CN108363397B - Vehicle avoidance control system and control method - Google Patents
Vehicle avoidance control system and control method Download PDFInfo
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- CN108363397B CN108363397B CN201810188301.XA CN201810188301A CN108363397B CN 108363397 B CN108363397 B CN 108363397B CN 201810188301 A CN201810188301 A CN 201810188301A CN 108363397 B CN108363397 B CN 108363397B
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- 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
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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Abstract
The invention discloses a vehicle avoidance control system and a control method. This vehicle dodges control system includes: for requesting avoidance of a vehicle, the system comprising: the vehicle-mounted control device is used for acquiring destination information input by a user and planning a driving path according to the destination information; acquiring state data of the vehicle requiring avoidance, wherein the state data comprises an emergency state grade; determining a vehicle requested to avoid on the driving path; and the sending device is used for sending an avoidance request to the vehicle requested to be avoided within a certain range in front of the driving path, and the avoidance request comprises the emergency state grade. The vehicle avoidance control system sends the avoidance request to the vehicles in a certain range in front of the planned path, so that an emergency channel is constructed to enable the vehicles requested to be avoided to pass quickly, and the problem that the emergency channel in the prior art cannot quickly form a barrier to the vehicles requested to be avoided to pass is solved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle avoidance control system and a control method.
Background
With the development of society, vehicles are rapidly popularized, and road congestion phenomena, particularly road congestion in peak periods, often occur, so that special vehicles such as ambulances, fire trucks, police cars and the like are difficult to timely arrive and take corresponding measures in the process of rescue execution, and the special vehicles are increasingly difficult to meet the fast-paced rescue and rescue requirements of the modern society. Surrounding vehicles do not have dredging instructions obtained in time, avoidance is not timely, and task delay causes the phenomenon that the safety of lives and properties of people is endangered frequently.
At present, an emergency special vehicle detects whether a common vehicle exists around the vehicle, and if the emergency special vehicle detects that the common vehicle exists around the vehicle, a vehicle avoidance reminder is sent to other vehicles to remind a driver of the common vehicle to avoid the emergency special vehicle. The emergency vehicle only sends avoidance reminding to surrounding common vehicles, does not remind the avoidance grade, and does not screen the range of the reminded vehicle, so that the sending of the vehicle avoidance request has no pertinence, and the request avoidance vehicle can not pass through an effective travel emergency channel.
Disclosure of Invention
The invention provides a vehicle avoidance control system and a control method, wherein the vehicle avoidance control system sends an avoidance request to vehicles in a certain range in front of a planned path, so that an emergency channel is constructed to enable the vehicles requested to be avoided to pass quickly, and the problem that the emergency channel in the prior art cannot quickly form a barrier to the vehicles requested to be avoided to pass is solved.
The invention provides a vehicle avoidance control system, which is used for a vehicle requesting avoidance and comprises the following components: the vehicle-mounted control device is used for acquiring destination information input by a user and planning a driving path according to the destination information; acquiring state data of the vehicle requiring avoidance, wherein the state data comprises an emergency state grade; determining a vehicle requested to avoid on the driving path; and the sending device is used for sending an avoidance request to the vehicle requested to be avoided within a certain range in front of the driving path, and the avoidance request comprises the emergency state grade.
Preferably, the vehicle-mounted control device collects status data of the vehicle, and further comprises at least one of the following: vehicle position, driving speed, and vehicle density.
Preferably, the in-vehicle control device determining the requested avoidance vehicle on the traveling path includes: and determining the vehicle requested to avoid on the driving path according to the state grade, the driving speed and the vehicle density.
The invention also provides a vehicle avoidance control system, which is used for being requested to avoid the vehicle, and the system comprises: the receiving device is used for receiving the avoidance request so that the driver can control the vehicle requested to be avoided to drive away from the driving path of the vehicle requested to be avoided according to the avoidance request.
Preferably, the system further comprises: the vehicle-mounted terminal is used for controlling an alarm device to display or alarm according to the avoidance request received by the receiving device; the alarm device is used for displaying or alarming the avoidance request; and the vehicle-mounted terminal is also used for judging whether the receiving device receives the avoidance request according to a set time interval, and if not, controlling the alarm device to cancel display or alarm.
The invention also provides a road traffic emergency avoidance control system, which comprises: a vehicle avoidance control system for requesting avoidance of the vehicle; and a vehicle avoidance control system for being requested to avoid the vehicle.
The invention also provides a vehicle avoidance control method, which comprises the following steps: obtaining destination information input by a user, and planning a driving path according to the destination information; acquiring state data of a request for avoiding a vehicle, wherein the state data comprises an emergency state grade; determining a vehicle requested to avoid on the driving path; and sending an avoidance request to the vehicle requested to be avoided within a certain range in front of the driving path, wherein the avoidance request comprises the emergency state grade.
Preferably, wherein the status data further comprises at least one of: vehicle position, driving speed, and vehicle density.
Preferably, the determining of the vehicle requested to avoid on the driving path comprises: and determining the vehicle requested to avoid on the driving path according to the state grade, the driving speed and the vehicle density.
Preferably, the method further comprises: receiving an avoidance request; displaying or alarming according to the avoidance request so that a driver controls the vehicle requested to be avoided to drive away from the driving path of the vehicle requested to be avoided according to the avoidance request; and judging whether the avoidance request is received or not according to a set time interval, and if not, canceling display or alarming.
The vehicle avoidance control system provided by the invention sends the avoidance request to the vehicles in a certain range in front of the planned path, so that an emergency channel is constructed to enable the vehicles required to be avoided to rapidly pass through, the emergency channel is provided for special vehicles such as fire fighting vehicles, rescue vehicles and the like under the emergency condition, the emergency tasks of delaying the special vehicles to give police, rescue patients and the like are avoided, the traffic efficiency of road traffic is improved, and the running time of the vehicles required to be avoided is prolonged.
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In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a schematic diagram of a vehicle avoidance control system for requesting avoidance of a vehicle according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a vehicle avoidance control system for a vehicle requested to avoid the vehicle according to one embodiment of the present invention;
fig. 3 is a schematic structural diagram of a road traffic emergency avoidance control system according to an embodiment of the invention;
FIG. 4 is a schematic flow chart of a vehicle avoidance control method according to an embodiment of the invention;
fig. 5 is a schematic flow chart of a vehicle avoidance control method according to another embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar parameters or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
The invention provides a vehicle avoidance control system and a control method, which solve the technical problem that a vehicle avoidance channel is difficult to form in the prior art.
In order to better understand the technical solution and the technical effect of the present invention, the following detailed description will be made on specific embodiments with reference to a flow diagram.
Fig. 1 is a schematic structural diagram of a vehicle avoidance control system according to an embodiment of the present invention. A vehicle avoidance control system according to an embodiment of the present invention shown in fig. 1 is a system for a vehicle requesting avoidance, the system including: the vehicle-mounted control device is used for acquiring destination information input by a user and planning a driving path according to the destination information; collecting status data of the vehicle, the status data including an emergency status level; determining a vehicle requested to avoid on the driving path; and the sending device is used for sending an avoidance request to the vehicle requested to be avoided within a certain range in front of the driving path, and the avoidance request comprises the emergency state grade.
In the scheme, when a request for avoiding a vehicle, such as a fire truck, an ambulance, a police car and other special vehicles, meets a road block in a mission driving process, a user, such as a driver, inputs a destination through a vehicle-mounted control device, and the vehicle-mounted control device plans a driving path; the vehicle-mounted control device collects state data of vehicles requiring avoidance, the state data comprises state grades indicating task importance degree and/or emergency degree so as to determine the quantity, range and the like of the vehicles requiring avoidance, and then the sending device sends avoidance requests to the vehicles requiring avoidance in a certain range in front of a driving path. And finishing the process of requesting avoidance so as to inform the vehicle in front of the driving path to open an emergency channel.
In the foregoing solution, the vehicle-mounted control device collects status data of a vehicle, and further includes at least one of the following: vehicle position, driving speed, and vehicle density.
In the foregoing aspect, the determining, by the vehicle-mounted control device, that the vehicle on the traveling path is requested to avoid includes: and determining the vehicle requested to avoid on the driving path according to the state grade, the driving speed and the vehicle density.
In the scheme, the optimal path planning method can provide the driving route with the shortest path or shortest time for selection according to the input destination, the current position of the vehicle and the real-time congestion degree of road traffic. The planning of the optimal path can judge whether the selected path is the current optimal path according to the current position, the vehicle speed and the road condition in front which are obtained in real time, and if so, the vehicle continues to drive according to the original path; if not, the driving path is planned again.
The determination of the status level includes, but is not limited to: importance and urgency of the mission; the status grade of the fire engine, the ambulance and the police engine can be set by the driver; and the social vehicle in the emergency carries out grade authentication to the Internet of vehicles service center, and the service center sets the state grade of the vehicle-mounted terminal after verifying the information.
In the scheme, the vehicle requesting avoidance sends the avoidance request through the vehicle-mounted self-organizing network.
The range determining factor of the vehicle requested to avoid includes but is not limited to the state grade of the vehicle requested to avoid, the road vehicle density and the driving speed.
Fig. 2 is a schematic structural diagram of a vehicle avoidance control system for a vehicle requested to avoid the vehicle according to an embodiment of the present invention. A vehicle avoidance control system according to still another embodiment of the present invention shown in fig. 2 is a system for requesting avoidance of a vehicle, the system including: the receiving device is used for receiving the avoidance request so that the driver can control the vehicle requested to be avoided to drive away from the driving path of the vehicle requested to be avoided according to the avoidance request.
In the above scheme, the system further comprises: the vehicle-mounted terminal is used for controlling an alarm device to display or alarm according to the avoidance request received by the receiving device; the alarm device is used for displaying or alarming the avoidance request; and the vehicle-mounted terminal is also used for judging whether the receiving device receives the avoidance request according to a set time interval, and if not, controlling the alarm device to cancel display or alarm.
In the above scheme, after receiving the avoidance request, the vehicle-mounted terminal that is requested to avoid the vehicle judges whether the vehicle that is requested to avoid passes through every certain time interval, for example, whether the avoidance request is received can be judged, when the avoidance request is not received, the vehicle that is requested to avoid passes through is judged, and the driver of the vehicle is reminded to cancel the avoidance operation in a voice prompt/alarm or visual display/display manner, for example, the alarm or display can be cancelled.
Fig. 3 is a schematic structural diagram of a road traffic emergency avoidance control system according to an embodiment of the present invention, the system including: FIG. 1 illustrates a vehicle avoidance control system for requesting avoidance of a vehicle; and a vehicle avoidance control system for a requested avoidance vehicle as shown in fig. 2.
Fig. 4 is a schematic flow chart of a vehicle avoidance control method according to an embodiment of the invention. As shown in fig. 4, a vehicle avoidance control method according to an embodiment of the present invention includes: in step S110, destination information input by a user is acquired, and a driving route is planned according to the destination information; in step S120, collecting status data requesting avoidance of the vehicle, where the status data includes an emergency status level; and, in step S130, determining the requested avoidance vehicle on the driving path; and in step S140, transmitting an avoidance request to the vehicle requested to avoid within a certain range in front of the driving route, wherein the avoidance request includes the emergency state level.
In the foregoing solution, the status data further includes at least one of the following: vehicle position, driving speed, and vehicle density.
In the foregoing solution, in step S130, determining that the vehicle requested to avoid on the driving path includes: and determining the vehicle requested to avoid on the driving path according to the state grade, the driving speed and the vehicle density.
Fig. 5 is a schematic flow chart of a vehicle avoidance control method according to another embodiment of the invention. As shown in fig. 5, a vehicle avoidance control method according to another embodiment of the present invention further includes: in step S150, an avoidance request is received; in step S160, displaying or alarming according to the avoidance request, so that a driver controls the vehicle requested to be avoided to drive away from the driving path of the vehicle requested to be avoided according to the avoidance request; in step S170, it is determined whether the avoidance request is received according to a set time interval, and if not, in step S180, the display or the alarm is cancelled.
The vehicle avoidance control system and the control method can control road traffic through an internet of vehicles system, for example, a request avoidance vehicle sends an avoidance request to a requested avoidance vehicle within a certain range in front of a driving path, the requested avoidance vehicle carries out avoidance operation to form an emergency passing request for the requested avoidance vehicle to pass, and after the request avoidance vehicle passes, the requested avoidance vehicle cancels the avoidance request of display or alarm to form a closed-loop control system for feeding back the avoidance passing condition, so that the intellectualization and humanization of the road traffic control system are improved.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps or the like not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several systems, several of these systems may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (9)
1. A vehicle avoidance control system for requesting avoidance of a vehicle, the system comprising:
the vehicle-mounted control device is used for acquiring destination information input by a user and planning a driving path according to the destination information; acquiring state data of the vehicle requiring avoidance, wherein the state data comprises an emergency state grade; determining a vehicle requested to avoid on the driving path; and the number of the first and second groups,
the sending device is used for sending an avoidance request to the vehicle requested to be avoided within a certain range in front of the driving path, and the avoidance request comprises the emergency state grade; the judgment of the state grades comprises the importance degree and the emergency degree of the tasks, the state grades of the fire truck, the ambulance and the police car can be set by a driver, the social vehicle in the emergency carries out grade authentication to the internet-of-vehicles service center, and the service center sets the state grade of the vehicle-mounted terminal after verifying information.
2. The system of claim 1, wherein,
the state data of the request for avoiding the vehicle, which is acquired by the vehicle-mounted control device, further comprises at least one of the following data: vehicle position, driving speed, and vehicle density.
3. The system of claim 2, wherein,
the vehicle-mounted control device determining the vehicle requested to avoid on the driving path comprises the following steps: and determining the vehicle requested to avoid on the driving path according to the state grade, the driving speed and the vehicle density.
4. A vehicle avoidance control system for a vehicle that is requested to avoid the vehicle, the system comprising:
the receiving device is used for receiving an avoidance request so that a driver can control the vehicle requested to be avoided to drive away from a driving path requesting to avoid the vehicle according to the avoidance request; the avoidance request comprises an emergency state grade;
the judgment of the state grade comprises the importance degree and the emergency degree of a task, the state grade of a fire truck, an ambulance and a police car can be set by a driver, the social vehicle in the emergency carries out grade authentication to a vehicle networking service center, and the service center sets the state grade of the vehicle-mounted terminal after verifying information;
the system further comprises:
the vehicle-mounted terminal is used for controlling an alarm device to display or alarm according to the avoidance request received by the receiving device;
the alarm device is used for displaying and/or alarming the avoidance request;
and the vehicle-mounted terminal is also used for judging whether the receiving device receives the avoidance request according to a set time interval, and if not, controlling the alarm device to cancel display or alarm.
5. A road traffic emergency avoidance control system, the system comprising:
the vehicle avoidance control system of any one of claims 1 to 3 for requesting avoidance of a vehicle; and the number of the first and second groups,
the vehicle avoidance control system of claim 4 for use in requesting avoidance of a vehicle.
6. A vehicle avoidance control method for the vehicle avoidance control system according to any one of claims 1 to 3, characterized by comprising:
obtaining destination information input by a user, and planning a driving path according to the destination information; acquiring state data of a request for avoiding a vehicle, wherein the state data comprises an emergency state grade; determining a vehicle requested to avoid on the driving path; and the number of the first and second groups,
and sending an avoidance request to the vehicle requested to be avoided within a certain range in front of the driving path, wherein the avoidance request comprises the emergency state grade.
7. The method of claim 6, wherein,
the status data further comprises at least one of: vehicle position, driving speed, and vehicle density.
8. The method of claim 7, wherein,
determining the requested avoidance vehicle on the driving path comprises: and determining the vehicle requested to avoid on the driving path according to the state grade, the driving speed and the vehicle density.
9. The method of claim 6, further comprising:
receiving an avoidance request;
displaying and/or alarming according to the avoidance request so that a driver can control the vehicle requested to be avoided to drive away from the driving path of the vehicle requested to be avoided according to the avoidance request;
and judging whether the avoidance request is received or not according to a set time interval, and if not, canceling display and/or alarming.
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| CN201810188301.XA CN108363397B (en) | 2018-03-07 | 2018-03-07 | Vehicle avoidance control system and control method |
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| CN111102985A (en) * | 2018-10-29 | 2020-05-05 | 陈旭 | Differentiated vehicle navigation method, system and equipment |
| CN111260916A (en) * | 2018-11-30 | 2020-06-09 | 广州慧睿思通信息科技有限公司 | Intelligent traffic regulation and control method and system |
| CN110097774A (en) * | 2019-04-03 | 2019-08-06 | 浙江吉利控股集团有限公司 | A kind of method, apparatus and electronic equipment of special vehicle priority pass |
| CN110335489A (en) * | 2019-07-16 | 2019-10-15 | 华人运通(上海)自动驾驶科技有限公司 | Traveling planing method, device, roadside device and storage medium based on roadside device |
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| CN116013095A (en) * | 2023-03-24 | 2023-04-25 | 中国科学技术大学先进技术研究院 | Traffic light time dynamic control method, device, equipment and readable storage medium |
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