CN109070884A - Control method for vehicle, vehicle control apparatus and vehicle - Google Patents
Control method for vehicle, vehicle control apparatus and vehicle Download PDFInfo
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- CN109070884A CN109070884A CN201780026730.0A CN201780026730A CN109070884A CN 109070884 A CN109070884 A CN 109070884A CN 201780026730 A CN201780026730 A CN 201780026730A CN 109070884 A CN109070884 A CN 109070884A
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- vehicle
- back car
- distance
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- detecting devices
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Classifications
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- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
A kind of control method for vehicle, vehicle control apparatus and vehicle, method include: to obtain the distance between vehicle (21) and its back car (22)；Obtain the status information of the back car (22) of vehicle (21)；According to the status information of back car (22), the safe distance of back car (22) is determined；According to the distance between vehicle (21) and its back car (22), and the safe distance of back car (22), execute anticollision operation, ensure the distance between vehicle (21) and its back car (22) in safe distance, the vehicle (21) is avoided to collide with its back car (22).
Description
Technical field
The present embodiments relate to unmanned plane field more particularly to a kind of control method for vehicle, vehicle control apparatus and vehicle
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Background technique
In vehicle traveling, driver has increasingly focused on the traffic condition of vehicle front to vehicle driver in the prior art,
And the traffic condition of rear of vehicle is had ignored, so as to cause traffic accident.
Summary of the invention
The embodiment of the present invention provides a kind of control method for vehicle, vehicle control apparatus and vehicle, with prevent vehicle with thereafter
Side carrys out vehicle and collides.
The first aspect of the embodiment of the present invention is to provide a kind of control method for vehicle, comprising:
Obtain the distance between vehicle and its back car；
Obtain the status information of the back car of the vehicle；
According to the status information of the back car, the safe distance of the back car is determined；
According to the distance between the vehicle and its back car and the safe distance of the back car, execute anti-
Impact operations.
The second aspect of the embodiment of the present invention is to provide a kind of vehicle control apparatus, comprising: memory and processor；
The memory is for storing program code；
The processor calls said program code, when program code is performed, for performing the following operations:
Obtain the distance between vehicle and its back car；
Obtain the status information of the back car of the vehicle；
According to the status information of the back car, the safe distance of the back car is determined；
According to the distance between the vehicle and its back car and the safe distance of the back car, execute anti-
Impact operations.
The third aspect of the embodiment of the present invention is to provide a kind of vehicle, comprising:
Chassis；
Dynamical system is mounted on the chassis, is used to provide power；
Vehicle body is mounted on the chassis；
And vehicle control apparatus described in second aspect.
Control method for vehicle, vehicle control apparatus and vehicle provided in this embodiment, by the back car for obtaining vehicle
Status information the safe distance of back car is determined according to the status information of back car, and according to the vehicle and its rear
Carry out the safe distance of the distance between vehicle and back car, execute anticollision operation, it is ensured that the vehicle and its back car it
Between distance in safe distance, so that the vehicle be avoided to collide with its back car.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the flow chart of control method for vehicle provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of vehicle provided in an embodiment of the present invention and its back car；
Fig. 3 is the structure chart of vehicle control apparatus provided in an embodiment of the present invention；
Fig. 4 be another embodiment of the present invention provides vehicle control apparatus structure chart.
Appended drawing reference:
21- vehicle 22- vehicle 30- vehicle control apparatus
31- memory 32- processor 33- communication interface
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
The embodiment of the present invention provides a kind of control method for vehicle.Fig. 1 is control method for vehicle provided in an embodiment of the present invention
Flow chart.As shown in Figure 1, the method in the present embodiment, may include:
Step S101, the distance between vehicle and its back car are obtained.
As shown in Fig. 2, vehicle 21 is the vehicle in the front of vehicle 22, i.e. the back car that is vehicle 21 of vehicle 22.Vehicle 21
On may be provided with detecting devices, which can be used for detecting distance of the subsequent vehicle 22 of vehicle 21 relative to vehicle 21.
Control method for vehicle described in the present embodiment is particularly applicable to vehicle control apparatus, which can set
It sets in such as vehicle 21 in the car.The vehicle control apparatus includes one or more processors, the one or more processors
It specifically can be general or dedicated processor.In other embodiments, which applies also for other and sets
Standby, the present embodiment is schematically illustrated by taking vehicle control apparatus as an example.
Acquisition the distance between the vehicle and its back car, comprising: obtain the detecting devices being arranged on the vehicle
Detection data；According to the detection data for the detecting devices being arranged on the vehicle, the back car and the vehicle are determined
The distance between.
Specifically, the vehicle control apparatus can obtain the detection data for the detecting devices being arranged on vehicle 21, and according to this
The detection data of detecting devices determines the distance between vehicle 22 and vehicle 21.Optionally, if the detection number of the detecting devices
According to reliability it is higher, which can be using the detection data of the detecting devices as between vehicle 22 and vehicle 21
Distance；If the reliability of the detection data of the detecting devices is not high, which can also be to the detecting devices
Detection data perform corresponding processing to obtain the distance between vehicle 22 and vehicle 21.
Optionally, the detection data according to the detecting devices being arranged on the vehicle, determine the back car with
The distance between described vehicle, comprising: according to be arranged on the vehicle radar, visual detection equipment, ultrasonic listening equipment,
The detection data of at least one of TOF detecting devices detecting devices, determines the distance between the back car and the vehicle.
Specifically, may be provided on vehicle 21 radar, visual detection equipment, ultrasonic listening equipment, in TOF detecting devices
At least one detecting devices, the vehicle control apparatus can according to radar, visual detection equipment, ultrasonic listening equipment, TOF visit
The detection data of at least one of measurement equipment detecting devices determines the distance between vehicle 22 and vehicle 21.For example, vehicle 21
On be provided with monocular cam, the figure for the vehicle 22 which can shoot according to the monocular cam in different moments
As information determines the distance between vehicle 22 and vehicle 21.For another example radar and visual detection equipment are provided on vehicle 21, it should
Vehicle control apparatus can also carry out data fusion to the detection data of radar and visual detection equipment to obtain vehicle 22 and vehicle
The distance between 21.
Specifically, described visit according to the radar being arranged on the vehicle, visual detection equipment, ultrasonic listening equipment, TOF
The detection data of at least one of measurement equipment detecting devices determines the distance between the back car and the vehicle, including
Following several possible implementations:
One kind is possible to be achieved in that: according to the detection data for the visual detection equipment being arranged on the vehicle, being determined
The distance between the back car and the vehicle.
The detection data according to the visual detection equipment being arranged on the vehicle, determine the back car with it is described
One kind of the distance between vehicle is achieved in that: being shot according to the monocular cam being arranged on the vehicle in different moments
The image information of the back car determines the distance between the back car and the vehicle.For example, being arranged on vehicle 21
There is monocular cam, the image information of the vehicle 22 shot according to the monocular cam in different moments determines vehicle 22 and vehicle
The distance between 21.
In other embodiments, the detection data according to the visual detection equipment being arranged on the vehicle, determines institute
The another kind for stating the distance between back car and the vehicle is achieved in that: according to the binocular camera shooting being arranged on the vehicle
Head determines between the back car and the vehicle in the different images information of the back car of synchronization shooting
Distance.For example, be provided with binocular camera on vehicle 21, the vehicle 22 shot according to the binocular camera in synchronization is not
The distance between vehicle 22 and vehicle 21 are determined with image information.
Alternatively possible is achieved in that: by be arranged on the vehicle radar, visual detection equipment, ultrasonic wave
The detection data of at least two detecting devices carries out data fusion in detecting devices, TOF detecting devices, determines the back car
The distance between described vehicle.
For example, be provided on vehicle 21 radar, visual detection equipment, ultrasonic listening equipment, in TOF detecting devices extremely
Few two kinds of detecting devices, since the data mode and reliability of the detection data of different detecting devices are different, vehicle 21
In the vehicle control apparatus at least two detecting devices can be demarcated to obtain the mutual of at least two detecting devices
Positional relationship, and the detection data of at least two detecting devices is unified into the same coordinate system, at least two detection
The detection data of equipment carries out data fusion, to obtain the distance between vehicle 22 and vehicle 21.
The present embodiment is schematically said so that the detection data to radar and visual detection equipment carries out data fusion as an example
It is bright.
Optionally, it is described by be arranged on the vehicle radar, visual detection equipment, ultrasonic listening equipment, TOF
The detection data of at least two detecting devices carries out data fusion in detecting devices, determine the back car and the vehicle it
Between distance, comprising: data fusion is carried out by detection data to the radar and visual detection equipment being arranged on the vehicle,
Determine the distance between the back car and the vehicle.
For example, being provided with radar and visual detection equipment on vehicle 21, which is specially laser radar, the visual detection
Equipment is specially monocular cam, since there are a proportionate relationships for the detection data and real data of monocular cam, i.e., such as
Relationship shown in lower formula (1):
XW=sXC (1)
Wherein, XWIndicate real data, XCIndicate that the detection data of monocular cam, s are unknown scale factor.
Further, the point i, X nearest apart from laser beam are being determined where laser radar in directions of raysi WIndicate laser thunder
Up to detecting the detection data after point i, XiCIndicate that monocular cam detects the detection data after point i；XiCAnd Xi WBetween pass
System is represented by following formula (2):
Xi W=sXiC (2)
Scale factor s can be calculated according to formula (2), it can be to laser radar and monocular cam according to scale factor s
Detection data carries out data fusion.
Since the reliability of the detection data of laser radar is higher, it can be substituted with the detection data of laser radar single
The detection data of mesh camera.
Step S102, the status information of the back car of the vehicle is obtained.
The vehicle control apparatus can also obtain the status information of vehicle 22, specifically, the status information of vehicle 22 is specific
The vehicle model information that may include vehicle 22, vehicle 22 are relative to the velocity information of vehicle 21, the velocity information of vehicle 22, vehicle 22
Acceleration information etc..
Optionally, the status information of the back car for obtaining the vehicle, including following at least one: described in acquisition
The vehicle model information of the back car of vehicle；Obtain the back car relative to the vehicle velocity information or it is described after
Side carrys out the velocity information of vehicle；Obtain the acceleration information of the back car of the vehicle.
Wherein, the vehicle model information of the back car of the vehicle is obtained, comprising: the vehicle is obtained by capture apparatus
The image information of back car；According to the image information of the back car, the vehicle model information of the back car is determined.
For example, may be provided with capture apparatus such as camera on vehicle 21, which can acquire the image letter of vehicle 22
Breath, which can get the image information of vehicle 22 by the camera, further to the figure of the vehicle 22
As information progress image procossing, the vehicle model information of vehicle 22 is determined, such as the vehicle 22 is container car, dump truck or small vapour
Vehicle etc..
Specifically, the image information according to the back car, determines the vehicle model information of the back car, packet
It includes: image procossing being carried out using image information of the neural network model to the back car, obtains the vehicle of the back car
Type information.For example, the vehicle control apparatus can be used neural network model to the image information of vehicle 22 carry out processing in real time with
Identify the vehicle model information of vehicle 22.
Optionally, the velocity information for obtaining the back car relative to the vehicle, comprising: according to the rear
Come the distance between vehicle and the vehicle and the corresponding temporal information of the detection data, determines that the back car is opposite
In the velocity information of the vehicle.
For example, be provided with visual detection equipment on vehicle 21, which can be according to adjacent two frame or non-adjacent
The image information of two frame vehicles 22 detects the distance between vehicle 22 and vehicle 21, it is assumed that the t1 moment detects a frame vehicle 22
Image information, according to the frame image information detect the distance between vehicle 22 and vehicle 21 be S1；The t2 moment detects separately
The image information of one frame vehicle 22 detects that the distance between vehicle 22 and vehicle 21 are S2 according to the frame image information；From t1
To t2, the variable quantity of the distance between vehicle 22 and vehicle 21 is (S1-S2), can determine that vehicle according to (S1-S2) and (t1-t2)
22 relative to the speed of vehicle 21 be (S1-S2)/(t1-t2).
In other embodiments, the status information of the back car for obtaining the vehicle, comprising: pass through capture apparatus
Obtain the image information of the back car of the vehicle；The identification information of the back car is determined from described image information；
The identification information is sent to server；Receive the status information for the back car that the server is sent.
For example, may be provided with capture apparatus such as camera on vehicle 21, which can acquire the image letter of vehicle 22
Breath, which can get the image information of vehicle 22 by the camera, further to the figure of the vehicle 22
As information progress image procossing, the identification information such as license plate number of vehicle 22 is identified from the image information of the vehicle 22, into
One step, which can also be sent to server for the license plate number of vehicle 22.The service implement body can be cloud
The vehicle of platform, road traveling can in real time believe its status information such as velocity information, location information, license plate number, vehicle
One of breath, acceleration information etc. a variety of are sent to the server.When the server receives the vehicle of the transmission of vehicle 21
After 22 license plate number, it can obtain out from the corresponding database of the server or storage system and be closed with the license plate number of vehicle 22
The status information of the vehicle 22 of connection, and the status information of the vehicle 22 is sent to the vehicle control apparatus in vehicle 21.
The another way of velocity information of the acquisition back car relative to the vehicle is: according to the vehicle
Velocity information and server send back car velocity information, determine the back car relative to the vehicle
Velocity information.For example, the license plate number of vehicle 22 is sent to server by vehicle 21, server sends the status information of vehicle 22
It include the velocity information of vehicle 22 to vehicle 21, in the status information of the vehicle 22, the vehicle control apparatus in vehicle 21 can root
Velocity information of the vehicle 22 relative to vehicle 21 is determined according to the velocity information of vehicle 22 and the velocity information of vehicle 21.It is optional
, which can be according to such as global positioning system of the positioning device in vehicle 21 (Global Positioning
System, abbreviation GPS) control loop in positioning device or vehicle 21 determines the velocity information of vehicle 21.
The yet another approach of the velocity information relative to the vehicle that obtains the back car is: vehicle 21 is by vehicle
21 status information such as velocity information, location information, license plate number, vehicle model information, acceleration information etc. is sent to the service
Device, vehicle 22 is by status information of vehicle 22 such as velocity information, location information, license plate number, vehicle model information, acceleration information etc.
It is sent to the server.When the server receives the license plate number of the vehicle 22 of the transmission of vehicle 21, reported according to vehicle 21
The velocity information that velocity information and vehicle 22 report, determines velocity information of the vehicle 22 relative to vehicle 21, and by vehicle 22
Velocity information relative to vehicle 21 is sent to vehicle 21.
Step S103, according to the status information of the back car, the safe distance of the back car is determined.
When the vehicle control apparatus in vehicle 21 gets the status information such as vehicle model information of vehicle 22, vehicle of vehicle 22
22 relative to the velocity information of vehicle 21, the velocity information of vehicle 22, acceleration information of vehicle 22 etc. whens, can be according to the vehicle
22 status information determines the safe distance of vehicle 22.
Specifically, different vehicles can correspond to different peaces since the different corresponding braking distances of vehicle is different
Full distance, same vehicle can correspond to a relatively-stationary safe distance.Therefore, the vehicle control apparatus in vehicle 21 can basis
The vehicle model information of vehicle 22 determines the safe distance of vehicle 22.
In addition, with vehicle vehicle with friction speed when driving, braking distance is also different, therefore, same vehicle, not synchronized
Degree can correspond to different safe distances.Therefore, the safe distance of vehicle can also with the variation of the status information of vehicle reality
Shi Bianhua, for example, when vehicle 22 relative to vehicle 21 velocity information in real-time change, the safe distance of vehicle 22 is also real
Shi Bianhua's.Therefore, the vehicle control apparatus in vehicle 21 can determine that vehicle 22 is worked as according to the current status information of vehicle 22
Preceding safe distance.
Step S104, according to the safety of the distance between the vehicle and its back car and the back car away from
From execution anticollision operation.
Vehicle control apparatus in vehicle 21 determines the distance between vehicle 22 and vehicle 21 according to above-mentioned steps, and
After the safe distance of vehicle 22, can by comparing the safe distance of the distance between vehicle 22 and vehicle 21 and vehicle 22,
Anticollision operation is executed when the distance between vehicle 22 and vehicle 21 are less than the safe distance of vehicle 22.
It is described according to the distance between the vehicle and its back car and the safe distance of the back car, hold
The operation of row anticollision, including following several feasible implementations:
One kind is feasible to be achieved in that: if the distance between the back car and the vehicle come less than the rear
The safe distance of vehicle then generates prompting vehicle distance information.
For example, when the vehicle control apparatus in vehicle 21 determines that the distance between vehicle 22 and vehicle 21 are less than vehicle 22
Safe distance when, generate prompting vehicle distance information.
The generation prompting vehicle distance information, comprising: by controlling the car light of the vehicle, generate prompting vehicle distance information, institute
Prompting vehicle distance information is stated for prompting the driver of the back car.
For example, the vehicle control apparatus in vehicle 21 can control, the car light such as taillight of vehicle 21 is opened or discontinuity is bright
Go out, with prompt the driver in vehicle 22 pay attention to keep the distance between vehicle 22 and vehicle 21, avoid vehicle 22 and vehicle 21 away from
It is close from too, so that vehicle 21 and vehicle 22 be avoided to collide.
In other embodiments, the generation prompting vehicle distance information, comprising: generate the prompt for prompting the driver of the vehicle
Information.For example, when the vehicle control apparatus in vehicle 21 determines that the distance between vehicle 22 and vehicle 21 are less than vehicle 22
When safe distance, the driver of this vehicle can also be prompted to pay attention to guarding against, such as prompt the driver of this vehicle: the spacing of back car is small
In or be equal to safe distance the driver of this vehicle can also be prompted to accelerate when the spacing of back car is continuously less than safe distance
Or lane change traveling, specifically, vehicle control apparatus in vehicle 21 can the modes such as voice prompting, text prompt prompt this vehicle
Driver accelerates or lane change traveling, so that vehicle 21 and vehicle 22 be avoided to collide.
Another kind is feasible to be achieved in that: if the distance between the back car and the vehicle are less than the rear
Carry out the safe distance of vehicle, then controls the vehicle lane change or acceleration.
For example, when the vehicle control apparatus in vehicle 21 determines that the distance between vehicle 22 and vehicle 21 are less than vehicle 22
Safe distance when, 21 lane change of vehicle or acceleration can also be controlled, so that vehicle 21 and vehicle 22 be avoided to collide.
The present embodiment is determined by obtaining the status information of the back car of vehicle according to the status information of back car
The safe distance of back car, and according to the distance between the vehicle and its back car and the safe distance of back car,
Execute anticollision operation, it is ensured that the distance between the vehicle and its back car in safe distance, thus avoid the vehicle and
Its back car collides.
The embodiment of the present invention provides a kind of vehicle control apparatus.Fig. 3 is vehicle control apparatus provided in an embodiment of the present invention
Structure chart, as shown in figure 3, vehicle control apparatus 30 includes: memory 31 and processor 32.Memory 31 is for storing program
Code；Processor 32 calls said program code, when program code is performed, for performing the following operations: obtain vehicle with
The distance between its back car；Obtain the status information of the back car of the vehicle；According to the state of the back car
Information determines the safe distance of the back car；According to the distance between the vehicle and its back car and it is described after
Side carrys out the safe distance of vehicle, executes anticollision operation.
Optionally, when processor 32 obtains the status information of the back car of the vehicle, it is specifically used for following at least one
Kind: obtain the vehicle model information of the back car of the vehicle；Velocity information of the back car relative to the vehicle is obtained,
Or the velocity information of the back car；Obtain the acceleration information of the back car of the vehicle.
Optionally, when processor 32 obtains the vehicle model information of the back car of the vehicle, it is specifically used for: is set by shooting
The image information of the standby back car for obtaining the vehicle；According to the image information of the back car, determine that the rear is come
The vehicle model information of vehicle.
Optionally, processor 32 determines the vehicle model information of the back car according to the image information of the back car
When, it is specifically used for: image procossing is carried out using image information of the neural network model to the back car, obtains the rear
Carry out the vehicle model information of vehicle.
Optionally, when processor 32 obtains the distance between vehicle and its back car, it is specifically used for: obtains the vehicle
The detection data of the detecting devices of upper setting；According to the detection data for the detecting devices being arranged on the vehicle, determine it is described after
Side comes the distance between vehicle and the vehicle.
Optionally, processor 32 determines that the rear is come according to the detection data for the detecting devices being arranged on the vehicle
When the distance between vehicle and the vehicle, be specifically used for: according to be arranged on the vehicle radar, visual detection equipment, ultrasound
The detection data of at least one of wave detecting devices, TOF detecting devices detecting devices, determines the back car and the vehicle
The distance between.
Optionally, processor 32 according to be arranged on the vehicle radar, visual detection equipment, ultrasonic listening equipment,
The detection data of at least one of TOF detecting devices detecting devices, determines the distance between the back car and the vehicle
When, be specifically used for: according to the detection data for the visual detection equipment being arranged on the vehicle, determine the back car with it is described
The distance between vehicle.
Optionally, processor 32 according to be arranged on the vehicle radar, visual detection equipment, ultrasonic listening equipment,
The detection data of at least one of TOF detecting devices detecting devices, determines the distance between the back car and the vehicle
When, it is specifically used for:
By to be arranged on the vehicle radar, visual detection equipment, ultrasonic listening equipment, in TOF detecting devices
The detection data of at least two detecting devices carries out data fusion, determines the distance between the back car and the vehicle.
Optionally, processor 32 is by setting the radar that is arranged on the vehicle, visual detection equipment, ultrasonic listening
Standby, at least two detecting devices in TOF detecting devices detection datas carry out data fusions, determine the back car with it is described
When the distance between vehicle, it is specifically used for: by the detection data to the radar and visual detection equipment that are arranged on the vehicle
Data fusion is carried out, determines the distance between the back car and the vehicle.
Optionally, when processor 32 obtains velocity information of the back car relative to the vehicle, it is specifically used for: root
According to the distance between the back car and the vehicle and the corresponding temporal information of the detection data, determine it is described after
Side carrys out velocity information of the vehicle relative to the vehicle.
As shown in figure 4, vehicle control apparatus 30 further includes communication interface 33；The rear that processor 32 obtains the vehicle is come
When the status information of vehicle, it is specifically used for: obtains the image information of the back car of the vehicle by capture apparatus；From the figure
Identification information as determining the back car in information；The identification information is sent to server by communication interface 33；
The status information for the back car that the server is sent is received by communication interface 33.
Optionally, processor 32 is according to the distance between the vehicle and its back car and the back car
Safe distance is specifically used for when executing anticollision operation: if the distance between the back car and the vehicle are less than described
The safe distance of back car then generates prompting vehicle distance information.
Optionally, when processor 32 generates prompting vehicle distance information, it is specifically used for: the car light by controlling the vehicle, it is raw
At prompting vehicle distance information, the prompting vehicle distance information is used to prompt the driver of the back car.
Optionally, when processor 32 generates prompting vehicle distance information, it is specifically used for: generates mentioning for the driver for prompting the vehicle
Show information.
Optionally, processor 32 is according to the distance between the vehicle and its back car and the back car
Safe distance is specifically used for when executing anticollision operation: if the distance between the back car and the vehicle are less than described
The safe distance of back car then controls the vehicle lane change or acceleration.
The concrete principle and implementation of vehicle control apparatus provided in an embodiment of the present invention with embodiment illustrated in fig. 1 class
Seemingly, details are not described herein again.
The present embodiment is determined by obtaining the status information of the back car of vehicle according to the status information of back car
The safe distance of back car, and according to the distance between the vehicle and its back car and the safe distance of back car,
Execute anticollision operation, it is ensured that the distance between the vehicle and its back car in safe distance, thus avoid the vehicle and
Its back car collides.
The embodiment of the present invention provides a kind of vehicle.The vehicle includes that chassis, dynamical system, vehicle body and vehicle control are set
It is standby；Wherein, dynamical system is mounted on the chassis, is used to provide power；Vehicle body is mounted on the chassis；The vehicle control
The concrete principle and implementation of equipment are similar to the above embodiments, and details are not described herein again.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (31)
1. a kind of control method for vehicle characterized by comprising
Obtain the distance between vehicle and its back car；
Obtain the status information of the back car of the vehicle；
According to the status information of the back car, the safe distance of the back car is determined；
According to the distance between the vehicle and its back car and the safe distance of the back car, anticollision is executed
Operation.
2. the method according to claim 1, wherein the state letter of the back car for obtaining the vehicle
Breath, including following at least one:
Obtain the vehicle model information of the back car of the vehicle；
The back car is obtained relative to the velocity information of the vehicle or the velocity information of the back car；
Obtain the acceleration information of the back car of the vehicle.
3. according to the method described in claim 2, it is characterized in that, the vehicle letter of the back car for obtaining the vehicle
Breath, comprising:
The image information of the back car of the vehicle is obtained by capture apparatus；
According to the image information of the back car, the vehicle model information of the back car is determined.
4. according to the method described in claim 3, it is characterized in that, the image information according to the back car, determines
The vehicle model information of the back car, comprising:
Image procossing is carried out using image information of the neural network model to the back car, obtains the vehicle of the back car
Type information.
5. the method according to claim 1, wherein acquisition the distance between the vehicle and its back car,
Include:
Obtain the detection data for the detecting devices being arranged on the vehicle；
According to the detection data for the detecting devices being arranged on the vehicle, determine between the back car and the vehicle away from
From.
6. according to the method described in claim 5, it is characterized in that, the spy according to the detecting devices being arranged on the vehicle
Measured data determines the distance between the back car and the vehicle, comprising:
According to be arranged on the vehicle radar, visual detection equipment, ultrasonic listening equipment, at least one in TOF detecting devices
The detection data of kind detecting devices, determines the distance between the back car and the vehicle.
7. according to the method described in claim 6, it is characterized in that, described visit according to the radar being arranged on the vehicle, vision
The detection data of at least one of measurement equipment, ultrasonic listening equipment, TOF detecting devices detecting devices determines that the rear is come
The distance between vehicle and the vehicle, comprising:
According to the detection data for the visual detection equipment being arranged on the vehicle, determine between the back car and the vehicle
Distance.
8. according to the method described in claim 6, it is characterized in that, described visit according to the radar being arranged on the vehicle, vision
The detection data of at least one of measurement equipment, ultrasonic listening equipment, TOF detecting devices detecting devices determines that the rear is come
The distance between vehicle and the vehicle, comprising:
By to be arranged on the vehicle radar, visual detection equipment, ultrasonic listening equipment, in TOF detecting devices at least
The detection data of two kinds of detecting devices carries out data fusion, determines the distance between the back car and the vehicle.
9. according to the method described in claim 8, it is characterized in that, it is described by be arranged on the vehicle radar, vision
Detecting devices, ultrasonic listening equipment, the detection data of at least two detecting devices carries out data fusion in TOF detecting devices,
Determine the distance between the back car and the vehicle, comprising:
Carry out data fusion by detection data to the radar and visual detection equipment being arranged on the vehicle, determine it is described after
Side comes the distance between vehicle and the vehicle.
10. according to the described in any item methods of claim 5-9, which is characterized in that it is described obtain the back car relative to
The velocity information of the vehicle, comprising:
According to the distance between the back car and the vehicle and the corresponding temporal information of the detection data, determine
Velocity information of the back car relative to the vehicle.
11. method according to claim 1 or 2, which is characterized in that the state of the back car for obtaining the vehicle
Information, comprising:
The image information of the back car of the vehicle is obtained by capture apparatus；
The identification information of the back car is determined from described image information；
The identification information is sent to server；
Receive the status information for the back car that the server is sent.
12. -11 described in any item methods according to claim 1, which is characterized in that it is described according to the vehicle and its rear come
The safe distance of the distance between vehicle and the back car executes anticollision operation, comprising:
If the distance between the back car and the vehicle are less than the safe distance of the back car, generate spacing and mention
Show information.
13. according to the method for claim 12, which is characterized in that the generation prompting vehicle distance information, comprising:
By controlling the car light of the vehicle, prompting vehicle distance information is generated, the prompting vehicle distance information is for prompting the rear
Carry out the driver of vehicle.
14. according to the method for claim 12, which is characterized in that the generation prompting vehicle distance information, comprising:
Generate the prompt information for prompting the driver of the vehicle.
15. -11 described in any item methods according to claim 1, which is characterized in that it is described according to the vehicle and its rear come
The safe distance of the distance between vehicle and the back car executes anticollision operation, comprising:
If the distance between the back car and the vehicle are less than the safe distance of the back car, the vehicle is controlled
Lane change or acceleration.
16. a kind of vehicle control apparatus characterized by comprising include: memory and processor；
The memory is for storing program code；
The processor calls said program code, when program code is performed, for performing the following operations:
Obtain the distance between vehicle and its back car；
Obtain the status information of the back car of the vehicle；
According to the status information of the back car, the safe distance of the back car is determined；
According to the distance between the vehicle and its back car and the safe distance of the back car, anticollision is executed
Operation.
17. vehicle control apparatus according to claim 16, which is characterized in that after the processor obtains the vehicle
When side carrys out the status information of vehicle, it is specifically used for following at least one:
Obtain the vehicle model information of the back car of the vehicle；
The back car is obtained relative to the velocity information of the vehicle or the velocity information of the back car；
Obtain the acceleration information of the back car of the vehicle.
18. vehicle control apparatus according to claim 17, which is characterized in that after the processor obtains the vehicle
When side carrys out the vehicle model information of vehicle, it is specifically used for:
The image information of the back car of the vehicle is obtained by capture apparatus；
According to the image information of the back car, the vehicle model information of the back car is determined.
19. vehicle control apparatus according to claim 18, which is characterized in that the processor is according to the back car
Image information be specifically used for when determining the vehicle model information of the back car:
Image procossing is carried out using image information of the neural network model to the back car, obtains the vehicle of the back car
Type information.
20. vehicle control apparatus according to claim 16, which is characterized in that the processor obtains vehicle and its rear
When carrying out the distance between vehicle, it is specifically used for:
Obtain the detection data for the detecting devices being arranged on the vehicle；
According to the detection data for the detecting devices being arranged on the vehicle, determine between the back car and the vehicle away from
From.
21. vehicle control apparatus according to claim 20, which is characterized in that the processor is set according on the vehicle
The detection data for the detecting devices set is specifically used for when determining the distance between the back car and the vehicle:
According to be arranged on the vehicle radar, visual detection equipment, ultrasonic listening equipment, at least one in TOF detecting devices
The detection data of kind detecting devices, determines the distance between the back car and the vehicle.
22. vehicle control apparatus according to claim 21, which is characterized in that the processor is set according on the vehicle
The detection data of at least one of the radar set, visual detection equipment, ultrasonic listening equipment, TOF detecting devices detecting devices,
When determining the distance between the back car and the vehicle, it is specifically used for:
According to the detection data for the visual detection equipment being arranged on the vehicle, determine between the back car and the vehicle
Distance.
23. vehicle control apparatus according to claim 21, which is characterized in that the processor is set according on the vehicle
The detection data of at least one of the radar set, visual detection equipment, ultrasonic listening equipment, TOF detecting devices detecting devices,
When determining the distance between the back car and the vehicle, it is specifically used for:
By to be arranged on the vehicle radar, visual detection equipment, ultrasonic listening equipment, in TOF detecting devices at least
The detection data of two kinds of detecting devices carries out data fusion, determines the distance between the back car and the vehicle.
24. vehicle control apparatus according to claim 23, which is characterized in that the processor passes through on the vehicle
The radar of setting, visual detection equipment, ultrasonic listening equipment, in TOF detecting devices at least two detecting devices detection number
It is specifically used for when determining the distance between the back car and the vehicle according to data fusion is carried out:
Carry out data fusion by detection data to the radar and visual detection equipment being arranged on the vehicle, determine it is described after
Side comes the distance between vehicle and the vehicle.
25. according to the described in any item vehicle control apparatus of claim 20-24, which is characterized in that the processor obtains institute
When stating velocity information of the back car relative to the vehicle, it is specifically used for:
According to the distance between the back car and the vehicle and the corresponding temporal information of the detection data, determine
Velocity information of the back car relative to the vehicle.
26. vehicle control apparatus according to claim 16 or 17, which is characterized in that further include: communication interface；
When the processor obtains the vehicle model information of the back car of the vehicle, it is specifically used for:
The image information of the back car of the vehicle is obtained by capture apparatus；
The identification information of the back car is determined from described image information；
The identification information is sent to server by the communication interface；
The status information for the back car that the server is sent is received by the communication interface.
27. the described in any item vehicle control apparatus of 6-26 according to claim 1, which is characterized in that the processor is according to institute
The safe distance of the distance between vehicle and its back car and the back car is stated, when executing anticollision operation, specifically
For:
If the distance between the back car and the vehicle are less than the safe distance of the back car, generate spacing and mention
Show information.
28. vehicle control apparatus according to claim 27, which is characterized in that the processor generates prompting vehicle distance information
When, it is specifically used for:
By controlling the car light of the vehicle, prompting vehicle distance information is generated, the prompting vehicle distance information is for prompting the rear
Carry out the driver of vehicle.
29. vehicle control apparatus according to claim 27, which is characterized in that the processor generates prompting vehicle distance information
When, it is specifically used for:
Generate the prompt information for prompting the driver of the vehicle.
30. the described in any item vehicle control apparatus of 6-26 according to claim 1, which is characterized in that the processor is according to institute
The safe distance of the distance between vehicle and its back car and the back car is stated, when executing anticollision operation, specifically
For:
If the distance between the back car and the vehicle are less than the safe distance of the back car, the vehicle is controlled
Lane change or acceleration.
31. a kind of vehicle characterized by comprising
Chassis；
Dynamical system is mounted on the chassis, is used to provide power；
Vehicle body is mounted on the chassis；
And such as the described in any item vehicle control apparatus of claim 16-30.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/119691 WO2019127310A1 (en) | 2017-12-29 | 2017-12-29 | Vehicle control method, vehicle control device, and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109070884A true CN109070884A (en) | 2018-12-21 |
Family
ID=64822084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780026730.0A Pending CN109070884A (en) | 2017-12-29 | 2017-12-29 | Control method for vehicle, vehicle control apparatus and vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109070884A (en) |
| WO (1) | WO2019127310A1 (en) |
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| CN112735182A (en) * | 2019-10-11 | 2021-04-30 | 深圳富泰宏精密工业有限公司 | Driving safety prompting method and vehicle |
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| WO2019127310A1 (en) | 2019-07-04 |
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