CN107450547A - Automotive control system and the method ridden and run can be aided in - Google Patents
Automotive control system and the method ridden and run can be aided in Download PDFInfo
- Publication number
- CN107450547A CN107450547A CN201710729245.1A CN201710729245A CN107450547A CN 107450547 A CN107450547 A CN 107450547A CN 201710729245 A CN201710729245 A CN 201710729245A CN 107450547 A CN107450547 A CN 107450547A
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- automobile
- module
- distance
- target object
- decision
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000005021 gait Effects 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 5
- 230000001351 cycling effect Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 206010057855 Hypotelorism of orbit Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000241 respiratory effect Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
It is used to aid in the automotive control system ridden and run the present invention relates to a kind of, including：Distance and velocity measuring module, it is used to detect the distance of automobile and target object and the translational speed of target object apart from detection module, the data detected is transferred to Driving Decision-making module；Driving Decision-making module, Driving Decision-making module are input to driving execution module according to the translational speed of the distance and target object of automobile and target object for vehicle traveling direction and gait of march progress decision-making judgement, and by the result of decision-making judgement；And execution module is driven, the result that driving execution module judges according to decision-making is come automatic driving vehicle to cause automobile to be advanced in a manner of keeping preset distance with target object.It is used to aid in the automobile control method ridden and run the invention further relates to a kind of.It will be provided according to the automotive control system of the present invention and method and preferably ridden or running companion, it advantageously provides protection for cycling person or runner and feeds support.
Description
Technical field
The present invention relates to the control of autonomous driving vehicle, and a kind of more particularly to automobile that can aid in riding and running
Control system and method.
Background technology
Although the Spinning that people can be indoors is either ridden or road-work is to take exercise on treadmill
Body and keep the bodily form, but due to indoor sport is more uninteresting and for respiratory chamber outside fresh air, more and more
People are also selected at outdoor and the physical training such as ridden and run.
When living in downtown area, in order to be ridden, people generally require bicycle being put on automobile, driving
The region less to personnel, which again moves down the bicycle on automobile, is ridden.In this case complete ride after people often
Driving is needed to return to its residence, then people cannot ride bicycle too remote from the automobile driven with a distance from
Position, this greatly constrains the scope ridden.
It is section riding bicycle/running another problem is that due to riding bicycle or the people of running there is vehicle to pass through
The volume of member is relatively small, and the follow-up driver for sailing the vehicle come may not be in time in time slowing down and/or being avoided,
So as to cause the generation of traffic accident, or even entail dangers to is to riding bicycle or the life security of the personnel of running.
When riding and/or running of long range is being carried out, people generally require to carry substantial amounts of water and food to enter field headquarters
The supply of material is supported, and the carrying of the substantial amounts of water and food is for being often ten for the personnel of riding bicycle or running
Divide inconvenience.
The content of the invention
In order to overcome all or part of drawbacks described above, the present invention proposes a kind of to ride and running fan provides just
The control system and method for autonomous driving vehicle of profit.
On the one hand, it is used to aid in the automotive control system ridden and run the present invention relates to a kind of, it includes：
- distance and velocity measuring module, it is described apart from detection module be used for detect automobile and target object distance and
The data detected are transferred to Driving Decision-making module by the translational speed of target object, the distance with velocity measuring module；
- Driving Decision-making module, the Driving Decision-making module is according to the distance and object of the automobile and target object
The translational speed of body to carry out decision-making judgement for vehicle traveling direction and gait of march, and the result that decision-making is judged inputs
To driving execution module；And
- execution module is driven, it is described to drive result car described in come automatic Pilot that execution module is judged according to the decision-making
By cause the automobile by with the target object keep preset distance in a manner of advance.
The automotive control system for being used to aid in ride and run of the present invention can have following favourable aspect：
Advantageously, the distance comprises at least the first distance and velocity measuring mould on automobile with velocity measuring module
Block portion is divided and is separated with car body and be used for the second distance and velocity measuring module section being arranged on target object, institute
The first distance is stated to interact to obtain speed with velocity measuring module section with velocity measuring module section and the second distance
Degree and range data.
Advantageously, described automotive control system also include being used for the communication module that is communicated with other vehicles and/or
For determining the navigation module of navigation information.
Advantageously, described automotive control system also includes message processing module, and the message processing module is to target object
Mobile message recorded and compared the mobile message from the mobile message recorded on different automotive control systems
Compared with to obtain competition Information.
Advantageously, in addition to be arranged on automobile head and/or afterbody, at least showing navigation information and/or competing
The display module of Menaphtame breath.
On the other hand, it is used to aid in the automobile control method ridden and run, methods described the invention further relates to a kind of
Comprise the following steps：
Step 1：Detect automobile and the distance of target object and the translational speed of target object；
Step 2：According to distance of the automobile detected in step 1 with the target object and the target object
Translational speed to carry out decision-making judgement for vehicle traveling direction and gait of march；And
Step 3：According to the decision-making result of determination obtained in step 2 come automatic Pilot vehicle with cause automobile with
The target object keeps the mode of preset distance to advance.
The automotive control system for being used to aid in ride and run of the present invention can have following favourable aspect：
Advantageously, described automobile control method also includes being communicated and/or being determined navigation information with other vehicles
Step.
Advantageously, described automobile control method also includes recording the mobile message of target object and by described in
Mobile message compared with the mobile message recorded on different automotive control systems to obtain competition Information the step of.
Advantageously, described automobile control method also includes at least showing navigation information and/or contest letter to outside vehicle
The step of breath.
The theory of the present invention is exactly using the intelligent automobile of autonomous driving as preferable running/cycling companion, is somebody's turn to do
Intelligent automobile will follow or lead runner/bicyclist, and as automobile is supported, the support automobile can provide the real-time number of motion
According to, navigation information and competition Information, and it is easy to the supply of water and nutriment.The support automobile also sails the automobile come with follow-up
Communicated to ensure the traffic safety of runner/bicyclist.
Brief description of the drawings
Fig. 1 is the schematic block diagram according to the automotive control system for being used to aid in ride and run of the present invention.
Fig. 2 is that the automotive control system used according to the invention that can aid in riding and running is ridden and run to carry out auxiliary
The flow chart of the automobile control method of step.
Embodiment
The automotive control system according to an embodiment of the invention for being used for auxiliary and riding and running is described with reference to the accompanying drawings
And other various aspects.In the following description, many details are elaborated to make those of skill in the art
The present invention can be appreciated more fully in member.But in art it is obvious to the skilled person that of the invention
Realizing can be without some in these details.However, it should be understood that the present invention be not limited to be introduced it is specific
Embodiment.Conversely, it may be considered that implement the present invention with any combination of following feature and key element, regardless of whether they relate to
And different embodiment.Therefore, aspect, feature, embodiment and advantage below is used and is not construed as weighing for illustrative purposes only
The key element or restriction that profit requires, unless clearly proposing in the claims.
Fig. 1 shows the schematic block diagram of the automotive control system 100 for being used to aid in ride and run according to the present invention.
As shown in figure 1, automotive control system 100 includes distance with velocity measuring module 1, Driving Decision-making module 2 with driving execution module
3.Such as when the instrument such as people's steer bicycle or scooter is ridden, distance detects steer bicycle with velocity measuring module 1
Or the distance between the personnel of scooter and automobile and its translational speed, the distance and velocity measuring module 1 will be detected away from
From data and speed data transmission to Driving Decision-making module 2.Driving Decision-making module 2 is according to distance and velocity measuring module 1 to its
The range data (range data is vector data, i.e., both includes the size of distance or the direction including distance) and speed of input
Degrees of data (speed data is vector data, i.e., both includes the size of speed or the direction including speed) is advanced for automobile
Direction and gait of march carry out decision-making judgement, and decision-making result of determination is input to and drives execution module 3.For example, at one
In specific embodiment, the strategy that Driving Decision-making module 2 is taken is the instruments such as the travel speed of holding automobile and steer bicycle
People speed it is consistent；And in another embodiment, the strategy that Driving Decision-making module 2 is taken keeps automobile with being driven
Bicycle distance is consistent all the time.And drive execution module 3 then according to the decision-making of Driving Decision-making module 2 come for throttle, braking with
And the direct of travel of vehicle is controlled.
In a preferred embodiment, distance is examined with the distance that velocity measuring module 1 includes being arranged on automobile and speed
Survey module Part I 11.In this case, the distance and velocity measuring module Part I 11 detect its with bicycle or
The distance of personnel on bicycle and the speed of the bicycle.In order to realize the accurate measurement, it is preferable that the distance and speed
Degree detection module 1 can also include distance and velocity measuring module Part II 12, the distance and velocity measuring module second
Divide 12 can be arranged on the instruments such as bicycle.Especially, the distance could be arranged to velocity measuring module Part II 12
Carried by the personnel for riding or running.The distance and velocity measuring module Part II 12 and distance and velocity measuring module first
Part 11 interacts (such as communication etc.) in order to obtain speed or range data.
And it is envisioned that the distance and velocity measuring module Part I 11 be located at automobile head portion or
Tail portion or automotive interior.
According to embodiment, automotive control system 100 can include two kinds of mode of operations：
- protected mode：In this mode, bicycle is in the traveling ahead of automotive control system 100, the automobile control
System is protected to it later, the automotive control system be arranged to distance driven bicycle certain distance (such as
20m), and with follow-up automobile communicated, when detect it is follow-up come car apart from the hypotelorism of the automobile when to follow-up car
Driver and cycling person provide warning message, the generation to try to forestall traffic accidents.
- navigation pattern：Preferably, the automotive control system has navigation module 4, and the data of navigation module 4 can be with defeated
Enter to Driving Decision-making module 2 so as to influence Driving Decision-making.In this mode, rear row of the bicycle in automotive control system 100
Sail.Automotive control system opens the navigation module 4, and guiding bicycle human pilot travels on correct path.It is worth
It is noted that under the navigation pattern, the automotive control system also can carry out communication with follow-up next automobile and be driven for bicycle
Person provides protection.
It is envisioned that the automotive control system can also not have navigation module 4, and do not have in the automotive control system
Automotive control system only has protected mode without navigation pattern in the case of having navigation module 4.
It is envisioned that controlled for the ease of the automobile on the automotive control system on a vehicle and other vehicles
System is communicated, and the automotive control system preferably also includes being used for the communication module 5 communicated with other vehicles.
Especially, the automotive control system that can aid in riding and running also includes message processing module 6, the information
The mobile message of personnel of the processing module 6 to riding and running is recorded and can be controlled the information from different automobiles
The information recorded on system carries out com-parison and analysis, obtains the competition Information of correlation.
In a particularly preferred embodiment, the automotive control system 100 also includes display module 7, the display module 7
It is arranged on head and/or the afterbody of automobile.The display module 7 can show the different information for riding/running to aid in riding
The people of row bicycle or the people of running take exercise.Such as the people of riding bicycle or the people of running in protected mode
In the vehicle front motion including automotive control system 100, the display module positioned at automobile head can show current kinetic
Speed per hour, moved total kilometrage, related information for the game；Positioned at the display module of automobile tail can show warning and
Prompt message, to inform that the follow-up vehicle front come of sailing has personnel the physical training such as to be ridden or run.And navigating
In pattern when ride voluntarily into people or running people in the motion of the rear of automobile when, the display module positioned at automobile head can be with
Display warning and prompt message are to inform that the automobile rear takes exercise, and the display module positioned at automobile tail can
With show the speed per hour of current kinetic, moved total kilometrage, remaining mileage, advanced and/or by the route of traveling, correlation
The person related information that is being taken exercise with informing of information for the game.Preferably, the display module 7 is thrown using laser
The mode of shadow.
Including the automobile of the automotive control system that can aid in riding and running that is built according to the present invention can tightly with
With the people moved, water and food can be put into without carrying with automobile by the people so moved, be reduced
Heavy burden when being moved, is easy to the people preferably to be moved.Near the people moved always due to automobile, people
It can also enter when being not desired to motion in automobile and be rested, or destination is arrived in clear-cut driving, is carried for sporter
Great convenience is supplied.
Preferably, the direction flowing of data message such as arrow in Fig. 1.However, it could be imagined that be in the art
Those of ordinary skill can use the information flow mode being different from shown in arrow and realize described each functional module so as to
Implement the present invention.
Ride and run to carry out auxiliary using according to the automotive control system that can aid in riding and running of the present invention
Automobile control method it is shown in fig. 2, i.e. the detection automobile and object that are carried out successively using above-mentioned modules
The step S1 of the distance of body and the translational speed of target object, the automobile according to detected by S1 and the target object
The step of distance and the translational speed of the target object to carry out decision-making judgement for vehicle traveling direction and gait of march
S2 and according to the decision-making result of determination obtained in S2 come automatic Pilot vehicle so that automobile with the target object
The step S3 for keeping the mode of preset distance to advance.It can be carried out by the control method for every motion such as ride and run
Protection, protects the personal safety of players.In a preferred embodiment, the control method can also include and other vehicles
The step of being communicated and/or determining navigation information, the mobile message to target object are recorded and are believed the movement
Breath compared with the mobile message recorded on different automotive control systems to obtain competition Information the step of and to outside vehicle
Portion at least shows navigation information and/or the step (not shown) of competition Information, so as to further complete various work(as described above
Energy.
Although the present invention is disclosed as above with preferred embodiment, the present invention is not limited to this.Any art technology
Personnel, the various changes made without departing from the spirit and scope of the present invention and modification, the protection model of the present invention all should be included
In enclosing, therefore protection scope of the present invention should be defined by claim limited range.
Claims (9)
1. a kind of be used to aid in the automotive control system ridden and run, it is characterised in that including：
- distance and velocity measuring module, the distance and target for being used to detect automobile and target object apart from detection module
The data detected are transferred to Driving Decision-making module by the translational speed of object, the distance with velocity measuring module；
- Driving Decision-making module, the Driving Decision-making module is according to the distance and target object of the automobile and target object
Translational speed to carry out decision-making judgement for vehicle traveling direction and gait of march, and the result that decision-making judges is input to and driven
Sail execution module；And
- drive execution module, it is described drive result vehicle described in come automatic Pilot that execution module is judged according to the decision-making with
So that the automobile is advanced in a manner of keeping preset distance with the target object.
2. automotive control system according to claim 1, it is characterised in that the distance is at least wrapped with velocity measuring module
The first distance on automobile is included to separate with velocity measuring module section and with car body and for being arranged on object
Second distance and velocity measuring module section, first distance and velocity measuring module section and the second distance on body
Interacted with velocity measuring module section to obtain speed and range data.
3. automotive control system according to claim 1, it is characterised in that also include being used to be communicated with other vehicles
Communication module and/or navigation module for determining navigation information.
4. automotive control system according to claim 1, it is characterised in that also including message processing module, at the information
Reason module is recorded to the mobile message of target object and is recorded the mobile message from different automotive control systems
Mobile message be compared to obtain competition Information.
5. the automotive control system according to claim 3 or 4, it is characterised in that also include the head for being arranged on automobile
And/or afterbody, the display module at least showing navigation information and/or competition Information.
6. a kind of be used to aid in the automobile control method ridden and run, it is characterised in that comprises the following steps：
Step 1：Detect automobile and the distance of target object and the translational speed of target object；
Step 2：According to automobile detected in step 1 and the distance of the target object and the shifting of the target object
Dynamic speed to carry out decision-making judgement for vehicle traveling direction and gait of march；And
Step 3：The vehicle according to the decision-making result of determination obtained in step 2 come automatic Pilot so that automobile with it is described
Target object keeps the mode of preset distance to advance.
7. automobile control method according to claim 6, it is characterised in that also include with other vehicles carry out communication and/
Or the step of determining navigation information.
8. automobile control method according to claim 6, it is characterised in that also include entering the mobile message of target object
Row record and by the mobile message compared with the mobile message recorded on different automotive control systems to obtain contest
The step of information.
9. the automobile control method according to claim 7 or 8, it is characterised in that also include at least showing to outside vehicle
The step of navigation information and/or competition Information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710729245.1A CN107450547A (en) | 2017-08-23 | 2017-08-23 | Automotive control system and the method ridden and run can be aided in |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710729245.1A CN107450547A (en) | 2017-08-23 | 2017-08-23 | Automotive control system and the method ridden and run can be aided in |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107450547A true CN107450547A (en) | 2017-12-08 |
Family
ID=60494045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710729245.1A Pending CN107450547A (en) | 2017-08-23 | 2017-08-23 | Automotive control system and the method ridden and run can be aided in |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107450547A (en) |
-
2017
- 2017-08-23 CN CN201710729245.1A patent/CN107450547A/en active Pending
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171208 |