CN106114500B

CN106114500B - Vehicle travel control method and controlling device for vehicle running

Info

Publication number: CN106114500B
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: 2019-09-13
Anticipated expiration: 2036-06-22
Also published as: CN106114500A

Abstract

The present invention discloses a kind of vehicle travel control method and controlling device for vehicle running, belongs to intelligent driving field.This method comprises: during vehicle driving, monitor in the running environment of vehicle that whether there are obstacles；If there are barriers in the running environment of vehicle, the characteristic parameter of barrier is obtained, characteristic parameter is used to characterize the physical features of barrier；According to the characteristic parameter of barrier, vehicle driving is controlled.The present invention is solved in the dark of environment, the lower problem of travel safety, has achieved the effect that improve travel safety.The present invention is controlled for vehicle driving.

Description

Vehicle travel control method and controlling device for vehicle running

Technical field

The present invention relates to intelligence to travel field, in particular to a kind of vehicle travel control method and vehicle driving control dress It sets.

Background technique

With the development of science and technology, the vehicles such as automobile are more and more common in life, traffic safety is also more and more important.

In the related technology, driver can drive vehicle according to driving experience.Specifically, driver can observe driving ring Whether there are obstacles in border, there are when barrier in environment, according to driving experience, by control vehicle throttle, Brake etc. controls vehicle driving, to hide to barrier.

In the implementation of the present invention, inventor find the relevant technologies the prior art has at least the following problems:

When the dark in environment, the visual range of human eye is relatively narrow, and human eye is caused to observe environment Accuracy is lower, vehicle can not timely avoiding barrier, be easy cause traffic accident, therefore, in the dark of environment When, travel safety is lower.

Summary of the invention

In order to solve in the dark of environment, the lower problem of travel safety, the present invention provides a kind of vehicle Travel control method and controlling device for vehicle running.The technical solution is as follows:

In a first aspect, providing a kind of vehicle travel control method, which comprises

During vehicle driving, monitor in the running environment of the vehicle that whether there are obstacles；

If there are barriers in the running environment of the vehicle, the characteristic parameter of the barrier, the feature are obtained Parameter is used to characterize the physical features of the barrier；

According to the characteristic parameter of the barrier, the vehicle driving is controlled.

Optionally, the characteristic parameter according to the barrier, controls the vehicle driving, comprising:

Judge whether the characteristic parameter of the barrier meets default characteristic parameter condition；

If the characteristic parameter of the barrier meets the default characteristic parameter condition, the orientation of the barrier is obtained With the state of the barrier；

According to the state in the orientation of the barrier and the barrier, the vehicle driving is controlled.

Optionally, the characteristic parameter includes: color depth, and whether the characteristic parameter for judging the barrier meets Default characteristic parameter condition, comprising:

Judge whether the color depth of the barrier is greater than pre-set color depth；

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

Optionally, the surrounding of the vehicle is provided with camera,

The characteristic parameter for obtaining the barrier, comprising:

The image of the barrier is captured by the camera；

Obtain the colour temperature of the image of the barrier；

The colour temperature of the image of the barrier is determined as to the colour temperature of the barrier；

According to the colour temperature of the barrier, the color depth of the barrier is determined；

Whether the color depth for judging the barrier is greater than pre-set color depth, comprising:

Judge whether the value of the colour temperature of the barrier is greater than preset color temperature value；

If the value of the colour temperature of the barrier is greater than the preset color temperature value, it is determined that the color depth of the barrier is big In the pre-set color depth.

Optionally, the characteristic parameter includes: material mark, and whether the characteristic parameter for judging the barrier meets Default characteristic parameter condition, comprising:

Judge the material mark that whether there is the barrier in preset material mark record sheet, the preset material Record has at least one material mark in identification record table；

If in the preset material mark record sheet, there are the material marks of the barrier, it is determined that the barrier Characteristic parameter meet the default characteristic parameter condition.

Optionally, the surrounding of the vehicle is provided with optical transmitting set and optical receiver, the spy for obtaining the barrier Levy parameter, comprising:

Emit light to the barrier by the optical transmitting set；

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

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

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

According to the actual reflectance, the corresponding relationship of preset reflectivity and material mark is inquired, obtains the reality The corresponding target material mark of reflectivity, each material mark are used to indicate a kind of material；

Target material mark is determined as to the material mark of the barrier.

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

Emit light to the barrier by the optical transmitting set；

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

Determine the reflection light quantity of the reflection light；

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

Judge whether the volume of the barrier is greater than preset vol；

The characteristic parameter according to the barrier, controls the vehicle driving, comprising:

If the volume of the barrier is greater than the preset vol, according to the characteristic parameter of the barrier, institute is controlled State vehicle driving.

Optionally, the orientation of the barrier includes: front, rear, left or right side, the state packet of the barrier It includes: moving condition or stationary state, it is described according to the orientation of the barrier and the state of the barrier, control the vehicle Traveling, comprising:

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

When the orientation of the barrier is left side, alternatively, the orientation of the barrier is the shape of right side and the barrier When state is stationary state, the minimum range controlled between the vehicle and the barrier is greater than safe distance；

When the orientation of the barrier is right side and the state of the barrier is moving condition, alternatively, the barrier Orientation be front and when the state of the barrier is moving condition, control the vehicle deceleration traveling, and keep with it is described Minimum range between barrier is greater than safe distance；

When the orientation of the barrier is front and the state of the barrier is stationary state, control the vehicle from The left or right side of the barrier is kept between the vehicle and the barrier by section where the barrier Minimum range is greater than safe distance.

Second aspect, provides a kind of controlling device for vehicle running, and described device includes:

Monitoring modular, for during vehicle driving, monitoring in the running environment of the vehicle with the presence or absence of obstacle Object；

Module is obtained, for, there are when barrier, obtaining the feature of the barrier in the running environment of the vehicle Parameter, the characteristic parameter are used to characterize the physical features of the barrier；

Control module controls the vehicle driving for the characteristic parameter according to the barrier.

Optionally, the control module, comprising:

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

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

Control unit, for controlling the vehicle driving according to the orientation of the barrier and the state of the barrier.

Optionally, the characteristic parameter includes: color depth, the judging unit, comprising:

First judgment sub-unit, for judging whether the color depth of the barrier is greater than pre-set color depth；

First determines subelement, when being greater than the pre-set color depth for the color depth in the barrier, determines The characteristic parameter of the barrier meets the default characteristic parameter condition.

Optionally, the surrounding of the vehicle is provided with camera, and the acquisition module is used for:

The image of the barrier is captured by the camera；

Obtain the colour temperature of the image of the barrier；

First judgment sub-unit, is used for:

Optionally, the characteristic parameter includes: material mark, the judging unit, comprising:

Second judgment sub-unit, the material for judging to whether there is the barrier in preset material mark record sheet It identifies, record has at least one material mark in the preset material mark record sheet；

Second determines subelement, for there are the material marks of the barrier in the preset material mark record sheet When knowledge, determine that the characteristic parameter of the barrier meets the default characteristic parameter condition.

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

Emit light to the barrier by the optical transmitting set；

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

Target material mark is determined as to the material mark of the barrier.

Optionally, the surrounding of the vehicle is provided with optical transmitting set and optical receiver, described device further include:

Transmitting module, for emitting light to the barrier by the optical transmitting set；

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

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

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

Judgment module, for judging whether the volume of the barrier is greater than preset vol；

The control module, when being greater than the preset vol for the volume in the barrier, according to the barrier Characteristic parameter, control the vehicle driving.

Optionally, the orientation of the barrier includes: front, rear, left or right side, the state packet of the barrier Include: moving condition or stationary state, described control unit are used for:

Technical solution provided by the invention has the benefit that

Vehicle travel control method and controlling device for vehicle running provided by the invention, during vehicle driving, prison Whether there are obstacles in the running environment of measuring car；If there are barriers in the running environment of vehicle, barrier is obtained Characteristic parameter；According to the characteristic parameter of barrier, vehicle driving is controlled.Due to obtaining barrier when monitoring barrier Characteristic parameter and characteristic parameter according to barrier control vehicle driving, therefore, even if the dark of environment, vehicle Also can timely avoiding barrier, travel safety is higher, solve in the related technology in the dark of environment, row The lower problem of vehicle safety has achieved the effect that improve travel safety.

It should be understood that the above general description and the following detailed description are merely exemplary, this can not be limited Invention.

Detailed description of the invention

To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other Attached drawing.

Fig. 1 is a kind of flow chart of vehicle travel control method provided in an embodiment of the present invention；

Fig. 2-1 is the flow chart of another vehicle travel control method provided in an embodiment of the present invention；

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

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

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

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

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

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

Fig. 2-8 is that a kind of of Fig. 2-4 illustrated embodiment offer controls vehicle according to the orientation of barrier and the state of barrier Traveling method flow diagram；

Fig. 3 is a kind of block diagram of controlling device for vehicle running provided in an embodiment of the present invention；

Fig. 4-1 is the block diagram of another controlling device for vehicle running provided in an embodiment of the present invention；

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

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

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

The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention Example, and be used to explain the principle of the present invention together with specification.

Specific embodiment

To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts All other embodiment, shall fall within the protection scope of the present invention.

Referring to FIG. 1, it illustrates a kind of flow chart of vehicle travel control method provided in an embodiment of the present invention, referring to Fig. 1, the vehicle travel control method include:

Step 101, during vehicle driving, monitor in the running environment of vehicle that whether there are obstacles.

If there are barriers in the running environment of step 102, vehicle, the characteristic parameter of barrier, characteristic parameter are obtained For characterizing the physical features of barrier.

Step 103, the characteristic parameter according to barrier control vehicle driving.

In conclusion vehicle travel control method provided in an embodiment of the present invention, due to obtaining when monitoring barrier The characteristic parameter of barrier controls vehicle driving according to the characteristic parameter of barrier, therefore, even if the light of environment compared with Secretly, vehicle also can timely avoiding barrier, travel safety is higher, solve in the related technology the light of environment compared with When dark, the lower problem of travel safety has achieved the effect that improve travel safety.

Optionally, step 103 may include:

Whether the characteristic parameter of disturbance in judgement object meets default characteristic parameter condition；

If the characteristic parameter of barrier meets default characteristic parameter condition, the orientation of barrier and the shape of barrier are obtained State；

According to the state in the orientation of barrier and barrier, vehicle driving is controlled.

Optionally, characteristic parameter includes: color depth, and whether the characteristic parameter of disturbance in judgement object meets default characteristic parameter Condition, comprising:

Whether the color depth of disturbance in judgement object is greater than pre-set color depth；

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

Optionally, the surrounding of vehicle is provided with camera, and step 102 may include:

The image of barrier is captured by camera；

Obtain the colour temperature of the image of barrier；

The colour temperature of the image of barrier is determined as to the colour temperature of barrier；

According to the colour temperature of barrier, the color depth of barrier is determined；

Whether the color depth of disturbance in judgement object is greater than pre-set color depth, comprising:

Whether the value of the colour temperature of disturbance in judgement object is greater than preset color temperature value；

If the value of the colour temperature of barrier is greater than preset color temperature value, it is determined that it is deep that the color depth of barrier is greater than pre-set color Degree.

Optionally, characteristic parameter includes: material mark, and whether the characteristic parameter of disturbance in judgement object meets default characteristic parameter Condition, comprising:

Judge the material mark that whether there are obstacles in preset material mark；

If in preset material mark record sheet, there are the material marks of barrier, it is determined that the characteristic parameter of barrier is full The default characteristic parameter condition of foot.

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

Emit light to barrier by optical transmitting set；

The reflection light of barrier is received by optical receiver；

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

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

According to actual reflectance, the corresponding relationship of preset reflectivity and material mark is inquired, actual reflectance pair is obtained The target material mark answered, each material mark are used to indicate a kind of material；

Target material mark is determined as to the material mark of barrier.

Optionally, the surrounding of vehicle is provided with optical transmitting set and optical receiver, before step 103, this method further include:

Emit light 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 object is greater than preset vol；

Step 103 may include:

If the volume of barrier is greater than preset vol, according to the characteristic parameter of barrier, vehicle driving is controlled.

Optionally, the orientation of barrier includes: front, rear, left or right side, and the state of barrier includes: mobile shape State or stationary state control vehicle driving according to the state in the orientation of barrier and barrier, comprising:

When the orientation of barrier is rear, control vehicle keeps current running state；

When the orientation of barrier is left side, alternatively, the orientation of barrier is right side and the state of barrier is stationary state When, the minimum range controlled between vehicle and barrier is greater than safe distance；

When the orientation of barrier is right side and the state of barrier is moving condition, alternatively, the orientation of barrier is front And the state of barrier be moving condition when, control vehicle deceleration traveling, and keep and barrier between minimum range be greater than Safe distance；

When the orientation of barrier is front and the state of barrier is stationary state, left side of the vehicle from barrier is controlled Or right side break the barriers where section, and minimum range between vehicle and barrier is kept to be greater than safe distance.

All the above alternatives can form alternative embodiment of the invention using any combination, herein no longer It repeats one by one.

Fig. 2-1 is please referred to, it illustrates the flow chart of another vehicle travel control method provided in an embodiment of the present invention, Referring to fig. 2-1, which may include:

Step 201, during vehicle driving, monitor in the running environment of vehicle that whether there are obstacles.If vehicle Running environment in there are barriers, then follow the steps 202；If barrier is not present in the running environment of vehicle, step is executed Rapid 209.

Wherein, barrier refers to hindering the object of vehicle driving.

Camera and radar can be set in the surrounding of vehicle, and during vehicle driving, camera and radar are in and open State is opened, the running environment of vehicle can be scanned, controlling device for vehicle running can be by camera and radar to vehicle Running environment be scanned, whether there are obstacles in the running environment to monitor vehicle.Wherein, camera and radar pair The process that the running environment of vehicle is scanned can refer to the relevant technologies, and details are not described herein for the embodiment of the present invention.

It should be noted that when controlling device for vehicle running monitors barrier, it can be by information such as the images of barrier It is shown on car-mounted terminal, the observation convenient for driver to barrier.

Step 202 emits light to barrier by optical transmitting set.

Optical transmitting set can be set in the surrounding of vehicle, and controlling device for vehicle running is deposited in the running environment for monitoring vehicle In barrier, light can be emitted to barrier by optical transmitting set.

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

In embodiments of the present invention, which can carry out simultaneously with above-mentioned steps 201, can also be according to successively suitable Sequence carries out, and the embodiment of the present invention is not construed as limiting this.

Step 203, the reflection light that barrier is received by optical receiver.

Optical receiver can be set in the surrounding of vehicle, and optical receiver can receive the reflection light of barrier.Vehicle driving Control device can receive the reflected light of barrier after emitting light to barrier by optical transmitting set by optical receiver Line.

Wherein, optical receiver can be set in the auxiliary lamp position of vehicle, alternatively, optical receiver can be set in vehicle Auxiliary lamp on, the embodiment of the present invention is not construed as limiting this.

Step 204, the reflection light quantity for determining reflection light.

After controlling device for vehicle running receives reflection light, the reflection light quantity of reflection light can be determined.The tool of the process Body implementation can refer to the relevant technologies, and details are not described herein for the embodiment of the present invention.

Step 205, the volume that barrier is determined 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, transmitting light can be radiated at least one surface of barrier, by least one surface to transmitting Light is reflected, therefore, at least one surface be referred to as be barrier reflective surface, controlling device for vehicle running can To determine the area of the reflective surface of barrier according to reflection light quantity, and then determine according to the area of reflective surface the volume of barrier. For example, controlling device for vehicle running can predict the shape of barrier, or the shape of barrier is obtained by camera Shape, and then determine according to the area of reflective surface and the shape of barrier the volume of barrier.

Whether step 206, the volume of disturbance in judgement object are greater than preset vol.If the volume of barrier is greater than preset vol, Then follow the steps 207；If the volume of barrier is not more than preset vol, 209 are thened follow the steps.

In practical application, the biggish barrier of volume would generally threaten to the traveling of vehicle, and the barrier of small volume Object (for example, mineral water bottle etc.) is hindered usually not threaten to the traveling of vehicle, so, vehicle may not necessarily be to small volume Barrier hidden.Therefore, controlling device for vehicle running may determine that the size of the volume of barrier.

Wherein, preset vol can be used for measuring the size of the volume of barrier, when the volume of barrier is greater than default body When product, illustrate that the volume of barrier is larger, when the volume of barrier is less than preset vol, illustrates the small volume of barrier. The value of the preset vol can be configured according to actual needs, and the embodiment of the present invention is not construed as limiting this.

Controlling device for vehicle running can store the value of preset vol, after determining the volume of barrier, vehicle driving control The value of the volume of the available barrier of device processed, then by comparing the value of the value of the volume of barrier and preset vol Compared with whether the volume for carrying out disturbance in judgement object is greater than preset vol.For example, the value of the volume of barrier can be G1, preset vol Value can be G, controlling device for vehicle running can be by the way that G1 to be compared with G, and whether the volume for carrying out disturbance in judgement object big In preset vol.

It should be noted that in embodiments of the present invention, when the volume of barrier is greater than preset vol, vehicle driving control Device processed can prompt driver by car-mounted terminal.For example, controlling device for vehicle running generation is used to indicate presence The prompt information of barrier, the instruction information can be voice messaging, or text information, when the instruction information is voice When information, controlling device for vehicle running can broadcast the prompt information by car-mounted terminal, when the instruction information is text information When, controlling device for vehicle running can show the prompt information by car-mounted terminal, and details are not described herein for the embodiment of the present invention.

Step 207, the characteristic parameter for obtaining barrier, characteristic parameter are used to characterize the physical features of barrier.

If in step 206, controlling device for vehicle running determines that the volume of barrier is greater than preset vol, then vehicle driving The characteristic parameter of the available barrier of control device, this feature parameter are used to characterize the physical features of barrier.In the present invention In embodiment, characteristic parameter may include color depth and material mark, which can be used for characterizing the face of barrier Color, the material mark can be used for characterizing the manufacture material of barrier.

Illustratively, Fig. 2-2 is please referred to, it illustrates a kind of features for acquisition barrier that Fig. 2-1 illustrated embodiment provides The method flow diagram of parameter, the Fig. 2-2 are illustrated so that characteristic parameter includes color depth as an example, referring to fig. 2-2, this method stream Journey may include:

Sub-step 2071A, the image that barrier is captured by camera.

Camera can be set in the surrounding of vehicle, which can be miniature webcam, and controlling device for vehicle running can To capture the image of barrier by camera, for example, controlling device for vehicle running shoots barrier by camera Obtain the image of barrier.

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

After controlling device for vehicle running captures the image of barrier, the colour temperature of the image of available barrier.

Optionally, controlling device for vehicle running can be handled the image of barrier, obtain the image of barrier Then the colour temperature of the image of barrier, illustratively, barrier is calculated in chromaticity coordinates 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 the chromaticity coordinates of the image of barrier can join The relevant technologies are examined, details are not described herein for the embodiment of the present invention.

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

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

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

Wherein, the value of each colour temperature can correspond to a color depth value, and controlling device for vehicle running determines barrier After colour temperature, then the value of the colour temperature of available barrier determines the corresponding color depth value of value of the colour temperature of barrier, thus Obtain the color depth of barrier.

Illustratively, Fig. 2-3 is please referred to, it illustrates another spies for obtaining barrier that Fig. 2-1 illustrated embodiment provides The method flow diagram of parameter is levied, which is illustrated so that characteristic parameter includes material mark as an example, referring to figure 2-3, this method Process may include:

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

Sub-step 2072B, the reflection light that barrier is received by optical receiver.

The realization process of above-mentioned steps 2071B and 2072B can refer to step 202 and step 203, and the embodiment of the present invention exists This is repeated no more.

The reflection light quantity of sub-step 2073B, the transmitting light quantity for determining transmitting light and reflection light.

After controlling device for vehicle running emits light to barrier by optical transmitting set, the transmitting of transmitting light can be determined Light quantity, illustratively, transmitting light quantity can be Q1.

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

Wherein, controlling device for vehicle running determines the specific of the reflection light quantity of the transmitting light quantity and reflection light that emit light Implementation can refer to the relevant technologies, the embodiment of the present invention details are not described herein limit.

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

It, can be by reflection light quantity and transmitting light quantity after controlling device for vehicle running determines transmitting light quantity and transmitting light quantity Actual reflectance of the ratio as barrier.Illustratively, the actual reflectance of barrier can be r1, then the r1 is equal to Q2/Q1.

Sub-step 2075B, according to actual reflectance, inquire the corresponding relationship of preset reflectivity and material mark, obtain The corresponding target material mark of actual reflectance, each material mark are used to indicate a kind of material.

Controlling device for vehicle running can store the corresponding relationship of reflectivity and material mark, store in the corresponding relationship Each material mark is used to indicate a kind of material, and after the actual reflectance for determining barrier, controlling device for vehicle running can be with According to actual reflectance, the corresponding relationship of preset reflectivity and material mark is inquired, obtains the corresponding target of actual reflectance Material mark.

Illustratively, the reflectivity of controlling device for vehicle running storage and the corresponding relationship of material mark can be such as the following table 1 institutes Show:

Table 1

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

Controlling device for vehicle running corresponding relationship according to shown in the actual reflectance r1 inquiry table 1 of barrier, can be true The corresponding target material of actual reflectance r1 for determining barrier is identified as ID-1.

Sub-step 2076B, the material mark that target material mark is determined as to barrier.

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

Step 208, the characteristic parameter according to barrier control vehicle driving.

After controlling device for vehicle running obtains the characteristic parameter of barrier, vehicle can be controlled according to the characteristic parameter of barrier Traveling.Specifically, controlling device for vehicle running according to the characteristic parameter of barrier, can predict barrier type (such as Prediction is specifically what barrier etc.), and then control vehicle driving.

Illustratively, Fig. 2-4 is please referred to, it illustrates a kind of features according to barrier that Fig. 2-1 illustrated embodiment provides The method flow diagram of state modulator vehicle driving, referring to fig. 2-4, this method process may include:

Sub-step 2081, disturbance in judgement object characteristic parameter whether meet default characteristic parameter condition.If the spy of barrier It levies parameter and meets default characteristic parameter condition, then execute sub-step 2082；If the characteristic parameter of barrier is unsatisfactory for default feature Parameter Conditions then execute 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 default characteristic parameter condition.Implement in the present invention In example, characteristic parameter can be color depth, or material mark, therefore, for the difference of characteristic parameter, vehicle driving Whether control device can meet default characteristic parameter condition using the characteristic parameter of different method disturbance in judgement objects.

Illustratively, Fig. 2-5 is please referred to, it illustrates a kind of features for disturbance in judgement object that Fig. 2-4 illustrated embodiment provides Whether parameter meets the method flow diagram of default characteristic parameter condition, the Fig. 2-5 by taking characteristic parameter includes color depth as an example into Row explanation, referring to fig. 2-5, this method process may include:

Sub-step 20811A, disturbance in judgement object color depth whether be greater than pre-set color depth.If the color of barrier Depth is greater than pre-set color depth, then executes sub-step 20812A；If the color depth of barrier is not more than pre-set color depth, Then execute sub-step 20813A.

Wherein, color depth can be characterized using colour temperature, and therefore, controlling device for vehicle running can break the barriers The color depth of colour temperature disturbance in judgement object whether be greater than pre-set color depth.

Illustratively, Fig. 2-6 is please referred to, it illustrates a kind of colors for disturbance in judgement object that Fig. 2-5 illustrated embodiment provides Whether depth is greater than the method flow diagram of pre-set color depth, and referring to fig. 2-6, this method process may include:

Whether the value of the colour temperature of sub-step 20811A1, disturbance in judgement object is greater than preset color temperature value.If the colour temperature of barrier Value is greater than preset color temperature value, then executes sub-step 20811A2；If the value of the colour temperature of barrier is not more than preset color temperature value, hold Row sub-step 20811A3.

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

Controlling device for vehicle running can be by the way that the value of the colour temperature of barrier to be compared with preset color temperature value, to judge Whether the value of the colour temperature of barrier is greater than preset color temperature value.

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

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

Sub-step 20811A3, determine the color depth of barrier no more than pre-set color depth.

If in sub-step 20811A1 controlling device for vehicle running determine the value of the colour temperature of barrier no more than (be less than or Person is equal to) preset color temperature value, then controlling device for vehicle running determines the color depth of barrier no more than pre-set color depth.

Sub-step 20812A, determine that the characteristic parameter of barrier meets default characteristic parameter condition.

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

Sub-step 20813A, determine that the characteristic parameter of barrier is unsatisfactory for default characteristic parameter condition.

If controlling device for vehicle running determines the color depth of barrier no more than pre-set color in sub-step 20811A Depth, then controlling device for vehicle running determines that the characteristic parameter of barrier is unsatisfactory for default characteristic parameter condition.

Above-mentioned Fig. 2-5 is illustrated so that characteristic parameter includes color depth as an example, when characteristic parameter includes material mark When knowledge, controlling device for vehicle running can be using the feature ginseng for the method disturbance in judgement object that following Fig. 2-7 illustrated embodiments provide Whether number meets default characteristic parameter condition.

Illustratively, Fig. 2-7 is please referred to, it illustrates the spies for another disturbance in judgement object that Fig. 2-4 illustrated embodiment provides Whether sign parameter meets the method flow diagram of default characteristic parameter condition, and the Fig. 2-7 is by taking characteristic parameter includes material mark as an example It is illustrated, referring to fig. 2-7, this method process may include:

Sub-step 20811B, judge the material mark that whether there are obstacles in preset material mark record sheet, preset Material mark record sheet in record have at least one material mark.If in preset material mark record sheet, there are barriers Material mark then executes sub-step 20812B；If the material mark of barrier is not present in preset material mark record sheet, Execute sub-step 20813B.

Controlling device for vehicle running can store preset material mark record sheet, in the preset material mark record sheet Record has at least one material mark, and each material mark is used to indicate a kind of material, and controlling device for vehicle running default uses The object of the material manufacture of the material mark instruction recorded in the preset material mark record sheet all needs vehicle to avoid Barrier, therefore, controlling device for vehicle running can be by judging that whether there are obstacles in preset material mark record sheet Material mark, the characteristic parameter for carrying out disturbance in judgement object meets default characteristic parameter condition.

Illustratively, controlling device for vehicle running can record the material mark ID-1 of barrier and preset material mark The each material mark recorded in table compares, to judge to whether there is and barrier in preset material mark record sheet The identical material mark of material mark ID-1, if there is the material mark ID-1 with barrier in preset material mark record sheet Identical material mark then illustrates that there are the material marks of barrier in preset material mark record sheet, otherwise, preset material Expect the material mark that barrier is not present in identification record table.

Sub-step 20812B, determine that the characteristic parameter of barrier meets default characteristic parameter condition.

If controlling device for vehicle running determines that there are obstacles in preset material mark record sheet in sub-step 20811B The material mark of object, then controlling device for vehicle running determines that the characteristic parameter of barrier meets default characteristic parameter condition.

Sub-step 20813B, determine that the characteristic parameter of barrier is unsatisfactory for default characteristic parameter condition.

If controlling device for vehicle running determines that there is no barriers in preset material mark record sheet in sub-step 20811B Hinder the material mark of object, then controlling device for vehicle running determines that the characteristic parameter of barrier is unsatisfactory for default characteristic parameter condition.

The state of sub-step 2082, the orientation for obtaining barrier and barrier.

If controlling device for vehicle running determines that the characteristic parameter of barrier meets default characteristic parameter item in step 2081 Part, then controlling device for vehicle running obtains the orientation of barrier and the state of barrier.Wherein, before the orientation of barrier includes Side, rear, left or right side, front indicate that barrier is located at the front of vehicle, and rear indicates that barrier is located at the rear of vehicle, Left side indicates that barrier is located at the left side of vehicle, and right side indicates that barrier is located at the right side of vehicle, and the state of barrier includes moving Dynamic state or stationary state.

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

It should be noted that the state of barrier can also include the moving direction of barrier (close to vehicle in practical application It is mobile or mobile far from vehicle), movement speed etc., the distance between barrier and vehicle can be obtained by radar, into And the distance between the barrier by repeatedly obtaining and vehicle and travel speed of vehicle etc., determine the mobile side of barrier To, movement speed etc., details are not described herein for the embodiment of the present invention.

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

It, can be according to the orientation of barrier after controlling device for vehicle running obtains the orientation of barrier and the state of barrier With the state of barrier, vehicle driving is controlled.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 driving in different ways.

Illustratively, Fig. 2-8 is please referred to, shows a kind of side according to barrier that Fig. 2-4 illustrated embodiment provides The method flow diagram of the state of position and barrier control vehicle driving, referring to fig. 2-8, this method process may include:

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

The embodiment of the present invention is illustrated by taking forward travel as an example, and the barrier positioned at rear of vehicle will not be to vehicle Traveling generate threat, therefore, when the orientation of barrier be rear when, controlling device for vehicle running can control vehicle holding work as Preceding driving status, optionally, controlling device for vehicle running can not interfere the throttle of vehicle, brake, gear etc..

Sub-step 20842, when the orientation of barrier is left side, alternatively, the orientation of barrier is the shape of right side and barrier When state is stationary state, the minimum range controlled between vehicle and barrier is greater than safe distance.

In practical application, for vehicle driving on lane, the lane on the left of vehicle current driving lane is usually to drive in the wrong direction Lane or the overtaking lane travelled in the same direction, the lane that the lane on the right side of vehicle current driving lane usually travels in the same direction Or pavement, so, the barrier positioned at vehicle left side is usually all vehicle, and the barrier positioned at vehicle right side is usually all Vehicle or pedestrian.

When the orientation of barrier is left side, barrier may be the either retrograde vehicle of vehicle for needing to overtake other vehicles, vehicle Travel controlling system can control the throttle of vehicle, brake, gear etc., and the minimum range between vehicle and barrier is made Greater than safe distance.

When the orientation of barrier is right side and remains static, vehicle is needed by section where barrier, at this point, Controlling device for vehicle running can control the throttle of vehicle, brake, gear etc., and the minimum between vehicle and barrier is made Distance is greater than safe distance, that is to say, controlling device for vehicle running controls vehicle when by section where barrier and obstacle The distance between object is greater than safe distance.

Sub-step 20843, when the orientation of barrier is right side and the state of barrier is moving condition, alternatively, barrier Orientation be front and when the state of barrier is moving condition, control vehicle deceleration traveling, and keeping between barrier Minimum range is greater than safe distance.

When the orientation of barrier is right side and the state of barrier is moving condition, barrier is possible to from vehicle right side Lane is moved to lane where vehicle, at this point, may collide, lead with barrier if the travel speed of vehicle is too fast Traffic accident is caused, therefore, controlling device for vehicle running can control vehicle deceleration traveling, and keep between barrier Minimum range be greater than safe distance.Illustratively, controlling device for vehicle running is reduced by the accelerator open degree of control vehicle, gear Reduce, the control vehicle deceleration traveling such as braking strength increase, and the minimum range between barrier is kept to be greater than safe distance.

When the orientation of barrier is front and the state of barrier is moving condition, then illustrate that the front of vehicle has row Vehicle is sailed, at this point, controlling device for vehicle running can control vehicle deceleration traveling, and keeps the minimum range between barrier It greater than safe distance, that is to say, controlling device for vehicle running control vehicle is in following state.

Sub-step 20844, when the orientation of barrier is front and the state of barrier is stationary state, control vehicle from Section where the left or right side of barrier breaks the barriers, and the minimum range between vehicle and barrier is kept to be greater than safety Distance.

When the orientation of barrier is front and the state of barrier is stationary state, illustrate the vehicle (barrier of vehicle front Hinder object) since failure and other reasons are in halted state, at this point, vehicle need lane change break the barriers where section.For example, vehicle Section where needing on the lane on the left of lane change to barrier and breaking the barriers.

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

Optionally, controlling device for vehicle running can be reduced by controlling the accelerator open degree of vehicle, and gear reduces, brake weight The control vehicle deceleration traveling such as degree increase, while the steering wheel for controlling vehicle rotates to the left (such as left-hand lane), becomes vehicle More to the left-hand lane of current lane, and the minimum range between vehicle and barrier is controlled greater than safe distance, control vehicle Section where breaking the barriers.

The state of sub-step 2084, the orientation for not obtaining barrier and barrier.

If controlling device for vehicle running determines that the characteristic parameter of barrier is unsatisfactory for default 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 does not control vehicle driving.

If barrier is not present in the running environment of controlling device for vehicle running monitoring vehicle in step 201, alternatively, There are barriers in the running environment of controlling device for vehicle running monitoring vehicle in step 201, and vehicle driving in step 206 Control device determines the volume of barrier no more than preset vol, then controlling device for vehicle running does not control vehicle driving.

It should be noted that the reflectivity of different materials is different, the numerical value of reflectivity can be indicated using percentage, example Such as, glass visible reflectance is about 4% (4 percent), and golden selectivity is very strong, and gold is about 50% to the reflectivity of green light, And to the reflectivity of infrared light up to 96% or more, furthermore reflectivity is also related with the incidence angle of the medium of surrounding materials and light, The embodiment of the present invention determines the material mark of barrier by the actual reflectance according to barrier, and then according to the material of barrier Material mark control vehicle driving, can be identified and be avoided to barrier automatically, improve travel safety.

It should be noted that the sequencing of vehicle travel control method step provided in an embodiment of the present invention can carry out Appropriate adjustment, step according to circumstances can also accordingly be increased and decreased, and anyone skilled in the art is in the present invention In the technical scope of exposure, the method that can readily occur in variation be should be covered by the protection scope of the present invention, therefore no longer It repeats.

With the development of science and technology, automobile is more and more common in life, become the essential vehicles of people's trip, It is convenient to bring for the trip of people, but in driving at night, since weather is more black, the sight of people narrow (human eye can Narrow depending on range), and become tired since people passes through darg, sight, attention and the physical efficiency of people are all in decline shape State causes to be easy to happen traffic accident.According to incompletely statistics, the incidence of night traffic accident is significantly greater than daytime.The present invention is implemented The size that example breaks the barriers to the reflection disturbance in judgement object of light, and then obtain characteristic parameter (color depth, the material of barrier Mark etc.), speed is automatically controlled according to the characteristic parameter of barrier, reduces traffic accident probability, improves night row The safety of vehicle.

Following is apparatus of the present invention embodiment, can be used for executing embodiment of the present invention method.For apparatus of the present invention reality Undisclosed details in example is applied, embodiment of the present invention method is please referred to.

Referring to FIG. 3, it illustrates a kind of block diagram of controlling device for vehicle running 300 provided in an embodiment of the present invention, it should Controlling device for vehicle running 300 can be used for executing the vehicle travel control method of Fig. 1 or Fig. 2-1 illustrated embodiment offer, ginseng See Fig. 3, which may include:

Monitoring modular 310, for during vehicle driving, monitoring in the running environment of vehicle with the presence or absence of obstacle Object.

Module 320 is obtained, if obtaining the characteristic parameter of barrier for there are barriers in the running environment of vehicle, Characteristic parameter is used to characterize the physical features of barrier.

Control module 330 controls vehicle driving for the characteristic parameter according to barrier.

In conclusion controlling device for vehicle running provided in an embodiment of the present invention, due to obtaining when monitoring barrier The characteristic parameter of barrier controls vehicle driving according to the characteristic parameter of barrier, therefore, even if the light of environment compared with Secretly, vehicle also can timely avoiding barrier, travel safety is higher, solve in the related technology the light of environment compared with When dark, the lower problem of travel safety has achieved the effect that improve travel safety.

Fig. 4-1 is please referred to, it illustrates the frames of another controlling device for vehicle running 400 provided in an embodiment of the present invention Figure, the controlling device for vehicle running 400 can be used for executing the vehicle driving controlling party of Fig. 1 or Fig. 2-1 illustrated embodiment offer Method, referring to fig. 4-1, the controlling device for vehicle running 400 can include but is not limited to:

Monitoring modular 410, for during vehicle driving, monitoring in the running environment of vehicle with the presence or absence of obstacle Object；

Module 420 is obtained, for, there are when barrier, obtaining the characteristic parameter of barrier in the running environment of vehicle, Characteristic parameter is used to characterize the physical features of barrier；

Control module 430 controls vehicle driving for the characteristic parameter according to barrier.

Optionally, Fig. 4-2 is please referred to, it illustrates a kind of frames for control module 430 that Fig. 4-1 illustrated embodiment provides Figure, referring to fig. 4-2, which includes:

Whether judging unit 431, the characteristic parameter for disturbance in judgement object meet default characteristic parameter condition；

Acquiring unit 432, for obtaining barrier when the characteristic parameter of barrier meets default characteristic parameter condition The state in orientation and barrier；

Control unit 433, for controlling vehicle driving according to the orientation of barrier and the state of barrier.

Optionally, characteristic parameter includes: color depth, please refers to Fig. 4-3, and it illustrates the offers of Fig. 4-2 illustrated embodiment A kind of judging unit 431 block diagram, referring to fig. 4-3, which includes:

Whether the first judgment sub-unit 4311, the color depth for disturbance in judgement object are greater than pre-set color depth；

First determines subelement 4312, when being greater than pre-set color depth for the color depth in barrier, determines obstacle The characteristic parameter of object meets default characteristic parameter condition.

Optionally, the surrounding of vehicle is provided with camera, obtains module 420 and is used for:

The image of barrier is captured by camera；

Obtain the colour temperature of the image of barrier；

First judgment sub-unit 4311, is used for:

Optionally, characteristic parameter includes: material mark, please refers to Fig. 4-4, and it illustrates the offers of Fig. 4-2 illustrated embodiment Another judging unit 431 block diagram, referring to fig. 4-4, which includes:

Second judgment sub-unit 4313, for judging the material that whether there are obstacles in preset material mark record sheet It identifies, record has at least one material mark in preset material mark record sheet；

Second determines subelement 4314, for there are the material marks of barrier in preset material mark record sheet When, determine that the characteristic parameter of barrier meets default characteristic parameter condition.

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

Emit light to barrier by optical transmitting set；

The reflection light of barrier is received by optical receiver；

Target material mark is determined as to the material mark of barrier.

Optionally, the surrounding of vehicle is provided with optical transmitting set and optical receiver, please continue to refer to Fig. 4-1, the vehicle driving Control device 400 further include:

Transmitting module 440, for emitting light to barrier by optical transmitting set；

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

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

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

Whether judgment module 480, the volume for disturbance in judgement object are greater than preset vol；

Control module 430, when being greater than preset vol for the volume in barrier, according to the characteristic parameter of barrier, control Vehicle driving processed.

Optionally, the orientation of barrier includes: front, rear, left or right side, and the state of barrier includes: mobile shape State or stationary state, control unit 433 are used for:

It should be understood that controlling device for vehicle running provided by the above embodiment is when driving vehicle, only with above-mentioned each The division progress of functional module can according to need and for example, in practical application by above-mentioned function distribution by different function Energy module is completed, i.e., the internal structure of device is divided into different functional modules, to complete whole described above or portion Divide function.In addition, controlling device for vehicle running provided by the above embodiment and embodiment of the method belong to same design, it is specific real Existing process is detailed in embodiment of the method, and which is not described herein again.

Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware It completes, relevant hardware can also be instructed to complete by program, the program can store 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 merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.

Claims

1. a kind of vehicle travel control method, which is characterized in that the described method includes:

If there are barriers in the running environment of the vehicle, the characteristic parameter of the barrier, the characteristic parameter are obtained For characterizing the physical features of the barrier；

According to the characteristic parameter of the barrier, the vehicle driving is controlled；

Wherein, the characteristic parameter includes color depth, and the color depth is used to indicate the color of the barrier；Described According to the characteristic parameter of the barrier, the vehicle driving is controlled, comprising:

If the characteristic parameter of the barrier meets the default characteristic parameter condition, orientation and the institute of the barrier are obtained State the state of barrier；

According to the state in the orientation of the barrier and the barrier, the vehicle driving is controlled；

Wherein, judge whether the characteristic parameter of the barrier meets default characteristic parameter condition, comprising:

If the color depth of the barrier is greater than the pre-set color depth, it is determined that the characteristic parameter of the barrier meets The default characteristic parameter condition.

2. the method according to claim 1, wherein the surrounding of the vehicle is provided with camera, the acquisition The characteristic parameter of the barrier, comprising:

The image of the barrier is captured by the camera；

Obtain the colour temperature of the image of the barrier；

If the value of the colour temperature of the barrier is greater than the preset color temperature value, it is determined that the color depth of the barrier is greater than institute State pre-set color depth.

3. the method according to claim 1, wherein the characteristic parameter includes: material mark, the judgement institute Whether the characteristic parameter for stating barrier meets default characteristic parameter condition, comprising:

Judge the material mark that whether there is the barrier in preset material mark record sheet, the preset material mark Record has at least one material mark in record sheet；

If in the preset material mark record sheet, there are the material marks of the barrier, it is determined that the spy of the barrier Sign parameter meets the default characteristic parameter condition.

4. according to the method described in claim 3, it is characterized in that, the surrounding of the vehicle is provided with optical transmitting set and light-receiving Device, the characteristic parameter for obtaining the barrier, comprising:

Emit light to the barrier by the optical transmitting set；

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

According to the actual reflectance, the corresponding relationship of preset reflectivity and material mark is inquired, obtains the practical reflection The corresponding target material mark of rate, each material mark are used to indicate a kind of material；

Target material mark is determined as to the material mark of the barrier.

5. method according to any one of claims 1 to 4, which is characterized in that the surrounding of the vehicle is provided with optical transmitting set And optical receiver, in the characteristic parameter according to the barrier, before controlling the vehicle driving, the method is also wrapped It includes:

Emit light to the barrier by the optical transmitting set；

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

Determine the reflection light quantity of the reflection light；

Judge whether the volume of the barrier is greater than preset vol；

If the volume of the barrier, which is greater than the preset vol, controls the vehicle according to the characteristic parameter of the barrier Traveling.

6. method according to any one of claims 1 to 4, which is characterized in that the orientation of the barrier include: front, after Side, left or right side, the state of the barrier includes: moving condition or stationary state, the side according to the barrier The state of position and the barrier, controls the vehicle driving, comprising:

When the orientation of the barrier is left side, alternatively, the orientation of the barrier is right side and the state of the barrier is When stationary state, the minimum range controlled between the vehicle and the barrier is greater than safe distance；

When the orientation of the barrier is right side and the state of the barrier is moving condition, alternatively, the side of the barrier Position be the state of front and the barrier when being moving condition, controls the vehicle deceleration traveling, and keeps and the obstacle Minimum range between object is greater than safe distance；

When the orientation of the barrier is front and the state of the barrier is stationary state, the vehicle is controlled from described The left or right side of barrier keeps the minimum between the vehicle and the barrier by section where the barrier Distance is greater than safe distance.

7. a kind of controlling device for vehicle running, which is characterized in that described device includes:

Monitoring modular, for monitoring in the running environment of the vehicle during vehicle driving, whether there are obstacles；

Module is obtained, for, there are when barrier, obtaining the characteristic parameter of the barrier in the running environment of the vehicle, The characteristic parameter is used to characterize the physical features of the barrier；

Control module controls the vehicle driving for the characteristic parameter according to the barrier；

Wherein, the characteristic parameter includes color depth, and the color depth is used to indicate the color of the barrier；The control Molding block, comprising:

Acquiring unit, for obtaining the barrier when the characteristic parameter of the barrier meets the default characteristic parameter condition Hinder the orientation of object and the state of the barrier；And

Control unit, for controlling the vehicle driving according to the orientation of the barrier and the state of the barrier；

The judging unit, comprising:

First determination subelement, when being greater than the pre-set color depth for the color depth in the barrier, described in determination The characteristic parameter of barrier meets the default characteristic parameter condition.

8. device according to claim 7, which is characterized in that the surrounding of the vehicle is provided with camera, the acquisition Module is used for:

The image of the barrier is captured by the camera；

Obtain the colour temperature of the image of the barrier；

First judgment sub-unit, is used for:

9. device according to claim 7, which is characterized in that the characteristic parameter includes: material mark, and the judgement is single Member, comprising:

Second judgment sub-unit, the material mark for judging to whether there is the barrier in preset material mark record sheet Know, record has at least one material mark in the preset material mark record sheet；

Second determines subelement, for there are the material marks of the barrier in the preset material mark record sheet When, determine that the characteristic parameter of the barrier meets the default characteristic parameter condition.

10. device according to claim 9, which is characterized in that the surrounding of the vehicle is provided with optical transmitting set and light connects Device is received, the acquisition module is used for:

Emit light to the barrier by the optical transmitting set；

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

Target material mark is determined as to the material mark of the barrier.

11. according to any device of claim 7 to 10, which is characterized in that the surrounding of the vehicle is provided with light emitting Device and optical receiver, described device further include:

The control module, when being greater than the preset vol for the volume in the barrier, according to the spy of the barrier Parameter is levied, the vehicle driving is controlled.

12. according to any device of claim 7 to 10, which is characterized in that the orientation of the barrier include: front, Rear, left or right side, the state of the barrier include: moving condition or stationary state, and described control unit is used for: