CN107738651A - Control method for vehicle - Google Patents
Control method for vehicle Download PDFInfo
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- CN107738651A CN107738651A CN201710976793.4A CN201710976793A CN107738651A CN 107738651 A CN107738651 A CN 107738651A CN 201710976793 A CN201710976793 A CN 201710976793A CN 107738651 A CN107738651 A CN 107738651A
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- vehicle
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
Abstract
The invention discloses a kind of control method for vehicle, first obtains road condition information and the essential information of route, and the essential information of the route includes the beginning and end of route；The road condition information includes congestion information, road evenness information；Historical sensor data is obtained again；Central control unit carries out path planning according to road condition information and the essential information of route；During traveling, sensing data is gathered in real time, is uploaded to central control unit and stored；According at least one of sensing data and road condition information, control information is generated, the control information includes speed, acceleration and deceleration information.The beneficial effects of the present invention are：The optimum programming of vehicle route can be realized, realizes that energy consumption is minimum, time-consuming minimum；Corresponding control information can also be generated according to real-time road so that control strategy optimization.
Description
Technical field
The present invention relates to control field, more particularly to a kind of control method for vehicle.
Background technology
In the prior art, the operation of vehicle, it will usually be related to two large problems, one, how to find suitable path；The
Two, how to obtain optimal control strategy.
For first point, suitable path, distance is directly generally calculated by navigating, it is optimal on the time；But often neglect
The influence of energy consumption and traffic light time to run time is omited；
For second point, typically cruise control, i.e., on road, keep a constant speed.And such speed, acceleration
Whether degree is suitable to current road conditions（Flatness, gradient, congestion）, it is not related to.
In order to solve the above problems, the present invention proposes a kind of control method for vehicle.
The content of the invention
In order to solve the above problems, the present invention proposes a kind of control method for vehicle, and methods described comprises the following steps：
S1：Obtain road condition information and the essential information of route；The essential information of the route includes starting point and the end of route
Point；The road condition information includes congestion information, road evenness information；
S2：Obtain historical sensor data；
S3：Central control unit carries out path planning according to road condition information and the essential information of route；
S4：During traveling, sensing data is gathered in real time, is uploaded to central control unit and stored；
S5：According at least one of sensing data and road condition information, control information is generated, the control information includes car
Speed, acceleration and deceleration information.
Preferably, the historical sensor data in the step S2 includes at least one following：
1）The traffic lights data of camera collection, react the light on and off period of traffic lights；
2）Energy consumption sensing data, react the consumption information in the section.
The energy consumption sensor is configurable to oil consumption sensor, electrical power consumed sensor, flow sensor, pressure sensor
In one kind.
The GPS module is configured to provide for location information；Position location is uploaded again, obtains road condition information.
Preferably, the step S4, sensing data include：
Gps data；
The gps data is configured to provide for location information；Position location is uploaded again, obtains road condition information.
Preferably, in the step S4, sensing data also includes：Gyro data；
The gyro data is arranged to obtain road condition information；
Comprise the following steps in the step S4：
Judge whether gps data is reliable；
If reliable, selection uses gps data；
If unreliable, give up gps data, select gyro data, and upload to analyze road condition information.
Preferably, the method for described " judging whether gps data is reliable " is：
Judge whether gps signal is weaker, or gps data degree of fluctuation exceedes threshold value；
If it is, assert that data are unreliable；Otherwise it is on the contrary.
Preferably, can acquisition approach in the following way initial information,
1）Inputted by human-computer interaction module, then transmitted by VCU systems to central control unit；
2）VCU control systems are inserted in vehicle manufacture, then are transmitted by VCU systems to central control unit.
Preferably, the road condition information also includes inclination information.
Preferably, the control method for vehicle also includes step S6：Early warning is carried out according to real sensor information, it is described pre-
It is alert to include at least one following：
1）The sensor includes distance measuring sensor, and spacing early warning is carried out by ranging data；
2）The sensor includes camera in car, and giving fatigue pre-warning is carried out to the driving condition of driver；
3）Using the view data of camera, dangerous driving early warning is carried out；
4）Using GPS module, early warning of drifting off the course is carried out.
Preferably, it is characterised in that it is described by ranging data carry out spacing early warning specific method be：
1）Surrounding vehicles and the distance of Current vehicle are detected using distance measuring sensor；
2）If distance is more than threshold value, alarmed by VCU control units.
Preferably, speed, instantaneous oil consumption, distance progress early warning can be considered.
Preferably, the specific method of the driving condition progress giving fatigue pre-warning to driver is：
1）Using camera in car, the driving image of driver is detected；
2）Extract the eye areas of driver in image；
3）Judge whether eyes are in closed-eye state；
2）If eye-closing period is more than threshold value, alarmed by VCU control units.
Preferably, the view data using camera, the specific method for carrying out dangerous driving early warning are：
1）Using the image of a few frames before and after camera, travel direction is judged；
2）Extract the lane line information and sideline information in image；
3）Judge whether travel direction is more than threshold value with lane line angle；
4）If angle is more than threshold value, alarmed by VCU control units.
The alarm is alarmed by vehicle carried unit.
Preferably, can also be by vehicle VCU control units by controlling alarm unit to be alarmed.
Preferably, the central control unit includes display unit, memory cell,
When abnormal alarm information occurs in the vehicle, the VCU control units send warning message, institute to central control unit
Warning message is stated to be labeled on the map of display unit.
On path planning, run time is obtained according to location information or gyro data, when being positioned at original position,
Start timing, when positioning reaches stop position, stop timing, so as to obtain run time；
Real-time road acquiring unit, obtains the scheduled time.
For some paths for being planned in real-time road acquiring unit, it is necessary to time be respectively T11, T12, T13,
T14 ... ...；
Above-mentioned path is gone to inquire about in historical data base, inquires about the light on and off temporal information of the red street lamp in each path, estimates certain for the moment
Quarter form traffic light time T21, T22, T23, T24 ... ... on the path；
Can be according to total time（Traffic light time and path planning time sum）, select suitable path；
Preferably, when face also include energy consumption sensor when, the energy consumption in each path is obtained from historical data base, respectively
For E1, E2, E3, E4 ... ...；
Preferably, according to path planning time, or traffic light time and path planning time sum, each weighted with energy consumption
After be added, by the path that sequential selection from small to large is optimal.
The beneficial effects of the present invention are：The optimum programming of vehicle route can be realized, realizes that energy consumption is minimum, takes most
It is small；Corresponding control information can also be generated according to real-time road so that control strategy optimization.
Embodiment
In order to which technical characteristic, purpose and the effect of the present invention is more clearly understood, now illustrate that the present invention's is specific
Embodiment.
The present invention proposes a kind of control method for vehicle, and methods described comprises the following steps：
S1：Obtain road condition information and the essential information of route；The essential information of the route includes starting point and the end of route
Point；The road condition information includes congestion information, road evenness information；
S2：Obtain historical sensor data；
S3：Central control unit carries out path planning according to road condition information and the essential information of route；
S4：During traveling, sensing data is gathered in real time, is uploaded to central control unit and stored；
S5：According at least one of sensing data and road condition information, control information is generated, the control information includes car
Speed, acceleration and deceleration information.
Preferably, the historical sensor data in the step S2 includes at least one following：
1）The traffic lights data of camera collection, react the light on and off period of traffic lights；
2）Energy consumption sensing data, react the consumption information in the section.
The energy consumption sensor is configurable to oil consumption sensor, electrical power consumed sensor, flow sensor, pressure sensor
In one kind.
The GPS module is configured to provide for location information；Position location is uploaded again, obtains road condition information.
Preferably, the step S4, sensing data include：
Gps data；
The gps data is configured to provide for location information；Position location is uploaded again, obtains road condition information.
Preferably, in the step S4, sensing data also includes：Gyro data；
The gyro data is arranged to obtain road condition information；
Comprise the following steps in the step S4：
Judge whether gps data is reliable；
If reliable, selection uses gps data；
If unreliable, give up gps data, select gyro data, and upload to analyze road condition information.
Preferably, the method for described " judging whether gps data is reliable " is：
Judge whether gps signal is weaker, or gps data degree of fluctuation exceedes threshold value；
If it is, assert that data are unreliable；Otherwise it is on the contrary.
Preferably, can acquisition approach in the following way initial information,
1）Inputted by human-computer interaction module, then transmitted by VCU systems to central control unit；
2）VCU control systems are inserted in vehicle manufacture, then are transmitted by VCU systems to central control unit.
Preferably, the road condition information also includes inclination information.
Preferably, the control method for vehicle also includes step S6：Early warning is carried out according to real sensor information, it is described pre-
It is alert to include at least one following：
1）The sensor includes distance measuring sensor, and spacing early warning is carried out by ranging data；
2）The sensor includes camera in car, and giving fatigue pre-warning is carried out to the driving condition of driver；
3）Using the view data of camera, dangerous driving early warning is carried out；
4）Using GPS module, early warning of drifting off the course is carried out.
Preferably, it is characterised in that it is described by ranging data carry out spacing early warning specific method be：
1）Surrounding vehicles and the distance of Current vehicle are detected using distance measuring sensor；
2）If distance is more than threshold value, alarmed by VCU control units.
Preferably, speed, instantaneous oil consumption, distance progress early warning can be considered.
Preferably, the specific method of the driving condition progress giving fatigue pre-warning to driver is：
1）Using camera in car, the driving image of driver is detected；
2）Extract the eye areas of driver in image；
3）Judge whether eyes are in closed-eye state；
2）If eye-closing period is more than threshold value, alarmed by VCU control units.
Preferably, the view data using camera, the specific method for carrying out dangerous driving early warning are：
1）Using the image of a few frames before and after camera, travel direction is judged；
2）Extract the lane line information and sideline information in image；
3）Judge whether travel direction is more than threshold value with lane line angle；
4）If angle is more than threshold value, alarmed by VCU control units.
The alarm is alarmed by vehicle carried unit.
Preferably, can also be by vehicle VCU control units by controlling alarm unit to be alarmed.
Preferably, the central control unit includes display unit, memory cell,
When abnormal alarm information occurs in the vehicle, the VCU control units send warning message, institute to central control unit
Warning message is stated to be labeled on the map of display unit.
On path planning, run time is obtained according to location information or gyro data, when being positioned at original position,
Start timing, when positioning reaches stop position, stop timing, so as to obtain run time；
Real-time road acquiring unit, obtains the scheduled time.
For some paths for being planned in real-time road acquiring unit, it is necessary to time be respectively T11, T12, T13,
T14 ... ...；
Above-mentioned path is gone to inquire about in historical data base, inquires about the light on and off temporal information of the red street lamp in each path, estimates certain for the moment
Quarter form traffic light time T21, T22, T23, T24 ... ... on the path；
Can be according to total time（Traffic light time and path planning time sum）, select suitable path；
Preferably, when face also include energy consumption sensor when, the energy consumption in each path is obtained from historical data base, respectively
For E1, E2, E3, E4 ... ...；
Preferably, according to path planning time, or traffic light time and path planning time sum, each weighted with energy consumption
After be added, by the path that sequential selection from small to large is optimal.
It should be noted that for foregoing each embodiment of the method, in order to be briefly described, therefore it is all expressed as to a system
The combination of actions of row, but those skilled in the art should know, the application is not limited by described sequence of movement, because
For according to the application, certain some step can use other orders or carry out simultaneously.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, involved action and unit not necessarily this Shen
Please be necessary.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and is not described in some embodiment
Part, may refer to the associated description of other embodiment.
One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, being can be with
The hardware of correlation is instructed to complete by computer program, described program can be stored in computer read/write memory medium
In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, ROM, RAM etc..
Above disclosure is only preferred embodiment of present invention, can not limit the right model of the present invention with this certainly
Enclose, therefore the equivalent variations made according to the claims in the present invention, still belong to the scope that the present invention is covered.
Claims (10)
1. a kind of control method for vehicle, it is characterised in that methods described comprises the following steps：
S1：Obtain road condition information and the essential information of route；The essential information of the route includes starting point and the end of route
Point；The road condition information includes congestion information, road evenness information；
S2：Obtain historical sensor data；
S3：Central control unit carries out path planning according to road condition information and the essential information of route；
S4：During traveling, sensing data is gathered in real time, is uploaded to central control unit and stored；
S5：According at least one of sensing data and road condition information, control information is generated, the control information includes car
Speed, acceleration and deceleration information.
A kind of 2. control method for vehicle as claimed in claim 1, it is characterised in that the historical sensor number in the step S2
According to including at least one following：
1）The traffic lights data of camera collection, react the light on and off period of traffic lights；
2）Energy consumption sensing data, react the consumption information in the section；
The GPS module is configured to provide for location information；Position location is uploaded again, obtains road condition information.
3. a kind of control method for vehicle as claimed in claim 1, it is characterised in that the step S4, sensing data include：
Gps data；
The gps data is configured to provide for location information；Position location is uploaded again, obtains road condition information.
4. a kind of control method for vehicle as claimed in claim 1, it is characterised in that in the step S4, sensing data is also
Comprising：Gyro data；
The gyro data is arranged to obtain road condition information；
Comprise the following steps in the step S4：
Judge whether gps data is reliable；
If reliable, selection uses gps data；
If unreliable, give up gps data, select gyro data, and upload to analyze road condition information.
5. a kind of control method for vehicle as claimed in claim 4, it is characterised in that described " judging whether gps data is reliable "
Method be：
Judge whether gps signal is weaker, or gps data degree of fluctuation exceedes threshold value；
If it is, assert that data are unreliable；Otherwise it is on the contrary.
6. a kind of control method for vehicle as claimed in claim 1, it is characterised in that can acquisition approach in the following way
Initial information,
1）Inputted by human-computer interaction module, then transmitted by VCU systems to central control unit；
2）VCU control systems are inserted in vehicle manufacture, then are transmitted by VCU systems to central control unit.
7. a kind of control method for vehicle as claimed in claim 1, it is characterised in that the road condition information is also comprising inclination
Spend information.
8. a kind of control method for vehicle as claimed in claim 1, it is characterised in that the control method for vehicle also includes step
S6：Early warning is carried out according to real sensor information, the early warning includes at least one following：
1）The sensor includes distance measuring sensor, and spacing early warning is carried out by ranging data；
2）The sensor includes camera in car, and giving fatigue pre-warning is carried out to the driving condition of driver；
3）Using the view data of camera, dangerous driving early warning is carried out；
4）Using GPS module, early warning of drifting off the course is carried out.
9. a kind of vehicle control system as described in one of claim 8, it is characterised in that described that driving is entered by ranging data
Specific method away from early warning is：
1）Surrounding vehicles and the distance of Current vehicle are detected using distance measuring sensor；
2）If distance is more than threshold value, alarmed by VCU control units.
A kind of 10. vehicle control system as described in one of claim 6, it is characterised in that the driving shape to driver
State carry out giving fatigue pre-warning specific method be：
1）Using camera in car, the driving image of driver is detected；
2）Extract the eye areas of driver in image；
3）Judge whether eyes are in closed-eye state；
2）If eye-closing period is more than threshold value, alarmed by VCU control units；
The view data using camera, the specific method for carrying out dangerous driving early warning are：
1）Using the image of a few frames before and after camera, travel direction is judged；
2）Extract the lane line information and sideline information in image；
3）Judge whether travel direction is more than threshold value with lane line angle；
4）If angle is more than threshold value, alarmed by VCU control units.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710976793.4A CN107738651A (en) | 2017-10-19 | 2017-10-19 | Control method for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710976793.4A CN107738651A (en) | 2017-10-19 | 2017-10-19 | Control method for vehicle |
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| CN107738651A true CN107738651A (en) | 2018-02-27 |
Family
ID=61237704
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| CN201710976793.4A Pending CN107738651A (en) | 2017-10-19 | 2017-10-19 | Control method for vehicle |
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Cited By (2)
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| CN108839614A (en) * | 2018-04-27 | 2018-11-20 | 李德祥 | A kind of vehicle safety deceleration system for electric vehicle |
| CN109584550A (en) * | 2018-11-23 | 2019-04-05 | 北斗天地股份有限公司 | Vehicles management method and device |
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Application publication date: 20180227 |