth, described judging unit, including:

First judgment sub-unit, for judging that whether the color depth of described barrier is more than the pre-set color degree of depth；

First determines subelement, for when the color depth of described barrier is more than the described pre-set color degree of depth, determining The characteristic parameter of described barrier meets described default characteristic parameter condition.

Alternatively, the surrounding of described vehicle is provided with photographic head, described acquisition module, is used for:

The image of described barrier is captured by described photographic head；

Obtain the colour temperature of the image of described barrier；

Described first judgment sub-unit, is used for:

Alternatively, described characteristic parameter includes: material mark, described judging unit, including:

Second judgment sub-unit, for judging whether to exist in the material mark log preset the material of described barrier Mark, in described default material mark log, record has at least one material mark；

Second determines subelement, for there is the material mark of described barrier in described default material mark log During knowledge, determine that the characteristic parameter of described barrier meets described default characteristic parameter condition.

Alternatively, the surrounding of described vehicle is provided with optical transmitting set and optical receiver, described acquisition module, is used for:

Light is launched to described barrier by described optical transmitting set；

Alternatively, the surrounding of described vehicle is provided with optical transmitting set and optical receiver, and described device also includes:

Transmitter module, for launching light by described optical transmitting set to described barrier；

Receiver module, for receiving the reflection light of described barrier by described optical receiver；

First determines module, for determining the reflection light quantity of described reflection light；

Second determines module, for determining the volume of described barrier according to described reflection light quantity；

Judge module, for judging that whether the volume of described barrier is more than preset vol；

Described control module, for when the volume of described barrier is more than described preset vol, according to described barrier Characteristic parameter, control described vehicle travel.

Alternatively, the orientation of described barrier includes: front, rear, left side or right side, the state bag of described barrier Include: mobile status or resting state, described control unit, be used for:

The technical scheme that the present invention provides has the benefit that

The vehicle travel control method of present invention offer and controlling device for vehicle running, during vehicle travels, prison Whether the running environment of measuring car exists barrier；If the running environment of vehicle exists barrier, then obtain barrier Characteristic parameter；According to the characteristic parameter of barrier, control vehicle and travel.Owing to when monitoring barrier, obtaining barrier Characteristic parameter the characteristic parameter according to barrier, control vehicle and travel, therefore, even if the dark of environment, vehicle Also being able to timely avoiding barrier, travel safety is higher, solves in correlation technique when the dark of environment, OK The problem that car safety is relatively low, has reached to improve the effect of travel safety.

It should be appreciated that it is only exemplary that above general description and details hereinafter describe, can not be limited this Invention.

Accompanying drawing explanation

For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings Accompanying drawing.

Fig. 1 is the flow chart of a kind of vehicle travel control method that the embodiment of the present invention provides；

Fig. 2-1 is the flow chart of the another kind of vehicle travel control method that the embodiment of the present invention provides；

Fig. 2-2 is the method flow diagram of a kind of characteristic parameter obtaining barrier that Fig. 2-1 illustrated embodiment provides；

Fig. 2-3 is the method flow diagram of the another kind of characteristic parameter obtaining barrier that Fig. 2-1 illustrated embodiment provides；

Fig. 2-4 is that a kind of characteristic parameter according to barrier that Fig. 2-1 illustrated embodiment provides controls the side that vehicle travels Method flow chart；

Fig. 2-5 is whether the characteristic parameter of a kind of disturbance in judgement thing that Fig. 2-4 illustrated embodiment provides meets default feature The method flow diagram of Parameter Conditions；

Fig. 2-6 is whether the color depth of a kind of disturbance in judgement thing that Fig. 2-5 illustrated embodiment provides is more than pre-set color The method flow diagram of the degree of depth；

Fig. 2-7 is whether the characteristic parameter of the another kind of disturbance in judgement thing that Fig. 2-4 illustrated embodiment provides meets default spy Levy the method flow diagram of Parameter Conditions；

Fig. 2-8 is a kind of orientation according to barrier and the state control car of barrier of Fig. 2-4 illustrated embodiment offer Travel method flow diagram；

Fig. 3 is the block diagram of a kind of controlling device for vehicle running that the embodiment of the present invention provides；

Fig. 4-1 is the block diagram of the another kind of controlling device for vehicle running that the embodiment of the present invention provides；

Fig. 4-2 is the block diagram of a kind of control module that Fig. 4-1 illustrated embodiment provides；

Fig. 4-3 is the block diagram of a kind of judging unit that Fig. 4-2 illustrated embodiment provides；

Fig. 4-4 is the block diagram of the another kind of judging unit that Fig. 4-2 illustrated embodiment provides.

Accompanying drawing herein is merged in description and constitutes the part of this specification, it is shown that meet the enforcement of the present invention Example, and for explaining the principle of the present invention together with description.

Detailed description of the invention

In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing the present invention made into One step ground describes in detail, it is clear that described embodiment is only some embodiments of the present invention rather than whole enforcement Example.Based on the embodiment in the present invention, those of ordinary skill in the art are obtained under not making creative work premise All other embodiments, broadly fall into the scope of protection of the invention.

Refer to Fig. 1, it illustrates the flow chart of a kind of vehicle travel control method that the embodiment of the present invention provides, see Fig. 1, this vehicle travel control method includes:

Step 101, vehicle travel during, monitoring vehicle running environment in whether there is barrier.

If the running environment of step 102 vehicle exists barrier, then obtain the characteristic parameter of barrier, characteristic parameter For characterizing the physical features of barrier.

Step 103, characteristic parameter according to barrier, control vehicle and travel.

In sum, the vehicle travel control method that the embodiment of the present invention provides, owing to when monitoring barrier, obtaining The characteristic parameter of barrier, according to the characteristic parameter of barrier, controls vehicle and travels, therefore, even if the light of environment is relatively Secretly, vehicle also is able to timely avoiding barrier, and travel safety is higher, solve in correlation technique environment light relatively Time dark, the problem that travel safety is relatively low, reach to improve the effect of travel safety.

Alternatively, step 103 may include that

Whether the characteristic parameter of disturbance in judgement thing meets is preset characteristic parameter condition；

If the characteristic parameter of barrier meets presets characteristic parameter condition, then obtain the orientation of barrier and the shape of barrier State；

Orientation according to barrier and the state of barrier, control vehicle and travel.

Alternatively, characteristic parameter includes: color depth, it is judged that whether the characteristic parameter of barrier meets is preset characteristic parameter Condition, including:

Whether the color depth of disturbance in judgement thing is more than the pre-set color degree of depth；

If the color depth of barrier is more than the pre-set color degree of depth, it is determined that the characteristic parameter of barrier meets presets feature Parameter Conditions.

Alternatively, the surrounding of vehicle is provided with photographic head, and step 102 may include that

Image by photographic head capture barrier；

Obtain the colour temperature of the image of barrier；

The colour temperature of the image of barrier is defined as the colour temperature of barrier；

According to the colour temperature of barrier, determine the color depth of barrier；

Whether the color depth of disturbance in judgement thing is more than the pre-set color degree of depth, including:

Whether the value of the colour temperature of disturbance in judgement thing is more than preset color temperature value；

If the value of the colour temperature of barrier is more than pre-set color temperature value, it is determined that the color depth of barrier is more than pre-set color The degree of depth.

Alternatively, characteristic parameter includes: material mark, it is judged that whether the characteristic parameter of barrier meets is preset characteristic parameter Condition, including:

Judge whether the material mark preset exists the material mark of barrier；

If the material mark log preset exists the material mark of barrier, it is determined that the characteristic parameter of barrier is full Foot presets characteristic parameter condition.

Alternatively, the surrounding of vehicle is provided with optical transmitting set and optical receiver, and step 102 may include that

Light is launched to barrier by optical transmitting set；

The reflection light of barrier is received by optical receiver；

Determine and launch emission of light light quantity and the reflection light quantity of reflection light；

Using reflection light quantity and the ratio actual reflectance as barrier launching light quantity；

According to actual reflectance, the reflectance that inquiry is preset and the corresponding relation of material mark, obtain actual reflectance pair The target material mark answered, each material mark is used for indicating a kind of material；

Target material mark is defined as the material mark of barrier.

Alternatively, the surrounding of vehicle is provided with optical transmitting set and optical receiver, and before step 103, the method also includes:

Light is launched to barrier by optical transmitting set；

The reflection light of barrier is received by optical receiver；

Determine the reflection light quantity of reflection light；

The volume of barrier is determined according to reflection light quantity；

Whether the volume of disturbance in judgement thing is more than preset vol；

Step 103 may include that

If the volume of barrier is more than preset vol, then according to the characteristic parameter of barrier, control vehicle and travel.

Alternatively, the orientation of barrier includes: front, rear, left side or right side, and the state of barrier includes: mobile shape State or resting state, according to orientation and the state of barrier of barrier, control vehicle and travel, including:

When the orientation of barrier is rear, controls vehicle and keep current running state；

When the orientation of barrier is left side, or, the orientation of barrier is right side and the state of barrier is resting state Time, control the minimum range between vehicle and barrier more than safe distance；

When the state that the orientation of barrier is right side and barrier is mobile status, or, the orientation of barrier is front And the state of barrier is when being mobile status, controls vehicle deceleration and travel, and keep the minimum range between barrier to be more than Safe distance；

When the state that orientation is front and barrier of barrier is resting state, control the vehicle left side from barrier Or right side breaks the barriers section, place, and keep the minimum range between vehicle and barrier more than safe distance.

Above-mentioned all optional technical schemes, can use and arbitrarily combine the alternative embodiment forming the present invention, at this no longer Repeat one by one.

Refer to Fig. 2-1, it illustrates the flow chart of the another kind of vehicle travel control method that the embodiment of the present invention provides, Seeing Fig. 2-1, this vehicle travel control method may include that

Step 201, vehicle travel during, monitoring vehicle running environment in whether there is barrier.If vehicle Running environment in there is barrier, then perform step 202；If the running environment of vehicle does not exist barrier, then perform step Rapid 209.

Wherein, barrier refers to the object hindering vehicle to travel.

The surrounding of vehicle can arrange photographic head and radar, and during vehicle travels, photographic head and radar are in out Opening state, can be scanned the running environment of vehicle, controlling device for vehicle running can pass through photographic head and radar to car Running environment be scanned, monitor in the running environment of vehicle whether there is barrier.Wherein, photographic head and radar pair The process that the running environment of vehicle is scanned is referred to correlation technique, and the embodiment of the present invention does not repeats them here.

During it should be noted that controlling device for vehicle running monitors barrier, can be by information such as the images of barrier Display is on car-mounted terminal, it is simple to driver's observation to barrier.

Step 202, launch light by optical transmitting set to barrier.

The surrounding of vehicle can arrange optical transmitting set, and controlling device for vehicle running is deposited in the running environment monitor vehicle When barrier, light can be launched by optical transmitting set to barrier.

Wherein, optical transmitting set can be the auxiliary lamp (such as, the headlight of vehicle, clearance lamps etc.) of vehicle, and vehicle is at night Between or the environment (such as, tunnel) of dark in when travelling, need to open auxiliary lamp to increase the light in running environment Brightness, therefore, controlling device for vehicle running can launch light by the auxiliary lamp of vehicle to barrier.

In embodiments of the present invention, this step 202 can be carried out with above-mentioned steps 201 simultaneously, it is also possible to according to the most suitable Sequence is carried out, and this is not construed as limiting by the embodiment of the present invention.

Step 203, by optical receiver receive barrier reflection light.

The surrounding of vehicle can arrange optical receiver, and optical receiver can receive the reflection light of barrier.Vehicle travels Control device launched after light to barrier by optical transmitting set, the reflection light of barrier can be received by optical receiver Line.

Wherein, optical receiver can be arranged on the auxiliary lamp position of vehicle, or, optical receiver can be arranged on car Auxiliary lamp on, this is not construed as limiting by the embodiment of the present invention.

Step 204, determine reflection light reflection light quantity.

After controlling device for vehicle running receives reflection light, it may be determined that the reflection light quantity of reflection light.The tool of this process Body implementation is referred to correlation technique, and the embodiment of the present invention does not repeats them here.

Step 205, determine the volume of barrier according to reflection light quantity.

After controlling device for vehicle running determines reflection light quantity, the volume of barrier can be determined according to reflection light quantity.

Wherein, launch light can be radiated at least one surface of barrier, by this at least one surface to transmitting Light reflects, and therefore, this at least one surface is referred to as being the reflective surface of barrier, and controlling device for vehicle running can To determine the area of the reflective surface of barrier according to reflection light quantity, and then determine the volume of barrier according to the area of reflective surface. Such as, the shape of barrier can be predicted by controlling device for vehicle running, or obtained the shape of barrier by photographic head Shape, and then the volume of barrier is determined according to the area of reflective surface and the shape of barrier.

Whether step 206, the volume of disturbance in judgement thing are more than preset vol.If the volume of barrier is more than preset vol, Then perform step 207；If the volume of barrier is not more than preset vol, then perform step 209.

In actual application, the traveling of vehicle would generally be threatened by the barrier that volume is bigger, and the barrier of small volume Thing (such as, mineral water bottle etc.) is hindered generally will not the traveling of vehicle to be threatened, so, vehicle can be to small volume Barrier hide.Therefore, controlling device for vehicle running may determine that the size of volume of barrier.

Wherein, preset vol may be used for weighing the size of the volume of barrier, when the volume of barrier is more than presetting body Time long-pending, illustrate that the volume of barrier is relatively big, when the volume of barrier is less than preset vol, the small volume of barrier is described. Can being configured according to actual needs of the value of this preset vol, this is not construed as limiting by the embodiment of the present invention.

Controlling device for vehicle running can store the value of preset vol, and after determining the volume of barrier, vehicle travels control Device processed can obtain the value of the volume of barrier, then by the value of the volume of barrier being compared with the value of preset vol Relatively, whether the volume of disturbance in judgement thing is carried out more than preset vol.Such as, the value of the volume of barrier can be G1, preset vol Value can be G, the volume that controlling device for vehicle running by being compared by G1 with G, can carry out disturbance in judgement thing is the biggest In preset vol.

It should be noted that in embodiments of the present invention, when the volume of barrier is more than preset vol, vehicle travels control Driver can be pointed out by device processed by car-mounted terminal.Such as, controlling device for vehicle running generates and is used for indicating existence The information of barrier, this instruction information can be voice messaging, it is also possible to for text message, when this instruction information is voice During information, controlling device for vehicle running can report this information by car-mounted terminal, when this instruction information is text message Time, controlling device for vehicle running can show this information by car-mounted terminal, and the embodiment of the present invention does not repeats them here.

Step 207, the characteristic parameter of acquisition barrier, characteristic parameter is for characterizing the physical features of barrier.

If in step 206, controlling device for vehicle running determines that the volume of barrier is more than preset vol, then vehicle travels Controlling device and can obtain the characteristic parameter of barrier, this feature parameter is for characterizing the physical features of barrier.In the present invention In embodiment, characteristic parameter can include color depth and material mark, and this color depth may be used for characterizing the face of barrier Color, this material mark may be used for characterizing the manufacture material of barrier.

Illustratively, refer to Fig. 2-2, it illustrates a kind of feature obtaining barrier that Fig. 2-1 illustrated embodiment provides The method flow diagram of parameter, this Fig. 2-2 includes illustrating as a example by color depth by characteristic parameter, sees Fig. 2-2, the method stream Journey may include that

Sub-step 2071A, by photographic head capture barrier image.

The surrounding of vehicle can arrange photographic head, and this photographic head can be minisize pick-up head, and controlling device for vehicle running can With the image by photographic head capture barrier, such as, barrier is shot by controlling device for vehicle running by photographic head Obtain the image of barrier.

Sub-step 2072A, obtain the colour temperature of image of barrier.

After the image of controlling device for vehicle running capture barrier, the colour temperature of the image of barrier can be obtained.

Alternatively, the image of barrier can be processed by controlling device for vehicle running, obtains the image of barrier Chromaticity coordinates, is then calculated the colour temperature of the image of barrier, illustratively, barrier according to the chromaticity coordinates of the image of barrier The colour temperature of image can be T1.Wherein, controlling device for vehicle running determines that the process of chromaticity coordinates of image of barrier can be joined Examining correlation technique, the embodiment of the present invention does not repeats them here.

Sub-step 2073A, the colour temperature of barrier that the colour temperature of the image of barrier is defined as.

After the colour temperature of the image that controlling device for vehicle running obtains barrier, the colour temperature of the image of barrier can be determined Colour temperature for barrier.Illustratively, colour temperature T1 of the image of barrier is defined as the color of barrier by controlling device for vehicle running Temperature.

Sub-step 2074A, colour temperature according to barrier, determine the color depth of barrier.

Wherein, the value of each colour temperature can a corresponding color depth value, controlling device for vehicle running determines barrier After colour temperature, the value of the colour temperature of barrier can be obtained, it is then determined that the color depth value that the value of the colour temperature of barrier is corresponding, thus Obtain the color depth of barrier.

Illustratively, refer to Fig. 2-3, it illustrates the another kind of spy obtaining barrier that Fig. 2-1 illustrated embodiment provides Levying the method flow diagram of parameter, this Fig. 2-3 includes illustrating as a example by material mark by characteristic parameter, sees Fig. 2-3, the method Flow process may include that

Sub-step 2071B, launch light by optical transmitting set to barrier.

Sub-step 2072B, by optical receiver receive barrier reflection light.

The process that realizes of above-mentioned steps 2071B and 2072B is referred to step 202 and step 203, and the embodiment of the present invention exists This repeats no more.

Sub-step 2073B, determine launch emission of light light quantity and reflection light reflection light quantity.

Controlling device for vehicle running passes through optical transmitting set after barrier launches light, it may be determined that launch emission of light Light quantity, illustratively, launching light quantity can be Q1.

After controlling device for vehicle running receives reflection light, it may be determined that the reflection light quantity of reflection light.Illustratively, reflection Light quantity can be Q2.

Wherein, controlling device for vehicle running determines and launches emission of light light quantity and reflection light quantity concrete of reflection light Implementation is referred to correlation technique, and the embodiment of the present invention does not repeats them here restriction.

Sub-step 2074B, using reflection light quantity with launch the ratio of light quantity as the actual reflectance of barrier.

After controlling device for vehicle running determines transmitting light quantity and launches light quantity, can be by reflection light quantity and transmitting light quantity Ratio is as the actual reflectance of barrier.Illustratively, the actual reflectance of barrier can be r1, then this r1 is equal to Q2/Q1.

Sub-step 2075B, according to actual reflectance, the reflectance that inquiry is preset and the corresponding relation of material mark, obtain The target material mark that actual reflectance is corresponding, each material mark is used for indicating a kind of material.

Controlling device for vehicle running can store the corresponding relation of reflectance and material mark, storage in this corresponding relation Each material mark is used for indicating a kind of material, and after determining the actual reflectance of barrier, controlling device for vehicle running is permissible According to actual reflectance, the reflectance that inquiry is preset and the corresponding relation of material mark, obtain the target that actual reflectance is corresponding Material mark.

Illustratively, the reflectance of controlling device for vehicle running storage and the corresponding relation of material mark can be such as table 1 below institutes Show:

Table 1

Reflectance	Material mark
		r1	ID-1
r2	ID-2
		r3	ID-3
r4	ID-4
		......	......

Controlling device for vehicle running inquires about the corresponding relation shown in table 1 according to actual reflectance r1 of barrier, can be true The target material determining actual reflectance r1 of barrier corresponding is designated ID-1.

Sub-step 2076B, target material mark is defined as the material mark of barrier.

After controlling device for vehicle running determines target material mark, target material mark can be defined as the material of barrier Material mark.Illustratively, ID-1 is defined as the material mark of barrier by controlling device for vehicle running.

Step 208, characteristic parameter according to barrier, control vehicle and travel.

After controlling device for vehicle running obtains the characteristic parameter of barrier, car can be controlled according to the characteristic parameter of barrier Travel.Specifically, controlling device for vehicle running can be according to the characteristic parameter of barrier, it was predicted that the type of barrier is (such as Prediction specifically what barrier etc.), and then control vehicle traveling.

Illustratively, refer to Fig. 2-4, it illustrates a kind of feature according to barrier that Fig. 2-1 illustrated embodiment provides The method flow diagram that state modulator vehicle travels, sees Fig. 2-4, and the method flow process may include that

Whether sub-step 2081, the characteristic parameter of disturbance in judgement thing meet default characteristic parameter condition.If the spy of barrier Levy parameter and meet characteristic parameter condition of presetting, then perform sub-step 2082；If the characteristic parameter of barrier is unsatisfactory for presetting feature Parameter Conditions, then perform sub-step 2084.

Controlling device for vehicle running can store default characteristic parameter condition, after getting the characteristic parameter of barrier, Controlling device for vehicle running may determine that whether the characteristic parameter of barrier meets and presets characteristic parameter condition.Implement in the present invention In example, characteristic parameter can be color depth, it is also possible to for material mark, therefore, for the difference of characteristic parameter, vehicle travels Control device and can use whether the characteristic parameter of different method disturbance in judgement things meets default characteristic parameter condition.

Illustratively, refer to Fig. 2-5, it illustrates the feature of a kind of disturbance in judgement thing that Fig. 2-4 illustrated embodiment provides Whether parameter meets the method flow diagram presetting characteristic parameter condition, and this Fig. 2-5 includes entering as a example by color depth by characteristic parameter Row explanation, sees Fig. 2-5, and the method flow process may include that

Whether sub-step 20811A, the color depth of disturbance in judgement thing are more than the pre-set color degree of depth.If the color of barrier The degree of depth is more than the pre-set color degree of depth, then perform sub-step 20812A；If the color depth of barrier is not more than the pre-set color degree of depth, Then perform sub-step 20813A.

Wherein, color depth can use colour temperature to characterize, and therefore, controlling device for vehicle running can break the barriers The color depth of colour temperature disturbance in judgement thing whether more than the pre-set color degree of depth.

Illustratively, refer to Fig. 2-6, it illustrates the color of a kind of disturbance in judgement thing that Fig. 2-5 illustrated embodiment provides Whether the degree of depth is more than the method flow diagram of the pre-set color degree of depth, sees Fig. 2-6, and the method flow process may include that

Sub-step 20811A1, disturbance in judgement thing the value of colour temperature whether more than preset color temperature value.If the colour temperature of barrier Value more than pre-set color temperature value, then performs sub-step 20811A2；If the value of the colour temperature of barrier is not more than pre-set color temperature value, Then perform sub-step 20811A3.

Controlling device for vehicle running can store preset color temperature value, and the concrete value of this preset color temperature value can be according to reality Needs are configured, and this is not construed as limiting by the embodiment of the present invention.

Controlling device for vehicle running can judge by the value of the colour temperature of barrier being compared with preset color temperature value Whether the value of the colour temperature of barrier is more than preset color temperature value.

Sub-step 20811A2, determine that the color depth of barrier is more than the pre-set color degree of depth.

If controlling device for vehicle running determines that the value of the colour temperature of barrier is more than preset color temperature in sub-step 20811A1 Value, then controlling device for vehicle running determines that the color depth of barrier is more than the pre-set color degree of depth.

Sub-step 20811A3, determine that the color depth of barrier is not more than the pre-set color degree of depth.

If in sub-step 20811A1 controlling device for vehicle running determine the colour temperature of barrier value be not more than (less than or Person is equal to) preset color temperature value, then controlling device for vehicle running determines that the color depth of barrier is not more than the pre-set color degree of depth.

Sub-step 20812A, determine barrier characteristic parameter meet preset characteristic parameter condition.

If in sub-step 20811A, controlling device for vehicle running determines that the color depth of barrier is deep more than pre-set color Degree, then controlling device for vehicle running determines that the characteristic parameter of barrier meets default characteristic parameter condition.

Sub-step 20813A, determine the characteristic parameter of barrier be unsatisfactory for preset characteristic parameter condition.

If in sub-step 20811A, controlling device for vehicle running determines that the color depth of barrier is not more than pre-set color The degree of depth, then controlling device for vehicle running determines that the characteristic parameter of barrier is unsatisfactory for presetting characteristic parameter condition.

Above-mentioned Fig. 2-5 includes illustrating as a example by color depth by characteristic parameter, when characteristic parameter includes material mark During knowledge, controlling device for vehicle running can use the feature ginseng of the method disturbance in judgement thing that following Fig. 2-7 illustrated embodiment provides Whether number meets is preset characteristic parameter condition.

Illustratively, refer to Fig. 2-7, it illustrates the spy of the another kind of disturbance in judgement thing that Fig. 2-4 illustrated embodiment provides Levying whether parameter meets the method flow diagram presetting characteristic parameter condition, this Fig. 2-7 includes as a example by material mark by characteristic parameter Illustrating, see Fig. 2-7, the method flow process may include that

Whether the material mark log that sub-step 20811B, judgement are preset exists the material mark of barrier, presets Material mark log in record have at least one material mark.If there is barrier in the material mark log preset Material mark, then perform sub-step 20812B；If the material mark log preset not existing the material mark of barrier, then Perform sub-step 20813B.

Controlling device for vehicle running can store default material mark log, in this material mark log preset Record has at least one material mark, each material mark to be used for indicating a kind of material, controlling device for vehicle running acquiescence to use In this material mark log preset, the object of the material manufacture of the material mark instruction of record all needs vehicle to dodge Barrier, therefore, controlling device for vehicle running can be by judging whether there is barrier in the material mark log preset Material mark, come disturbance in judgement thing characteristic parameter meet preset characteristic parameter condition.

Illustratively, controlling device for vehicle running can be by the material mark ID-1 of barrier and the material mark record preset In table, each material mark of record contrasts, and judges whether exist and barrier in the material mark log preset , if there is the material mark ID-1 with barrier in the material mark log preset in the material mark that material mark ID-1 is identical Identical material mark, then illustrate to exist in the material mark log preset the material mark of barrier, otherwise, the material preset Material identification record table does not exist the material mark of barrier.

Sub-step 20812B, determine barrier characteristic parameter meet preset characteristic parameter condition.

If there is obstacle in determining default material mark log in controlling device for vehicle running in sub-step 20811B The material mark of thing, then controlling device for vehicle running determines that the characteristic parameter of barrier meets default characteristic parameter condition.

Sub-step 20813B, determine the characteristic parameter of barrier be unsatisfactory for preset characteristic parameter condition.

If there is not barrier in determining default material mark log in controlling device for vehicle running in sub-step 20811B Hinder the material mark of thing, then controlling device for vehicle running determines that the characteristic parameter of barrier is unsatisfactory for presetting characteristic parameter condition.

Sub-step 2082, the orientation obtaining barrier and the state of barrier.

If in step 2081, controlling device for vehicle running determines that the characteristic parameter of barrier meets and presets characteristic parameter bar Part, then controlling device for vehicle running obtains orientation and the state of barrier of barrier.Wherein, before the orientation of barrier includes Side, rear, left side or right side, front represents that barrier is positioned at the front of vehicle, and rear represents that barrier is positioned at the rear of vehicle, Left side represents that barrier is positioned at the left side of vehicle, and right side represents that barrier is positioned at the right side of vehicle, and the state of barrier includes moving Dynamic state or resting state.

In embodiments of the present invention, the surrounding of vehicle is provided with photographic head and radar, and controlling device for vehicle running can lead to The photographic head crossing vehicle's surroundings obtains the orientation of barrier, by being obtained the state of barrier by the radar of vehicle's surroundings.

It should be noted that in actual application, the state of barrier can also include that the moving direction of barrier is (near car Movement is also remote from vehicle and moves), translational speed etc., the distance between barrier and vehicle can be obtained by radar, enter And pass through the distance between barrier and the vehicle repeatedly obtained and the travel speed etc. of vehicle, determine the mobile side of barrier To, translational speed etc., the embodiment of the present invention does not repeats them here.

Sub-step 2083, according to the orientation of barrier and the state of barrier, control vehicle and travel.

After controlling device for vehicle running obtains the orientation of barrier and the state of barrier, can be according to the orientation of barrier With the state of barrier, control vehicle and travel.In embodiments of the present invention, according to the difference in the orientation of barrier, barrier The difference of state, controlling device for vehicle running can control vehicle in different ways and travel.

Illustratively, refer to Fig. 2-8, it is illustrated that a kind of side according to barrier that Fig. 2-4 illustrated embodiment provides The state of position and barrier controls the method flow diagram that vehicle travels, and sees Fig. 2-8, and the method flow process may include that

Sub-step 20841, when the orientation of barrier is rear, control vehicle keep current running state.

The embodiment of the present invention illustrates as a example by forward travel, and the barrier being positioned at rear view of vehicle will not be to vehicle Traveling produce threaten, therefore, when the orientation of barrier is rear, controlling device for vehicle running can control vehicle keep work as Front transport condition, alternatively, controlling device for vehicle running can not be to the throttle of vehicle, and brake, gear etc. are interfered.

Sub-step 20842, when the orientation of barrier be left side, or, the orientation of barrier be right side and the shape of barrier When state is resting state, control the minimum range between vehicle and barrier more than safe distance.

In actual application, vehicle travels on track, is positioned at the track on the left of vehicle current driving lane and usually drives in the wrong direction Track or the overtaking lane travelled in the same direction, be positioned at the track that the track on the right side of vehicle current driving lane usually travels in the same direction Or footpath, so, the barrier being positioned at vehicle left side is the most all vehicle, and the barrier being positioned at vehicle right side is the most all Vehicle or pedestrian.

When the orientation of barrier is left side, barrier is probably the vehicle or retrograde vehicle, vehicle needing to overtake other vehicles Travel controlling system can be to the throttle of vehicle, and brake, gear etc. are controlled, and make the minimum range between vehicle and barrier More than safe distance.

When the orientation of barrier is right side and when remaining static, and vehicle needs through section, barrier place, now, Controlling device for vehicle running can be to the throttle of vehicle, and brake, gear etc. are controlled, and make the minimum between vehicle and barrier Distance, more than safe distance, that is to say, controlling device for vehicle running controls vehicle through section, barrier place and obstacle Distance between thing is more than safe distance.

Sub-step 20843, when the orientation of barrier is right side and the state of barrier is mobile status, or, barrier The state that orientation is front and barrier when being mobile status, control vehicle deceleration and travel, and keep between barrier Minimum range is more than safe distance.

When the state that the orientation of barrier is right side and barrier is mobile status, and barrier is likely from vehicle right side Track is moved to track, vehicle place, now, if the travel speed of vehicle is too fast, then may collide with barrier, lead Causing the generation of vehicle accident, therefore, controlling device for vehicle running can control vehicle deceleration and travel, and keeps between barrier Minimum range more than safe distance.Illustratively, controlling device for vehicle running reduces by controlling the accelerator open degree of vehicle, gear Reducing, braking strength increase etc. controls vehicle deceleration and travels, and keeps the minimum range between barrier more than safe distance.

When the state that orientation is front and barrier of barrier is mobile status, then illustrate that the front of vehicle exists row Sailing vehicle, now, controlling device for vehicle running can control vehicle deceleration and travel, and keeps the minimum range between barrier More than safe distance, that is to say, controlling device for vehicle running controls vehicle and is in following state.

Sub-step 20844, when the state that orientation is front and barrier of barrier is resting state, control vehicle from The left side of barrier or right side break the barriers section, place, and keep the minimum range between vehicle and barrier more than safety Distance.

When the state that orientation is front and barrier of barrier is resting state, the vehicle (barrier of vehicle front is described Hinder thing) it is in halted state due to failure and other reasons, now, vehicle needs lane change to break the barriers section, place.Such as, vehicle Need lane change to the track on the left of barrier and the section, place that breaks the barriers.

Wherein, it is generally the case that vehicle can be broken the barriers section, place by the track on the left of lane change to barrier, When vehicle is currently located at the track of the leftmost side, vehicle can be broken the barriers place by the track on the right side of lane change to barrier Section.

Alternatively, controlling device for vehicle running can reduce by controlling the accelerator open degree of vehicle, and gear reduces, brake weight Degree increase etc. controls vehicle deceleration and travels, and the steering wheel (such as left-hand lane) to the left simultaneously controlling vehicle rotates, and makes vehicle become More to the left-hand lane of current lane, and control the minimum range between vehicle and barrier more than safe distance, control vehicle Break the barriers section, place.

Sub-step 2084, do not obtain the orientation of barrier and the state of barrier.

If controlling device for vehicle running determines that the characteristic parameter of barrier is unsatisfactory for presetting feature ginseng in sub-step 2081 Said conditions, then controlling device for vehicle running does not obtain the orientation of barrier and the state of barrier.

Step 209, do not control vehicle travel.

If there is not barrier in the running environment of controlling device for vehicle running monitoring vehicle in step 201, or, There is barrier in the running environment of controlling device for vehicle running monitoring vehicle in step 201, and vehicle travels in step 206 Control device and determine that the volume of barrier is not more than preset vol, then controlling device for vehicle running does not control vehicle traveling.

It should be noted that the reflectance of different materials is different, the numerical value of reflectance can use percent to represent, example As, glass visible reflectance is about 4% (4 percent), and the selectivity of gold is very strong, and gold is about 50% to the reflectance of green glow, And to the reflectance of infrared light up to more than 96%, reflectance is also relevant with the angle of incidence of the medium of surrounding materials and light in addition, The embodiment of the present invention by determining the material mark of barrier according to the actual reflectance of barrier, and then according to the material of barrier Material mark controls vehicle and travels, and automatically can be identified barrier and dodge, improve travel safety.

It should be noted that the sequencing of the vehicle travel control method step of embodiment of the present invention offer can be carried out Suitably adjusting, step can also increase and decrease the most accordingly, and any those familiar with the art is in the present invention In the technical scope disclosed, the method that can readily occur in change, all should contain within protection scope of the present invention, the most no longer Repeat.

Along with the development of science and technology, automobile is more and more universal in life, becomes people and goes on a journey the requisite vehicles, It is convenient to be that the trip of people brings, but when driving at night, owing to weather is more black, the sight line of people narrow (human eye can Narrow depending on scope), and owing to people becomes tired through darg, the physical ability of sight line, attention and people is all in declining shape State, causes being susceptible to vehicle accident.According to incompletely statistics, the incidence rate of traffic accident at night is significantly greater than daytime.The present invention implements Example breaks the barriers and light reflects the size of disturbance in judgement thing, and then obtains characteristic parameter (color depth, the material of barrier Mark etc.), automatically control speed according to the characteristic parameter of barrier, reduce the probability of happening of vehicle accident, improve row at night The safety of car.

Following for apparatus of the present invention embodiment, may be used for performing the inventive method embodiment.Real for apparatus of the present invention Execute the details not disclosed in example, refer to the inventive method embodiment.

Refer to Fig. 3, it illustrates the block diagram of a kind of controlling device for vehicle running 300 that the embodiment of the present invention provides, should Controlling device for vehicle running 300 may be used for performing the vehicle travel control method that Fig. 1 or Fig. 2-1 illustrated embodiment provides, ginseng Seeing Fig. 3, this controlling device for vehicle running 300 may include that

Whether monitoring modular 310, during travelling at vehicle, exist obstacle in the running environment of monitoring vehicle Thing.

Acquisition module 320, if there is barrier in the running environment of vehicle, then obtains the characteristic parameter of barrier, Characteristic parameter is for characterizing the physical features of barrier.

Control module 330, for the characteristic parameter according to barrier, controls vehicle and travels.

In sum, the controlling device for vehicle running that the embodiment of the present invention provides, owing to when monitoring barrier, obtaining The characteristic parameter of barrier, according to the characteristic parameter of barrier, controls vehicle and travels, therefore, even if the light of environment is relatively Secretly, vehicle also is able to timely avoiding barrier, and travel safety is higher, solve in correlation technique environment light relatively Time dark, the problem that travel safety is relatively low, reach to improve the effect of travel safety.

Refer to Fig. 4-1, it illustrates the frame of the another kind of controlling device for vehicle running 400 that the embodiment of the present invention provides Figure, the vehicle that this controlling device for vehicle running 400 may be used for performing Fig. 1 or Fig. 2-1 illustrated embodiment and provides travels controlling party Method, sees Fig. 4-1, and this controlling device for vehicle running 400 can include but not limited to:

Whether monitoring modular 410, during travelling at vehicle, exist obstacle in the running environment of monitoring vehicle Thing；

Acquisition module 420, in time there is barrier in the running environment of vehicle, obtains the characteristic parameter of barrier, Characteristic parameter is for characterizing the physical features of barrier；

Control module 430, for the characteristic parameter according to barrier, controls vehicle and travels.

Alternatively, refer to Fig. 4-2, it illustrates the frame of a kind of control module 430 that Fig. 4-1 illustrated embodiment provides Figure, sees Fig. 4-2, and this control module 430 includes:

Judging unit 431, whether the characteristic parameter for disturbance in judgement thing meets is preset characteristic parameter condition；

Acquiring unit 432, for when the characteristic parameter of barrier meets and presets characteristic parameter condition, obtaining barrier Orientation and the state of barrier；

Control unit 433, for the orientation according to barrier and the state of barrier, controls vehicle and travels.

Alternatively, characteristic parameter includes: color depth, refer to Fig. 4-3, and it illustrates Fig. 4-2 illustrated embodiment provides The block diagram of a kind of judging unit 431, see Fig. 4-3, this judging unit 431 includes:

First judgment sub-unit 4311, whether the color depth for disturbance in judgement thing is more than the pre-set color degree of depth；

First determines subelement 4312, for when the color depth of barrier is more than the pre-set color degree of depth, determining obstacle The characteristic parameter of thing meets presets characteristic parameter condition.

Alternatively, the surrounding of vehicle is provided with photographic head, and acquisition module 420 is used for:

Image by photographic head capture barrier；

Obtain the colour temperature of the image of barrier；

First judgment sub-unit 4311, is used for:

Alternatively, characteristic parameter includes: material mark, refer to Fig. 4-4, and it illustrates Fig. 4-2 illustrated embodiment provides The block diagram of another kind of judging unit 431, see Fig. 4-4, this judging unit 431 includes:

Second judgment sub-unit 4313, for judging whether to exist in the material mark log preset the material of barrier Mark, in the material mark log preset, record has at least one material mark；

Second determines subelement 4314, for there is the material mark of barrier in default material mark log Time, determine that the characteristic parameter of barrier meets and preset characteristic parameter condition.

Alternatively, the surrounding of vehicle is provided with optical transmitting set and optical receiver, and acquisition module 420 is used for:

Light is launched to barrier by optical transmitting set；

The reflection light of barrier is received by optical receiver；

Target material mark is defined as the material mark of barrier.

Alternatively, the surrounding of vehicle is provided with optical transmitting set and optical receiver, and please continue to refer to Fig. 4-1, this vehicle travels Control device 400 also to include:

Transmitter module 440, for launching light by optical transmitting set to barrier；

Receiver module 450, for receiving the reflection light of barrier by optical receiver；

First determines module 460, for determining the reflection light quantity of reflection light；

Second determines module 470, for determining the volume of barrier according to reflection light quantity；

Judge module 480, whether the volume for disturbance in judgement thing is more than preset vol；

Control module 430, for when the volume of barrier is more than preset vol, according to the characteristic parameter of barrier, control Vehicle processed travels.

Alternatively, the orientation of barrier includes: front, rear, left side or right side, and the state of barrier includes: mobile shape State or resting state, control unit 433 is used for:

It should be understood that above-described embodiment provide controlling device for vehicle running drive vehicle time, only with above-mentioned respectively The division of functional module is illustrated, and in actual application, can distribute above-mentioned functions by different merits as desired Module can complete, the internal structure of device will be divided into different functional modules, with complete described above all or portion Divide function.It addition, the controlling device for vehicle running that above-described embodiment provides belongs to same design with embodiment of the method, it is specifically real Existing process refers to embodiment of the method, repeats no more here.

One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can pass through hardware Completing, it is also possible to instruct relevant hardware by program and complete, described program can be stored in a kind of computer-readable In storage medium, storage medium mentioned above can be read only memory, disk or CD etc..

The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.

Claims

1. a vehicle travel control method, it is characterised in that described method includes:

If the running environment of described vehicle exists barrier, then obtain the characteristic parameter of described barrier, described characteristic parameter For characterizing the physical features of described barrier；

Method the most according to claim 1, it is characterised in that the described characteristic parameter according to described barrier, controls institute State vehicle to travel, including:

If the characteristic parameter of described barrier meets described default characteristic parameter condition, then obtain orientation and the institute of described barrier State the state of barrier；

Method the most according to claim 2, it is characterised in that described characteristic parameter includes: color depth, described judgement institute Whether the characteristic parameter stating barrier meets default characteristic parameter condition, including:

If the color depth of described barrier is more than the described pre-set color degree of depth, it is determined that the characteristic parameter of described barrier meets Described default characteristic parameter condition.

Method the most according to claim 3, it is characterised in that the surrounding of described vehicle is provided with photographic head, described acquisition The characteristic parameter of described barrier, including:

The image of described barrier is captured by described photographic head；

Obtain the colour temperature of the image of described barrier；

If the value of the colour temperature of described barrier is more than described pre-set color temperature value, it is determined that the color depth of described barrier is more than The described pre-set color degree of depth.

Method the most according to claim 2, it is characterised in that described characteristic parameter includes: material mark, described judgement institute Whether the characteristic parameter stating barrier meets default characteristic parameter condition, including:

Judge whether the material mark log preset exists the material mark of described barrier, described default material mark In log, record has at least one material mark；

If described default material mark log existing the material mark of described barrier, it is determined that the spy of described barrier Levy parameter and meet described default characteristic parameter condition.

Method the most according to claim 5, it is characterised in that the surrounding of described vehicle is provided with optical transmitting set and light-receiving Device, the characteristic parameter of the described barrier of described acquisition, including:

Light is launched to described barrier by described optical transmitting set；

According to described actual reflectance, the reflectance that inquiry is preset and the corresponding relation of material mark, obtain described actual reflection The target material mark that rate is corresponding, each material mark is used for indicating a kind of material；

7. according to the arbitrary described method of claim 1 to 6, it is characterised in that the surrounding of described vehicle is provided with optical transmitting set And optical receiver, at the described characteristic parameter according to described barrier, before controlling described vehicle traveling, described method is also wrapped Include:

Light is launched to described barrier by described optical transmitting set；

Determine the reflection light quantity of described reflection light；

Judge that whether the volume of described barrier is more than preset vol；

If the volume of described barrier is more than described preset vol, then according to the characteristic parameter of described barrier, control described car Travel.

8. according to the arbitrary described method of claim 2 to 6, it is characterised in that the orientation of described barrier includes: front, after Side, left side or right side, the state of described barrier includes: mobile status or resting state, the described side according to described barrier Position and the state of described barrier, control described vehicle and travel, including:

When the orientation of described barrier is left side, or, the orientation of described barrier is that the state of right side and described barrier is During resting state, control the minimum range between described vehicle and described barrier more than safe distance；

When the state that the orientation of described barrier is right side and described barrier is mobile status, or, the side of described barrier When the state that position is front and described barrier is mobile status, controls described vehicle deceleration and travel, and keep and described obstacle Minimum range between thing is more than safe distance；

When the state that orientation is front and described barrier of described barrier is resting state, control described vehicle from described The left side of barrier or right side are by section, described barrier place, and keep the minimum between described vehicle and described barrier Distance is more than safe distance.

9. a controlling device for vehicle running, it is characterised in that described device includes:

Monitoring modular, during travelling at vehicle, monitors in the running environment of described vehicle whether there is barrier；

Acquisition module, in time there is barrier in the running environment of described vehicle, obtains the characteristic parameter of described barrier, Described characteristic parameter is for characterizing the physical features of described barrier；

Device the most according to claim 9, it is characterised in that described control module, including:

Acquiring unit, for when the characteristic parameter of described barrier meets described default characteristic parameter condition, obtains described barrier Hinder orientation and the state of described barrier of thing；

11. devices according to claim 10, it is characterised in that described characteristic parameter includes: color depth, described judgement Unit, including:

First determines subelement, for when the color depth of described barrier is more than the described pre-set color degree of depth, determines described The characteristic parameter of barrier meets described default characteristic parameter condition.

12. devices according to claim 11, it is characterised in that the surrounding of described vehicle is provided with photographic head, described in obtain Delivery block, is used for:

The image of described barrier is captured by described photographic head；

Obtain the colour temperature of the image of described barrier；

Described first judgment sub-unit, is used for:

13. devices according to claim 10, it is characterised in that described characteristic parameter includes: material mark, described judgement Unit, including:

Second judgment sub-unit, for judging whether to exist in the material mark log preset the material mark of described barrier Knowing, in described default material mark log, record has at least one material mark；

Second determines subelement, for there is the material mark of described barrier in described default material mark log Time, determine that the characteristic parameter of described barrier meets described default characteristic parameter condition.

14. devices according to claim 13, it is characterised in that the surrounding of described vehicle is provided with optical transmitting set and light connects Receive device, described acquisition module, be used for:

Light is launched to described barrier by described optical transmitting set；

15. according to the arbitrary described device of claim 9 to 14, it is characterised in that the surrounding of described vehicle is provided with light emission Device and optical receiver, described device also includes:

Described control module, for when the volume of described barrier is more than described preset vol, according to the spy of described barrier Levy parameter, control described vehicle and travel.

16. according to the arbitrary described device of claim 10 to 14, it is characterised in that the orientation of described barrier includes: front, Rear, left side or right side, the state of described barrier includes: mobile status or resting state, and described control unit is used for: