CN106926807A - The control method of automobile, device and automobile - Google Patents
The control method of automobile, device and automobile Download PDFInfo
- Publication number
- CN106926807A CN106926807A CN201710171159.3A CN201710171159A CN106926807A CN 106926807 A CN106926807 A CN 106926807A CN 201710171159 A CN201710171159 A CN 201710171159A CN 106926807 A CN106926807 A CN 106926807A
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- Prior art keywords
- automobile
- road
- information
- barrier
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
- B60K2031/0016—Identification of obstacles; Selection of a target vehicle
Abstract
The invention discloses a kind of control method of automobile, device and automobile, the described method comprises the following steps：Obtain the road information of automobile current driving road；Detect and whether there is barrier in the preset range of automobile；If there is barrier in the preset range of automobile, the distance between barrier and automobile are obtained；The distance between road information and barrier according to the automobile current driving road and automobile corresponding control strategy of selection is controlled with to automobile.The control method of automobile of the invention, automobile can direct access current driving road road information, without machine vision, so as to greatly reduce the cost of Machine Vision Recognition in automobile, be conducive to vehicle intellectuality and its using process popularization.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of control method of automobile, a kind of control device of automobile
With a kind of automobile.
Background technology
Currently, in the great attention of countries in the world auto maker and scientific research institutions and IT (containing internet) enterprise
Under transboundary participating in, flourished with the intelligent automobile research and development that intelligence auxiliary drives with unmanned technology is representative.
At present, intelligent automobile carries out Intellisense mainly by means of onboard sensor, is determined by perception information treatment, wisdom
Plan and automatically control to wait and implement Vehicular intelligent control, wherein, Vehicular intelligent control may include to warn class to drive auxiliary, intervention class
Drive auxiliary (for example, being partial to the driving auxiliary of active safety), conditional automatic Pilot and complete automatic Pilot etc..Its
In, warn the driving auxiliary of class to be popularized very much on volume production car, the driving auxiliary for intervening class has been applied, but is completely driven automatically
Sail because the limitation of technology and regulation, substantially also all in research, test phase.
The existing environment sensing related to intelligent driving is using the realization, machine jointly of locating module and Machine Vision Recognition
Sensor used by device visual identity has camera, ultrasonic radar, millimeter wave/microwave radar, laser radar, infrared sensor
Deng for not recognizing transport information, detecting obstacles thing distance, cognitive disorders species not etc., because of sensor cost, working environment, sense
Survey effect, perceived accuracy is each has something to recommend him, Multi-sensor Fusion is trend of the times.Thus required effective information is extracted, distortion figure
As correction, data conversion and transmission, matching verification etc. are required for various algorithms to support, substantial amounts of data operation, treatment and biography
Defeated performance to chip, network (for example, In-vehicle networking and wireless network) bandwidth and speed band come very big challenge, and property high
The sensor of energy is expensive (such as, about 4.7 ten thousand yuan of 77G millimetre-wave radars, 64 line laser radars are ten thousand yuan about more than 50), so that car
Cost remain high, have a strong impact on vehicle intellectuality and its using process popularization.
The content of the invention
It is contemplated that at least solving one of technical problem in above-mentioned technology to a certain extent.
Therefore, first purpose of the invention is to propose a kind of control method of automobile, automobile direct access can be made
The road information of current driving road, without machine vision, so as to greatly reduce Machine Vision Recognition in automobile into
This, is conducive to the intellectuality and its popularization using process of vehicle.
Second object of the present invention is to propose a kind of control device of automobile.
Third object of the present invention is to propose a kind of automobile.
To reach above-mentioned purpose, first aspect present invention embodiment proposes a kind of control method of automobile, including following
Step：Obtain the road information of automobile current driving road；Detect in the preset range of the automobile with the presence or absence of barrier；Such as
There is barrier in the preset range of really described automobile, then obtain the distance between the barrier and described automobile；According to institute
State the corresponding control plan of the distance between the road information and the barrier of automobile current driving road and automobile selection
Slightly it is controlled with to the automobile.
The control method of the automobile of the embodiment of the present invention, obtains the road information of automobile current driving road, then first
Detect and whether there is barrier in the preset range of automobile, if there is barrier in the preset range of automobile, obtain obstacle
The distance between thing and automobile, finally according to the distance between road information and barrier and the automobile of automobile current driving road
Corresponding control strategy is selected to be controlled with to automobile.Thus, the method can make automobile direct access current driving road
Road information, without machine vision, so as to greatly reduce the cost of Machine Vision Recognition in automobile, be conducive to vehicle
Intellectuality and its using process popularization.
In addition, the control method of the automobile proposed according to the above embodiment of the present invention can also have following additional technology
Feature：
In one embodiment of the invention, by the transportation database with the automobile and the positioner of the automobile
Communicated with obtaining the road information of automobile current driving road.
In one embodiment of the invention, the road information includes that the attached road signs information of road, road are attached
One or more in the structured message of the traffic marking information, road network information and road of category, the barrier includes
The barrier of the barrier of the vehicle front, the barrier at the automobile rear and the automobile both sides.
In one embodiment of the invention, the control method of above-mentioned automobile also includes：If the default model of the automobile
There is no barrier in enclosing, then the road information according to the automobile current driving road selects corresponding control strategy with to institute
Automobile is stated to be controlled.
In one embodiment of the invention, the road information and the barrier according to the automobile current driving road
Hinder the distance between the thing and the automobile corresponding control strategy of selection to be controlled with to the automobile, specifically include：According to
The attached road signs information of the road and/or the attached traffic marking information of the road determine that the automobile needs to accelerate
Or need to slow down；When true according to the attached traffic marking information of the attached road signs information of the road and/or the road
When the fixed automobile needs to accelerate, whether then the distance between the barrier of the vehicle front and described automobile are determined whether
More than default safe distance；If the distance between the barrier of the vehicle front and described automobile are more than the preset security
Distance, then control the automobile to accelerate；If the distance between the barrier of the vehicle front and described automobile are less than or wait
In the default safe distance, then the car deceleration is controlled, and send corresponding prompt message.
In one embodiment of the invention, the control method of above-mentioned automobile also includes：When attached according to the road
When road signs information and/or the attached traffic marking information of the road determine that the automobile needs to slow down, the vapour is controlled
Car slows down.
In one embodiment of the invention, it is described that correspondence is selected according to the road information of the automobile current driving road
Control strategy be controlled with to the automobile, specifically include：According to the attached road signs information of the road and/or institute
State the attached traffic marking information of road and determine that the automobile needs to accelerate or needs to slow down；When according to the attached friendship of the road
When logical flag information and/or the attached traffic marking information of the road determine that the automobile needs to accelerate, the automobile is controlled
Accelerate；Described in being determined according to the attached traffic marking information of the attached road signs information of the road and/or the road
When automobile needs to slow down, the car deceleration is controlled.
To reach above-mentioned purpose, second aspect present invention embodiment proposes a kind of control device of automobile, including：First
Acquisition module, first acquisition module is used to obtain the road information of automobile current driving road；Detection module, the detection
Module is used to detect that the preset range of the automobile to be interior with the presence or absence of barrier；Second acquisition module, second acquisition module
For when there is barrier in the preset range of the automobile, the distance between the barrier and described automobile are obtained；Control
Molding block, the control module is used for road information and the barrier and the vapour according to the automobile current driving road
The distance between car selects corresponding control strategy to be controlled with to the automobile.
The control device of the automobile of the embodiment of the present invention, the road of automobile current driving road is obtained by the first acquisition module
Road information, and detected with the presence or absence of barrier in the preset range of automobile, when the preset range internal memory of automobile by detection module
In barrier, the distance between barrier and automobile are obtained by the second acquisition module, make control module current according to automobile
The distance between the road information and barrier of the travel and automobile corresponding control strategy of selection is controlled with to automobile.
Thus, the device can make the road information of automobile direct access current driving road, without machine vision, so that significantly
The cost of Machine Vision Recognition in automobile is reduced, is conducive to the intellectuality and its popularization using process of vehicle.
In addition, the control device of the automobile proposed according to the above embodiment of the present invention can also have following additional technology
Feature：
In one embodiment of the invention, first acquisition module is by the transportation database with the automobile and institute
The positioner for stating automobile is communicated with obtaining the road information of automobile current driving road.
In one embodiment of the invention, the road information includes that the attached road signs information of road, road are attached
One or more in the structured message of the traffic marking information, road network information and road of category, the barrier includes
The barrier of the barrier of the vehicle front, the barrier at the automobile rear and the automobile both sides.
In one embodiment of the invention, the control module, is additionally operable to：Do not deposited when in the preset range of the automobile
In barrier, the road information according to the automobile current driving road selects corresponding control strategy to enter with to the automobile
Row control.
In one embodiment of the invention, the control module, specifically for：According to the attached traffic mark of the road
Will information and/or the attached traffic marking information of the road determine that the automobile needs to accelerate or needs to slow down；When according to institute
State the attached road signs information of road and/or the attached traffic marking information of the road determines that the automobile needs to accelerate
When, then determine whether the distance between the barrier of the vehicle front and described automobile whether more than default safe distance；
If the distance between the barrier of the vehicle front and described automobile are more than the default safe distance, the vapour is controlled
Car accelerates；If the distance between the barrier of the vehicle front and described automobile less than or equal to the preset security away from
From then controlling the car deceleration, and send corresponding prompt message.
In one embodiment of the invention, the control module, is additionally operable to：When according to the attached traffic mark of the road
When will information and/or the attached traffic marking information of the road determine that the automobile needs to slow down, the car deceleration is controlled.
In one embodiment of the invention, the control module, specifically for：According to the attached traffic mark of the road
Will information and/or the attached traffic marking information of the road determine that the automobile needs to accelerate or needs to slow down；When according to institute
State the attached road signs information of road and/or the attached traffic marking information of the road determines that the automobile needs to accelerate
When, control the automobile to accelerate；When according to the attached traffic mark of the attached road signs information of the road and/or the road
When line information determines that the automobile needs to slow down, the car deceleration is controlled.
To achieve these goals, a kind of automobile that third aspect present invention embodiment is proposed includes：Second party of the present invention
The control device of the automobile of face embodiment.
The automobile of the embodiment of the present invention, by the control device of above-mentioned automobile, can make automobile direct access current driving
The road information of road, without machine vision, so as to greatly reduce the cost of Machine Vision Recognition in automobile, is conducive to
The intellectuality and its popularization using process of vehicle.
The advantage of the additional aspect of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by practice of the invention.
Brief description of the drawings
Fig. 1 is the flow chart of the control method of automobile according to an embodiment of the invention.
Fig. 2 is the flow chart of the control method of automobile in accordance with another embodiment of the present invention.
Fig. 3 is the flow chart of the control method of the automobile according to another embodiment of the invention.
Fig. 4 is according to a flow chart for the control method of the automobile of specific example of the invention.
Fig. 5 is the block diagram of the control device of the automobile according to another embodiment of the invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
It is exemplary to scheme the embodiment of description, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Control method, device and the automobile of the automobile of the embodiment of the present invention described below in conjunction with the accompanying drawings.
Fig. 1 is the flow chart of the control method of automobile according to an embodiment of the invention.
As shown in figure 1, the control method of the automobile of the embodiment of the present invention is comprised the following steps：
S1, obtains the road information of automobile current driving road.Wherein, automobile may include electric automobile, hybrid power vapour
Car and internal-combustion engines vehicle etc., road information may include the attached traffic marking information of the attached road signs information of road, road,
One or more in the structured message of road network information and road.
In one embodiment of the invention, can be led to by the positioner of transportation database and automobile with automobile
Believe to obtain the road information of automobile current driving road.Wherein, transportation database is storable in the memory space of automobile, fixed
Position device can be arranged in automobile, for example, during the positioner can install the console of automobile, can also be arranged on the bottom of automobile
Disk, does not limit herein.
Wherein, positioner may include GPS (Global Positioning System, global positioning system) locator,
The GPS locator can in real time position the position that automobile is presently in.
It should be noted that the memory space described in above-described embodiment is not limited only to the memory space based on entity,
For example, hard disk, above-mentioned memory space can also be the memory space (cloud storage space) of the network hard disc of connection automobile.
In addition, as intelligent theory is in the popularization of the whole industry, transportation database also achieves electronization.Due to 1. road
Road is designed and built has the standard can be according to, has the technological documents such as highway layout standard, Road Design specification to provide guidance, road
Structural data, such as the grade of road, cross section width and form, pavement structure, surface smoothness, road it is linear
(horizontal curve combination, flat vertical combination etc.) can be recorded；②《People's Republic of China's law on road traffic safety》To the road in the whole nation
Traffic signals have carried out Uniform provisions, and traffic signals include the finger of traffic sign, traffic marking, traffic lights and traffic-police
Wave；Traffic signals need to comply with the national standard requirements, and in actually performing, according to current needs should in time set up, exchange, more
New road traffic signal, to be conducive to traffic safety and unimpeded；③GB5768《Road signs and graticule》To traffic
Mark and graticule have carried out detailed regulation, and their arrangement has regulations to abide by, and accurate and effective traffic sign and graticule can
For driver provides the information such as abundant ban, warning, instruction, can play a part of to reduce traffic accident, so traffic sign
Can be integrated into transportation database by way of data completely with graticule.
In an embodiment of the present invention, according to GB5768-2009《Road signs and graticule》The traffic sign for obtaining
With graticule quantity collect can as described in Table 1, wherein, indication marking is often combined with construction safety mark to be made
With.
Table 1
Specifically, during running car, first by being communicated with the positioner installed in automotive interior come real
When obtain automobile current driving positional information, and after getting the positional information with automobile memory space in road data
Storehouse is communicated, and road information corresponding with the positional information is recalled from the transportation database according to the positional information,
For example, recalling the attached traffic marking information of the attached road signs information of the position road, the position road and the position road
The structured message on road etc..It should be noted that the background maintenance of above-mentioned transportation database is open, it is easy to the function having permission
Department updates at any time, so that driver can obtain newest road information, improves vehicle and road positioning associated, transport information
Binding and the reliability of vehicle guiding.
In an embodiment of the present invention, during the information source of above-mentioned transportation database may include GIS-Geographic Information System (GIS)
Electronic map (numerical map), special electronic map and special transportation database etc..Wherein, GIS-Geographic Information System
(GIS) be computer hardware and software system support under, to earth top layer (including atmosphere) space all or in part in it is relevant
Geographic distribution data is acquired, stores, managing, computing, the technological system analyzing, be shown and described, its core be position with
Geography information, it is therefore an objective to for User Activity provides Informational support with service.
S2, detects and whether there is barrier in the preset range of automobile.Wherein, preset range can be carried out according to actual conditions
Demarcate, barrier may include the barrier of the barrier of vehicle front, the barrier at automobile rear and automobile both sides.
S3, if there is barrier in the preset range of automobile, obtains the distance between barrier and automobile.
Specifically, after the road information that automobile gets current driving road, can be perceived by built-in machine vision
The front of device detection automobile whether there is barrier, if detect the presence of barrier in front of automobile, can obtain in real time
The distance between vehicle front barrier and automobile.Wherein, machine vision sensing device may include camera, ultrasonic radar and
Infrared ray sensor etc..
In other embodiments of the invention, automobile is during traveling, when barrier enters the preset range of automobile
When, the machine vision sensing device of automobile can the automatic sensing barrier in which orientation of automobile, and the real-time detection obstacle
The distance between thing and automobile.When the barrier is in the front of automobile, and the distance between the barrier and automobile are less than default
During safe distance, then control automobile in warning device send corresponding warning message, with call user's attention keep safety away from
From.
The corresponding control of selection of the distance between S4, road information and barrier according to automobile current driving road and automobile
System strategy is controlled with to automobile.
Further, in one embodiment of the invention, as described in Figure 2, according to the road of automobile current driving road
The distance between the information and barrier and automobile corresponding control strategy of selection is controlled with to automobile, specifically may include following
Step：
S41, automobile needs are determined according to the traffic marking information that the attached road signs information of road and/or road are attached
Accelerate or need to slow down.
Wherein, in the attached road signs information of road the friendship in traffic sign and the attached traffic marking information of road
Logical graticule can be relevant with speed.For example, above-mentioned traffic sign can be to specify the max. speed mark in this section, specify this section
Minimum speed mark and the speed that is shown with mark of suggestion travel, remind front to there is village, bend, outlet, ring road etc. to mark
Will.Above-mentioned traffic marking can answer slow down for warning driver front, be mainly disposed to the accident Yi Falu on urban road
Section, sharp curve way, the graticule in the front section on lower abrupt slope.
S42, when determining automobile need according to the attached traffic marking information of the attached road signs information of road and/or road
When accelerating, then determine whether the distance between barrier and automobile of vehicle front whether more than default safe distance.
Wherein, default safe distance can be demarcated according to actual conditions, for example, according to the difference of running car speed,
Default safe distance would also vary from, and generally speed is faster, and default safe distance is bigger.
S43, if the distance between the barrier of vehicle front and automobile are more than default safe distance, control automobile adds
Speed.
S44, if the distance between the barrier of vehicle front and automobile are less than or equal to default safe distance, controls
Car deceleration, and send corresponding prompt message.For example, sending the voice message that please keep safe distance between vehicles.
In addition, work as determining automobile according to the attached traffic marking information of the attached road signs information of road and/or road
When needing to slow down, car deceleration can be directly controlled.
It should be noted that when mark and graticule and Route guiding, speed control phase in the road information that automobile is obtained
Guan Shi, the response of automobile is directly made in control strategy, such as：Rate limitation, one-way road, space confirmation etc..When automobile is obtained
Road information in mark and graticule and Route guiding, speed control when being not directly relevant to, then need not participate in active control, root
Reminded and warned according to needing, such as：No horn mark, easy slide sign will, danger mark etc..
In sum, the control method of automobile provided in an embodiment of the present invention, can make automobile directly from transportation database
The middle road information for obtaining current driving road, without machine vision, so as to machine vision is known in greatly reducing automobile
Other cost, is conducive to the intellectuality and its popularization using process of vehicle.
In one embodiment of the invention, if in the control method of the above-mentioned automobile also preset range including automobile not
There is barrier, then the road information according to automobile current driving road selects corresponding control strategy to be controlled with to automobile
System.
Further, in one embodiment of the invention, as shown in figure 3, according to the road of automobile current driving road
Information selects corresponding control strategy to be controlled with to automobile, specifically includes following steps：
S301, automobile need are determined according to the traffic marking information that the attached road signs information of road and/or road are attached
Accelerate or need to slow down.
S302, when determining automobile according to the attached traffic marking information of the attached road signs information of road and/or road
When needing to accelerate, control automobile accelerates.
S303, when determining automobile according to the attached traffic marking information of the attached road signs information of road and/or road
When needing to slow down, car deceleration is controlled.
In an embodiment of the present invention, because the practical situations of traffic sign, traffic marking are more complicated, existing selector
Specific mark, graticule is divided to be listed in following tables 2.
Table 2
As shown in table 2, when the mark in the road information that automobile is obtained and graticule " with velocity correlation ", if speed is discontented
Foot mark, graticule information requirements, in moving forward either accelerate, or slow down, when need accelerate when, front such as clear,
Or front if any barrier and the two away from more than safety driving distance, now just can directly accelerate.
When the mark in the road information that automobile is obtained and graticule " related to spacing ", if actual spacing is unsatisfactory for mark
Will, graticule information requirements, because spacing is more big safer, several situations in table 2 all need to slow down.
In addition, can directly control vehicle to evade for the situation that vehicle needs are evaded, for example, no overtaking, car can be limited
Turn to and lane-change, there is a construction distinctive emblem, bootable Vehicle By-pass drives for auxiliary, if further have prompting demand or
Person is that when needing to remind, can be warned by voice or icon, need not typically be warned for unmanned, driver on car
If except having special demands.
To make those skilled in the art more clearly understand the present invention, Fig. 4 is according to a vapour for specific example of the invention
The flow chart of the control method of car, the execution step of the control method of automobile of the present invention can be as shown in Figure 4.
To sum up, the control method of the automobile of the embodiment of the present invention, obtains the road information of automobile current driving road first,
Then whether there is barrier in the preset range of detection automobile, if there is barrier in the preset range of automobile, obtain
The distance between barrier and automobile, finally according between the road information and barrier and automobile of automobile current driving road
The corresponding control strategy of distance selection is controlled with to automobile.Thus, the method can make automobile direct access current driving
The road information of road, without machine vision, so as to greatly reduce the cost of Machine Vision Recognition in automobile, is conducive to
The intellectuality and its popularization using process of vehicle.
Fig. 5 is the block diagram of the control device of the automobile according to another embodiment of the invention.
As shown in figure 5, the control device of the automobile of the embodiment of the present invention includes：First acquisition module 100, detection module
200th, the second acquisition module 300 and control module 400.
Wherein, the first acquisition module 100 is used to obtain the road information of automobile current driving road.Wherein, automobile can be wrapped
Electric automobile, hybrid vehicle and internal-combustion engines vehicle etc. are included, road information may include the attached road signs information of road, road
One or more in the structured message of road attached traffic marking information, road network information and road.
In one embodiment of the invention, the first acquisition module 100 can be by the transportation database and automobile with automobile
Positioner communicated with obtaining the road information of automobile current driving road.Wherein, transportation database is storable in vapour
In the memory space of car, positioner can be arranged in automobile, for example, during the positioner can install the console of automobile,
The chassis of automobile can be arranged on, not be limited herein.
Wherein, positioner may include GPS (Global Positioning System, global positioning system) locator,
The GPS locator can in real time position the position that automobile is presently in.
It should be noted that the memory space described in above-described embodiment is not limited only to the memory space based on entity,
For example, hard disk, above-mentioned memory space can also be the memory space (cloud storage space) of the network hard disc of connection automobile.
In addition, as intelligent theory is in the popularization of the whole industry, transportation database also achieves electronization.Due to 1. road
Road is designed and built has the standard can be according to, has the technological documents such as highway layout standard, Road Design specification to provide guidance, road
Structural data, such as the grade of road, cross section width and form, pavement structure, surface smoothness, road it is linear
(horizontal curve combination, flat vertical combination etc.) can be recorded；②《People's Republic of China's law on road traffic safety》To the road in the whole nation
Traffic signals have carried out Uniform provisions, and traffic signals include the finger of traffic sign, traffic marking, traffic lights and traffic-police
Wave；Traffic signals need to comply with the national standard requirements, and in actually performing, according to current needs should in time set up, exchange, more
New road traffic signal, to be conducive to traffic safety and unimpeded；③GB5768《Road signs and graticule》To traffic
Mark and graticule have carried out detailed regulation, and their arrangement has regulations to abide by, and accurate and effective traffic sign and graticule can
For driver provides the information such as abundant ban, warning, instruction, can play a part of to reduce traffic accident, so traffic sign
Can be integrated into transportation database by way of data completely with graticule.
In an embodiment of the present invention, according to GB5768-2009《Road signs and graticule》The traffic sign for obtaining
With graticule quantity collect can as described in Table 1, wherein, indication marking is often combined with construction safety mark to be made
With.
Table 1
Specifically, during running car, the first acquisition module 100 first by with determining installed in automotive interior
Position device communication to obtain in real time the positional information of automobile current driving, and stores empty with automobile after the positional information is got
Between in transportation database communicated, and recalled from the transportation database and the positional information pair according to the positional information
The road information answered, for example, the first acquisition module 100 recalls the attached traffic sign of the position road from the transportation database
Structured message of the attached traffic marking information of information, the position road and the position road etc..It should be noted that above-mentioned road
The background maintenance in circuit-switched data storehouse is open, is easy to the functional department having permission to update at any time, so that driver can obtain most
New road information, improves the reliability of vehicle and road positioning associated, transport information binding and vehicle guiding.
In an embodiment of the present invention, during the information source of above-mentioned transportation database may include GIS-Geographic Information System (GIS)
Electronic map (numerical map), special electronic map and special transportation database etc..Wherein, GIS-Geographic Information System
(GIS) be computer hardware and software system support under, to earth top layer (including atmosphere) space all or in part in it is relevant
Geographic distribution data is acquired, stores, managing, computing, the technological system analyzing, be shown and described, its core be position with
Geography information, it is therefore an objective to for User Activity provides Informational support with service.
Detection module 200 is used to detect that the preset range of automobile to be interior with the presence or absence of barrier.Wherein, preset range can basis
Actual conditions are demarcated, and barrier may include the barrier of the barrier of vehicle front, the barrier at automobile rear and automobile both sides
Hinder thing.
Second acquisition module 300 is used for when there is barrier in the preset range of automobile, obtain barrier and automobile it
Between distance.
Specifically, after the road information that the first acquisition module 100 gets current driving road, detection module 200 can
The front for detecting automobile by built-in machine vision sensing device whether there is barrier, if detected deposited in front of automobile
In barrier, then the second acquisition module 300 can in real time obtain the distance between vehicle front barrier and automobile.Wherein, machine
Visual perception device may include camera, ultrasonic radar and infrared ray sensor etc..
In other embodiments of the invention, during traveling, detection module 200 can carry out real-time detection to automobile,
When detect barrier into automobile preset range when, the second acquisition module 300 can be automatic by machine vision sensing device
The distance between the barrier is perceived in which orientation of automobile, and the real-time detection barrier and automobile.When the barrier exists
The front of automobile, and the distance between the barrier and automobile less than default safe distance when, then control module 400 can control vapour
In-car warning device sends corresponding warning message, and safe distance is kept with call user's attention.
Control module 400 is for the distance between road information and barrier and automobile according to automobile current driving road
Corresponding control strategy is selected to be controlled with to automobile.
Further, in one embodiment of the invention, control module 400 is specifically for according to the attached traffic of road
Flag information and/or the attached traffic marking information of road determine that automobile needs to accelerate or needs to slow down.Wherein, road is attached
Traffic marking in the attached traffic marking information of traffic sign and road in road signs information can be relevant with speed.Example
Such as, above-mentioned traffic sign can be specify this section max. speed mark, specify this section minimum speed mark and suggestion
Travelled with the speed that mark shows, remind front to there is village, bend, outlet, ring road etc. to indicate.Above-mentioned traffic marking can be warning
Driver answers slow down in front, and the accident being mainly disposed on urban road easily sends out the front road on section, sharp curve way, lower abrupt slope
The graticule of section.
When according to the attached traffic marking information of the attached road signs information of road and/or road determine automobile need plus
When fast, then determine whether the distance between barrier and automobile of vehicle front whether more than default safe distance.Wherein, in advance
If safe distance can be demarcated according to actual conditions, for example, according to the difference of running car speed, default safe distance also can
Different, generally speed is faster, and default safe distance is bigger.
If the distance between the barrier of vehicle front and automobile are more than default safe distance, control automobile accelerates,
If the distance between the barrier of vehicle front and automobile are less than or equal to default safe distance, car deceleration is controlled, and
Corresponding prompt message is sent, for example, sending the voice message that please keep safe distance between vehicles.
In addition, in one embodiment of the invention, control module 400 can be additionally used in when according to the attached traffic mark of road
When will information and/or the attached traffic marking information of road determine that automobile needs to slow down, car deceleration is controlled.
It should be noted that when mark and graticule and Route guiding, speed control phase in the road information that automobile is obtained
Guan Shi, the response of automobile is directly made in control strategy, such as：Rate limitation, one-way road, space confirmation etc..When automobile is obtained
Road information in mark and graticule and Route guiding, speed control when being not directly relevant to, then need not participate in active control, root
Reminded and warned according to needing, such as：No horn mark, easy slide sign will, danger mark etc..
In sum, the control device of automobile provided in an embodiment of the present invention, can make automobile directly from transportation database
The middle road information for obtaining current driving road, without machine vision, so as to machine vision is known in greatly reducing automobile
Other cost, is conducive to the intellectuality and its popularization using process of vehicle.
In one embodiment of the invention, control module 400 can be additionally used in not there is no barrier when the preset range of automobile is interior
When hindering thing, the road information according to automobile current driving road selects corresponding control strategy to be controlled with to automobile.
Further, in one embodiment of the invention, control module 400 is particularly used according to the attached friendship of road
Logical flag information and/or the attached traffic marking information of road determine that automobile needs to accelerate or needs to slow down, when attached according to road
When the attached traffic marking information of the road signs information and/or road of category determines that automobile needs to accelerate, control automobile accelerates, when
When determining that automobile needs to slow down according to the attached traffic marking information of the attached road signs information of road and/or road, control
Car deceleration.
In an embodiment of the present invention, because the practical situations of traffic sign, traffic marking are more complicated, existing selector
Specific mark, graticule is divided to be listed in following tables 2.
Table 2
As shown in table 2, when the mark in the road information that automobile is obtained and graticule " with velocity correlation ", if speed is discontented
Foot mark, graticule information requirements, in moving forward either accelerate, or slow down, when need accelerate when, front such as clear,
Or front if any barrier and the two away from more than safety driving distance, now control module 400 just can directly control vapour
Car accelerates.
When the mark in the road information that automobile is obtained and graticule " related to spacing ", if actual spacing is unsatisfactory for mark
Will, graticule information requirements, because spacing is more big safer, several situations in table 2 all need to slow down, and now control module 400 can be with
Control car deceleration.
In addition, can directly control vehicle to evade for the situation that vehicle needs are evaded, for example, no overtaking, car can be limited
Turn to and lane-change, there is a construction distinctive emblem, the bootable Vehicle By-pass of control module 400 drives, for auxiliary if further having
Prompting demand is that control module 400 can be warned by voice or icon, for unmanned one when needing to remind
As need not warn, if except driver has a special demands on car.
To sum up, the control device of the automobile of the embodiment of the present invention, automobile current driving road is obtained by the first acquisition module
The road information on road, and detected with the presence or absence of barrier in the preset range of automobile, when the default model of automobile by detection module
Enclose interior when there is barrier, the distance between barrier and automobile are obtained by the second acquisition module, make control module according to vapour
The distance between the road information and barrier of the car current driving road and automobile corresponding control strategy of selection enters with to automobile
Row control.Thus, the device can make the road information of automobile direct access current driving road, without machine vision,
So as to greatly reduce the cost of Machine Vision Recognition in automobile, be conducive to the intellectuality and its popularization using process of vehicle.
In order to realize above-described embodiment, the present invention also proposes a kind of automobile, its control device for including above-mentioned automobile.
The automobile of the embodiment of the present invention, by the control device of above-mentioned automobile, can make automobile direct access current driving
The road information of road, without machine vision, so as to greatly reduce the cost of Machine Vision Recognition in automobile, is conducive to
The intellectuality and its popularization using process of vehicle.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, must rather than the device or element for indicating or imply meaning
With specific orientation, with specific azimuth configuration and operation, therefore must be not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In the description of the invention, " multiple " is meant that two or more,
Unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integrally；Can be that machinery connects
Connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be in two elements
The connection in portion or two interaction relationships of element.For the ordinary skill in the art, can be according to specific feelings
Condition understands above-mentioned term concrete meaning in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be with
It is the first and second feature directly contacts, or the first and second features are by intermediary mediate contact.And, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be with office
Combined in an appropriate manner in one or more embodiments or example.Additionally, in the case of not conflicting, the skill of this area
Art personnel can be tied the feature of the different embodiments or example described in this specification and different embodiments or example
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (15)
1. a kind of control method of automobile, it is characterised in that it includes following steps：
Obtain the road information of automobile current driving road；
Detect in the preset range of the automobile with the presence or absence of barrier；
If there is barrier in the preset range of the automobile, the distance between the barrier and described automobile are obtained；
The selection of the distance between road information and the barrier according to the automobile current driving road and the automobile is right
The control strategy answered is controlled with to the automobile.
2. the control method of automobile as claimed in claim 1, it is characterised in that wherein,
Communicated with obtaining automobile current driving by the positioner of the transportation database with the automobile and the automobile
The road information of road.
3. the control method of automobile as claimed in claim 1 or 2, it is characterised in that the road information includes that road is attached
Road signs information, the structured message of the attached traffic marking information, road network information and road of road in one kind
Or it is various, the barrier includes barrier, the barrier at the automobile rear and the automobile both sides of the vehicle front
Barrier.
4. the control method of automobile as claimed in claim 3, it is characterised in that also include：
If there is no barrier in the preset range of the automobile, according to the road information of the automobile current driving road
Corresponding control strategy is selected to be controlled with to the automobile.
5. the control method of automobile as claimed in claim 3, it is characterised in that described according to the automobile current driving road
Road information and the distance between the barrier and the automobile corresponding control strategy of selection carried out with to the automobile
Control, specifically includes：
The automobile is determined according to the traffic marking information that the attached road signs information of the road and/or the road are attached
Need to accelerate or need to slow down；
When determining the vapour according to the attached traffic marking information of the attached road signs information of the road and/or the road
When car needs to accelerate, then determine whether the distance between the barrier of the vehicle front and described automobile whether more than default
Safe distance；
If the distance between the barrier of the vehicle front and described automobile are more than the default safe distance, institute is controlled
State automobile acceleration；
If the distance between the barrier of the vehicle front and described automobile are less than or equal to the default safe distance,
The car deceleration is controlled, and sends corresponding prompt message.
6. the control method of automobile as claimed in claim 5, it is characterised in that also include：
When determining the vapour according to the attached traffic marking information of the attached road signs information of the road and/or the road
When car needs to slow down, the car deceleration is controlled.
7. the control method of automobile as claimed in claim 4, it is characterised in that described according to the automobile current driving road
Road information select corresponding control strategy to be controlled with to the automobile, specifically include：
The automobile is determined according to the traffic marking information that the attached road signs information of the road and/or the road are attached
Need to accelerate or need to slow down；
When determining the vapour according to the attached traffic marking information of the attached road signs information of the road and/or the road
When car needs to accelerate, the automobile is controlled to accelerate；
When determining the vapour according to the attached traffic marking information of the attached road signs information of the road and/or the road
When car needs to slow down, the car deceleration is controlled.
8. a kind of control device of automobile, it is characterised in that it includes：
First acquisition module, first acquisition module is used to obtain the road information of automobile current driving road；
Detection module, the detection module is used to detect that the preset range of the automobile to be interior with the presence or absence of barrier；
Second acquisition module, second acquisition module is used to, when there is barrier in the preset range of the automobile, obtain
The distance between the barrier and described automobile；
Control module, the control module be used for according to the road information and the barrier of the automobile current driving road with
The distance between described automobile selects corresponding control strategy to be controlled with to the automobile.
9. the control device of automobile as claimed in claim 8, it is characterised in that wherein,
First acquisition module by the positioner of the transportation database with the automobile and the automobile communicated with
Obtain the road information of automobile current driving road.
10. the control device of automobile as claimed in claim 8 or 9, it is characterised in that the road information includes that road is attached
Road signs information, the structured message of the attached traffic marking information, road network information and road of road in one kind
Or it is various, the barrier includes barrier, the barrier at the automobile rear and the automobile both sides of the vehicle front
Barrier.
The control device of 11. automobiles as claimed in claim 10, it is characterised in that the control module, is additionally operable to：
When there is no barrier in the preset range of the automobile, the road information choosing according to the automobile current driving road
Corresponding control strategy is selected to be controlled with to the automobile.
The control device of 12. automobiles as claimed in claim 10, it is characterised in that the control module, specifically for：
The automobile is determined according to the traffic marking information that the attached road signs information of the road and/or the road are attached
Need to accelerate or need to slow down；
When determining the vapour according to the attached traffic marking information of the attached road signs information of the road and/or the road
When car needs to accelerate, then determine whether the distance between the barrier of the vehicle front and described automobile whether more than default
Safe distance；
If the distance between the barrier of the vehicle front and described automobile are more than the default safe distance, institute is controlled
State automobile acceleration；
If the distance between the barrier of the vehicle front and described automobile are less than or equal to the default safe distance,
The car deceleration is controlled, and sends corresponding prompt message.
The control device of 13. automobiles as claimed in claim 12, it is characterised in that the control module, is additionally operable to：
When determining the vapour according to the attached traffic marking information of the attached road signs information of the road and/or the road
When car needs to slow down, the car deceleration is controlled.
The control device of 14. automobiles as claimed in claim 11, it is characterised in that the control module, specifically for：
The automobile is determined according to the traffic marking information that the attached road signs information of the road and/or the road are attached
Need to accelerate or need to slow down；
When determining the vapour according to the attached traffic marking information of the attached road signs information of the road and/or the road
When car needs to accelerate, the automobile is controlled to accelerate；
When determining the vapour according to the attached traffic marking information of the attached road signs information of the road and/or the road
When car needs to slow down, the car deceleration is controlled.
A kind of 15. automobiles, it is characterised in that the control device including the automobile as any one of claim 8-14.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710171159.3A CN106926807A (en) | 2017-03-21 | 2017-03-21 | The control method of automobile, device and automobile |
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| CN201710171159.3A CN106926807A (en) | 2017-03-21 | 2017-03-21 | The control method of automobile, device and automobile |
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| CN201710171159.3A Pending CN106926807A (en) | 2017-03-21 | 2017-03-21 | The control method of automobile, device and automobile |
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Application publication date: 20170707 |