CN109484480A - Control method, device and the storage medium of automobile - Google Patents
Control method, device and the storage medium of automobile Download PDFInfo
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- CN109484480A CN109484480A CN201811555452.0A CN201811555452A CN109484480A CN 109484480 A CN109484480 A CN 109484480A CN 201811555452 A CN201811555452 A CN 201811555452A CN 109484480 A CN109484480 A CN 109484480A
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- automobile
- camera
- speed
- control
- visual information
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000000007 visual effect Effects 0.000 claims abstract description 45
- 238000001514 detection method Methods 0.000 claims description 21
- 238000009434 installation Methods 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 5
- 206010039203 Road traffic accident Diseases 0.000 abstract description 10
- 230000003044 adaptive effect Effects 0.000 abstract description 8
- 230000002093 peripheral effect Effects 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 9
- 238000004891 communication Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000004927 fusion Effects 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000000979 retarding effect Effects 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- VIKNJXKGJWUCNN-XGXHKTLJSA-N norethisterone Chemical compound O=C1CC[C@@H]2[C@H]3CC[C@](C)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1 VIKNJXKGJWUCNN-XGXHKTLJSA-N 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
Abstract
The invention discloses a kind of control method of automobile, device and storage mediums, belong to Vehicle Engineering.This method comprises: while the car is driving, detecting the driving status of the automobile；When detecting that the automobile turns to, controls the direction information that the camera that the automobile head is installed is turned to based on the automobile and rotated, and the visual information on automobile current driving direction is obtained by the camera；Based on the visual information, the self-adaption cruise system for controlling the automobile carries out speed control.The present invention can be in automobile turning, the camera for controlling automobile head turns simultaneously and acquires visual information, and speed adjusting is carried out according to the self-adaption cruise system that visual information controls automobile, so as to avoid in automobile turning, traffic accident caused by can not being tracked because of the millimetre-wave radar on automobile improves the reliability of driving safety and adaptive cruise.
Description
Technical field
The present invention relates to Vehicle Engineering technical field, in particular to a kind of control method of automobile, device and storage medium.
Background technique
With the development of technology, vehicle intellectualized degree is higher and higher.Wherein, the self-adaption cruise system in automobile can
To detect other automobiles on current driving direction automatically, when detect on current driving direction there is no other automobiles or with
The distance of other automobiles farther out when, control current automobile and accelerated automatically, when detecting that there are other on current driving direction
Automobile and it is closer with the distance between other automobiles when, current automobile automatic retarding is controlled, to make to be fitted automatically when current automobile
Answer traffic conditions.
Currently, can will be worked as by the road conditions being fixed in the millimetre-wave radar detecting real-time driving direction of vehicle front
Road conditions in preceding driving direction feed back to the control system of automobile, and the control system of automobile can be according to acquisition road conditions to automobile
Speed carries out automatic adjusument.
But since the realization of the adaptive cruise of automobile relies primarily on the millimeter wave thunder being fixedly mounted in vehicle front
It reaches, and radar emission and received wave beam are all straight lines, therefore, in the lesser city bend of radius of curvature, especially connects
The road conditions of continuous turning, the self-adaption cruise system of automobile have greater probability to will be lost objects ahead.That is to say, automobile it is adaptive
It answers cruise system that can not detect other automobiles on current driving direction, the control automobile of automobile is caused to think current driving side
It is automatically speeded up upwards there is no other automobiles, to cause traffic accident.
Summary of the invention
The embodiment of the invention provides a kind of control method of automobile, device and storage mediums, for solving the relevant technologies
When middle automobile turning, the millimetre-wave radar of automobile can not detect other automobiles on current driving direction, and traffic accident is caused to be sent out
The problem of raw risk increases.The technical solution is as follows:
In a first aspect, providing a kind of control method of automobile, which comprises
While the car is driving, the driving status of the automobile is detected；
When detecting that the automobile turns to, control automobile head installation camera be based on the automobile into
The direction information that row turns to is rotated, and obtains the letter of the vision on automobile current driving direction by the camera
Breath；
Based on the visual information, the self-adaption cruise system for controlling the automobile carries out speed control.
Optionally, described to be based on the visual information, the self-adaption cruise system for controlling the automobile carries out speed control,
Include:
Vision-based detection is carried out to the visual information；
It is determining between other described automobiles when detecting on automobile current driving direction there are when other automobiles
Distance；
Speed control is carried out based on self-adaption cruise system described in the distance controlling.
Optionally, the direction information that the camera of the control automobile head installation is turned to based on the automobile
It is rotated, comprising:
The camera is controlled to be rotated according to the motor turning direction and steering angle, so that the camera
Angle of visibility normal is identical as the steering of the automobile.
Optionally, after the driving status of the detection automobile, further includes:
When detecting the automobile straight-line travelling, the operating status of the millimetre-wave radar of the automobile is detected；
When the millimetre-wave radar breaks down, return described by the camera acquisition automobile current driving
The operation of visual information on direction.
Optionally, the method also includes:
Speed-limiting messages are obtained by the camera；
When the speed of the automobile is greater than speed described in the speed-limiting messages, the speed for controlling the automobile is reduced
To speed described in the speed-limiting messages.
Second aspect, provides a kind of control device of automobile, and described device includes:
First detection module, for while the car is driving, detecting the driving status of the automobile；
First control module, for when detecting that the automobile turns to, controlling taking the photograph for the automobile head installation
The automobile current line is obtained as the direction information that head is turned to based on the automobile is rotated, and by the camera
Sail the visual information on direction；
Second control module, for being based on the visual information, the self-adaption cruise system for controlling the automobile carries out vehicle
Speed control.
Optionally, second control module includes:
Detection sub-module, for carrying out vision-based detection to the visual information；
Determine submodule, for when detecting on automobile current driving direction there are when other automobiles, determining and institute
State the distance between other automobiles；
Control submodule, for carrying out speed control based on self-adaption cruise system described in the distance controlling.
Optionally, first control module is used for:
The camera is controlled to be rotated according to the motor turning direction and steering angle, so that the camera
Angle of visibility normal is identical as the steering of the automobile.
Optionally, described device further include:
Second detection module, for detecting the millimetre-wave radar of the automobile when detecting the automobile straight-line travelling
Operating status；
Trigger module, for when the millimetre-wave radar breaks down, triggering first control module described in
Camera obtains the operation of the visual information on automobile current driving direction.
Optionally, described device further include:
Module is obtained, for obtaining speed-limiting messages by the camera；
Third control module, for controlling when the speed of the automobile is greater than speed described in the speed-limiting messages
The speed of the automobile is reduced to speed described in the speed-limiting messages.
The third aspect provides a kind of computer readable storage medium, is stored with computer program in the storage medium,
The computer program realizes any method in above-mentioned first aspect when being executed by processor.
Technical solution bring beneficial effect provided in an embodiment of the present invention includes at least:
In embodiments of the present invention, the driving status that automobile can be detected while the car is driving, when detecting automobile
It when turning to, controls the camera of automobile head while turning to and acquiring visual information, and automobile is controlled according to visual information
Self-adaption cruise system carry out speed adjusting, so as to avoid in automobile turning, because the millimetre-wave radar on automobile can not
Traffic accident caused by being tracked improves the reliability of driving safety and adaptive cruise.
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 only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of control method flow chart of automobile provided in an embodiment of the present invention；
Fig. 2 is the control method flow chart of another automobile provided in an embodiment of the present invention；
Fig. 3 is the controling device structure diagram of the first automobile provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of second control module provided in an embodiment of the present invention；
Fig. 5 is the controling device structure diagram of second of automobile provided in an embodiment of the present invention；
Fig. 6 is the controling device structure diagram of the third automobile provided in an embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of automobile provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Before carrying out detailed explanation to the embodiment of the present invention, the first application to being related in the embodiment of the present invention
Scene is explained respectively.
With the development of technology, vehicle intellectualized degree is higher and higher.Wherein, before automobile can be by being fixed on automobile
Road conditions in the millimetre-wave radar detecting real-time driving direction of side, and the road conditions on current driving direction are fed back to the control of automobile
System processed.If detect on automobile current driving direction there is no other automobiles or at a distance from other automobiles farther out when,
It controls current automobile to be accelerated automatically, if detected on current driving direction there are other automobiles and between other automobiles
When being closer, control current automobile automatic retarding.But since the realization of the adaptive cruise of automobile is relied primarily in vapour
The millimetre-wave radar that front side is fixedly mounted, and radar emission and received wave beam are all straight lines, therefore, in radius of curvature
Lesser city bend, the especially road conditions of continuous turning, before the self-adaption cruise system of automobile has greater probability will be lost
Square mesh mark.It that is to say, the self-adaption cruise system of automobile can not detect other automobiles on current driving direction, lead to automobile
Control automobile think on current driving direction there is no other automobiles and automatically speed up, to cause traffic accident.
Based on such scene, the embodiment of the invention provides a kind of raising drive safety, traffic accident is reduced
The control method of the automobile of risk.
It, next will be in conjunction with attached drawing to the embodiment of the present invention after the application scenarios to the embodiment of the present invention are introduced
The control method of the automobile of offer describes in detail.
Fig. 1 is a kind of flow chart of the control method of automobile provided in an embodiment of the present invention, referring to Fig. 1, this method application
In automobile, include the following steps.
Step 101: while the car is driving, detecting the driving status of the automobile.
Step 102: when detecting that the automobile turns to, the camera for controlling automobile head installation is based on the automobile
The direction information turned to is rotated, and obtains the visual information on the automobile current driving direction by the camera.
Step 103: being based on the visual information, the self-adaption cruise system for controlling the automobile carries out speed control.
In embodiments of the present invention, the driving status that automobile can be detected while the car is driving, when detecting automobile
It when turning to, controls the camera of automobile head while turning to and acquiring visual information, and automobile is controlled according to visual information
Self-adaption cruise system carry out speed adjusting, so as to avoid in automobile turning, because the millimetre-wave radar on automobile can not
Traffic accident caused by being tracked improves the reliability of driving safety and adaptive cruise.
Optionally, it is based on the visual information, the self-adaption cruise system for controlling the automobile carries out speed control, comprising:
Vision-based detection is carried out to the visual information；
When detecting on the automobile current driving direction there are when other automobiles, it is determining between other automobiles away from
From；
Speed control is carried out based on the distance controlling self-adaption cruise system.
Optionally, the direction information that the camera that the automobile head is installed is turned to based on the automobile is controlled to be turned
It is dynamic, comprising:
It controls the camera to be rotated according to the motor turning direction and steering angle, so that the angle of visibility of the camera
Normal is identical as the steering of the automobile.
Optionally, after the driving status for detecting the automobile, further includes:
When detecting the automobile straight-line travelling, the operating status of the millimetre-wave radar of the automobile is detected；
When the millimetre-wave radar breaks down, passes back through the camera and obtain view on the automobile current driving direction
Feel the operation of information.
Optionally, this method further include:
Speed-limiting messages are obtained by the camera；
When the speed of the automobile is greater than speed described in the speed-limiting messages, the speed for controlling the automobile is reduced to the limit
The speed that fast information is somebody's turn to do.
All the above alternatives, can form alternative embodiment of the invention according to any combination, and the present invention is real
It applies example and this is no longer repeated one by one.
Fig. 2 is a kind of flow chart of the control method of automobile provided in an embodiment of the present invention, and referring to fig. 2, this method includes
Following steps.
Step 201: while the car is driving, automotive check driving status.
Since automobile is likely to encounter different road conditions in the process of moving, for example, the road conditions of straight-line travelling, turning road
Condition, upward slope road conditions, descending road conditions etc..According to different road conditions, the self-adaption cruise system of automobile needs the speed to automobile
Make different adjustings.Therefore, in order to accurately control the speed of automobile, automobile is needed in driving process, to current
Driving status detected.
Wherein, automobile can real-time detection automobile in the process of moving driving status, can also be examined every time interval
The driving status of automobile is surveyed, which can be arranged in advance, for example, the time interval can be 5 minutes, 10 minutes, 30
Minute etc..
In addition, driver can not cope with burst road conditions in time when too fast due to automobile speed, lead to that traffic accident occurs
Possibility improves.Therefore, automobile can also detect the driving status of automobile when speed is greater than speed threshold value.The speed threshold value
It can be arranged in advance, for example, the speed threshold value can be 60,000 ms/h, 70,000 ms/h, etc..
Step 202: when detecting that automobile turns to, the camera of automobile control headstock installation is based on automobile and is turned
To direction information rotated, and pass through camera obtain automobile current driving direction on visual information.
When being turned to due to automobile, the millimetre-wave radar installed on automobile possibly can not detect automobile current driving side
It whether there is other automobiles or other objects upwards, for example, pedestrian.If thought at this time there is no other automobiles or object,
The self-adaption cruise system of so automobile is likely to control automobile and accelerates, if on current driving direction there are other automobiles or
Object, then the acceleration of automobile be likely to result in automobile on current driving direction other automobiles or object collide.
Therefore, in order to improve drive safety and to the tracking accuracy of other automobiles or object, automobile can control the camera shooting of installation
Head is rotated based on the direction information that automobile is turned to, and obtains the vision on automobile current driving direction by camera
Information.
Wherein, the direction information of automobile may include the steering direction and steering angle of automobile, and therefore, automobile can control
Camera is rotated according to motor turning direction and steering angle, so that the steering phase of the angle of visibility normal of camera and automobile
Together.
It should be noted that the headstock of automobile can be arranged in camera with rack form, and camera is in automobile head
The wheel for being fixed against automobile can be rotated according to the automatic lateral rotation of vehicle body rotation situation, vehicle body, therefore, camera is according to automobile
Rotation direction, steering angle, which carry out rotation, can refer to the front vehicle wheel rotation direction of camera rotation direction and automobile, camera
Steering angle and automobile front vehicle wheel rotational angle it is mutually same.
Further, due to the road conditions that automobile encounters may be straight-line travelling road conditions, turning road conditions, upward slope road conditions, under
Any of slope road conditions etc., under different road conditions, automobile may detect different driving status.For different travelings
State, the mode of other automobiles or object is not also identical on automobile tracking current driving direction.
Wherein, when detecting automobile straight-line travelling, it can detecte the operating status of the millimetre-wave radar of automobile；Work as millimeter
When wave radar breaks down, the operation of above-mentioned steps 202 is returned.When millimetre-wave radar does not break down, millimeter can be passed through
Other automobiles or object on wave lock-on current driving direction, and according to final situation control automobile automatic cruising system into
Driving velocity modulation section.
In addition, again may be by camera acquisition automobile current driving direction when millimetre-wave radar does not break down
On visual information.
Wherein, when automobile passes through millimetre-wave radar and camera to other automobiles or object on automobile current driving direction simultaneously
When body is tracked, automobile may get two identical tracking results, it is also possible to get two different trackings
As a result；When getting two identical tracking results, according to tracking any in two identical tracking results as a result, passing through vapour
The speed of automobile is adjusted in the automatic cruising system of vehicle.When getting two different tracking results, according to the camera shooting
The tracking result that head obtains is adjusted by speed of the automatic cruising system by automobile to automobile.
Step 203: automobile view-based access control model information, the self-adaption cruise system for controlling automobile carry out speed control.
Since the mode that the self-adaption cruise system for different road conditions, automobile carries out speed adjusting is not also identical.Its
In, automobile view-based access control model information, control automobile self-adaption cruise system carry out the operation of speed control can be with are as follows: vision is believed
Breath carries out vision-based detection；When detecting on automobile current driving direction there are when other automobiles, determine between other automobiles
Distance；Speed control is carried out based on distance controlling self-adaption cruise system.
Wherein, it when the distance between the automobile and other automobiles are greater than distance threshold, controls current automobile and is accelerated,
When the distance is less than or equal to distance threshold, controls current automobile and slow down.When detecting on automobile current driving direction
There is no when other automobiles, it equally can control current automobile and accelerated.
When closer due to the distance between current automobile and other automobiles, what current automobile and other automobiles collided can
Energy property is higher, and therefore, for the lower risk to collide, the automatic cruising system of automobile can control the speed drop of automobile
It is low.It that is to say, when the distance between current automobile and other automobiles are less than or equal to distance threshold, control current automobile and carry out
Slow down.It is not present when due to the distance between current automobile and other automobiles farther out, or in the driving direction of current automobile
When his automobile, current automobile and other automobiles possibility that collides are lower, at this time in order to save driving time, can suitably control
Make current automobile speed-raising.It that is to say, when the distance between the automobile and other automobiles are greater than distance threshold, control current automobile
Accelerated.
Figure identification, object are carried out to visual information it should be noted that carrying out vision-based detection to visual information and can refer to
Body identification etc..The distance threshold can be arranged in advance, for example, the distance threshold can be 50 meters, 100 meters etc..
Further, since camera is but range is usually larger, current vapour can be not only determined from visual information
It whether there is other automobiles in the driving direction of vehicle, be also possible to will include the speed limit mark of current driving road in the visual information
Know.At this point, in order to improve drive safety, automobile can also obtain the speed-limiting messages of present road, and root from visual information
The speed of automobile is adjusted according to the self-adaption cruise system of speed-limiting messages control automobile.
Wherein, automobile can obtain speed-limiting messages by camera；When the speed of automobile is greater than described in speed-limiting messages
When speed, the speed for controlling automobile is reduced to the speed of speed-limiting messages.
In addition, since sometimes driver may control the speed of automobile in person, at this point, in order to avoid driver is by vehicle
Whole too fast of velocity modulation, when automobile by camera detection to speed-limiting messages after, automobile can be reminded by voice and/or picture and text etc.
Mode reminds driver to be presently in the speed-limiting messages of road.
In embodiments of the present invention, automobile can detect the driving status of automobile while the car is driving, when detecting
When automobile turns to, controls the camera of automobile head while turning to and acquiring visual information, and controlled according to visual information
The self-adaption cruise system of automobile carries out speed adjusting, so as to avoid in automobile turning, because of the millimetre-wave radar on automobile
Traffic accident caused by can not being tracked improves the reliability of driving safety and adaptive cruise.
After the control method to automobile provided in an embodiment of the present invention is explained, next, to the present invention
The control device for the automobile that embodiment provides is introduced.
Fig. 3 is a kind of block diagram of the control device for automobile that the embodiment of the present disclosure provides, and referring to Fig. 3, which can be by
Software, hardware or both are implemented in combination with.The device includes: first detection module 301, the first control module 302 and second
Control module 303.
First detection module 301, for while the car is driving, detecting the driving status of the automobile；
First control module 302, for when detecting that the automobile turns to, controlling the automobile head installation
Camera is rotated based on the direction information that the automobile is turned to, and current by the camera acquisition automobile
Visual information in driving direction；
Second control module 303, for being based on the visual information, the self-adaption cruise system for controlling the automobile is carried out
Speed control.
Optionally, referring to fig. 4, second control module 303 includes:
Detection sub-module 3031, for carrying out vision-based detection to the visual information；
Submodule 3032 is determined, for determining when detecting on automobile current driving direction there are when other automobiles
The distance between other described automobiles；
Control submodule 3033, for carrying out speed control based on self-adaption cruise system described in the distance controlling.
Optionally, first control module 302 is used for:
The camera is controlled to be rotated according to the motor turning direction and steering angle, so that the camera
Angle of visibility normal is identical as the steering of the automobile.
Optionally, referring to Fig. 5, described device further include:
Second detection module 304, for when detecting the automobile straight-line travelling, detecting the millimeter wave thunder of the automobile
The operating status reached；
Trigger module 305, for it is logical to trigger first control module 302 when the millimetre-wave radar breaks down
Cross the operation for the visual information that the camera obtains on automobile current driving direction.
Optionally, referring to Fig. 6, described device further include:
Module 306 is obtained, for obtaining speed-limiting messages by the camera；
Third control module 307, for controlling when the speed of the automobile is greater than speed described in the speed-limiting messages
The speed for making the automobile is reduced to speed described in the speed-limiting messages.
In conclusion in embodiments of the present invention, automobile can detect the driving status of automobile while the car is driving,
When detecting that automobile turns to, controls the camera of automobile head while turning to and acquiring visual information, and according to vision
The self-adaption cruise system that information controls automobile carries out speed adjusting, so as to avoid in automobile turning, because of the milli on automobile
Traffic accident caused by metre wave radar can not be tracked improves the reliable of driving safety and adaptive cruise
Property.
It should be understood that the control device of automobile provided by the above embodiment is when controlling automobile, only with above-mentioned each function
Can module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different functions
Module is completed, i.e., the internal structure of device is divided into different functional modules, described above all or part of to complete
Function.In addition, the control device of automobile provided by the above embodiment and the control method embodiment of automobile belong to same design,
Specific implementation process is detailed in embodiment of the method, and which is not described herein again.
Fig. 7 shows the structural block diagram of the automobile 700 of an illustrative embodiment of the invention offer.
In general, automobile 700 includes: processor 701 and memory 702.
Processor 701 may include one or more processing cores, such as 4 core processors, 7 core processors etc..Place
Reason device 701 can use DSP (Digital Signal Processing, Digital Signal Processing), FPGA (Field-
Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, may be programmed
Logic array) at least one of example, in hardware realize.Processor 701 also may include primary processor and coprocessor, master
Processor is the processor for being handled data in the awake state, also referred to as CPU (Central Processing
Unit, central processing unit)；Coprocessor is the low power processor for being handled data in the standby state.?
In some embodiments, processor 701 can be integrated with GPU (Graphics Processing Unit, image processor),
GPU is used to be responsible for the rendering and drafting of content to be shown needed for display screen.In some embodiments, processor 701 can also be wrapped
AI (Artificial Intelligence, artificial intelligence) processor is included, the AI processor is for handling related machine learning
Calculating operation.
Memory 702 may include one or more computer readable storage mediums, which can
To be non-transient.Memory 702 may also include high-speed random access memory and nonvolatile memory, such as one
Or multiple disk storage equipments, flash memory device.In some embodiments, the non-transient computer in memory 702 can
Storage medium is read for storing at least one instruction, at least one instruction performed by processor 701 for realizing this Shen
Please in embodiment of the method provide automobile control method.
In some embodiments, automobile 700 is also optional includes: peripheral device interface 703 and at least one peripheral equipment.
It can be connected by bus or signal wire between processor 701, memory 702 and peripheral device interface 703.Each peripheral equipment
It can be connected by bus, signal wire or circuit board with peripheral device interface 703.Specifically, peripheral equipment includes: radio circuit
704, at least one of touch display screen 705, camera 706, voicefrequency circuit 707, positioning component 708 and power supply 709.
Peripheral device interface 703 can be used for I/O (Input/Output, input/output) is relevant outside at least one
Peripheral equipment is connected to processor 701 and memory 702.In some embodiments, processor 701, memory 702 and peripheral equipment
Interface 703 is integrated on same chip or circuit board；In some other embodiments, processor 701, memory 702 and outer
Any one or two in peripheral equipment interface 703 can realize on individual chip or circuit board, the present embodiment to this not
It is limited.
Radio circuit 704 is for receiving and emitting RF (Radio Frequency, radio frequency) signal, also referred to as electromagnetic signal.It penetrates
Frequency circuit 704 is communicated by electromagnetic signal with communication network and other communication equipments.Radio circuit 704 turns electric signal
It is changed to electromagnetic signal to be sent, alternatively, the electromagnetic signal received is converted to electric signal.Optionally, radio circuit 704 wraps
It includes: antenna system, RF transceiver, one or more amplifiers, tuner, oscillator, digital signal processor, codec chip
Group, user identity module card etc..Radio circuit 704 can be carried out by least one wireless communication protocol with other terminals
Communication.The wireless communication protocol includes but is not limited to: Metropolitan Area Network (MAN), each third generation mobile communication network (2G, 3G, 4G and 5G), wireless office
Domain net and/or WiFi (Wireless Fidelity, Wireless Fidelity) network.In some embodiments, radio circuit 704 may be used also
To include the related circuit of NFC (Near Field Communication, wireless near field communication), the application is not subject to this
It limits.
Display screen 705 is for showing UI (User Interface, user interface).The UI may include figure, text, figure
Mark, video and its their any combination.When display screen 705 is touch display screen, display screen 705 also there is acquisition to show
The ability of the touch signal on the surface or surface of screen 705.The touch signal can be used as control signal and be input to processor
701 are handled.At this point, display screen 705 can be also used for providing virtual push button and/or dummy keyboard, also referred to as soft button and/or
Soft keyboard.In some embodiments, display screen 705 can be one, and the front panel of automobile 700 is arranged；In other embodiments
In, display screen 705 can be at least two, be separately positioned on the different surfaces of automobile 700 or in foldover design；In still other reality
It applies in example, display screen 705 can be flexible display screen, be arranged on the curved surface of automobile 700 or on fold plane.Even, it shows
Display screen 705 can also be arranged to non-rectangle irregular figure, namely abnormity screen.Display screen 705 can use LCD (Liquid
Crystal Display, liquid crystal display), OLED (Organic Light-Emitting Diode, Organic Light Emitting Diode)
Etc. materials preparation.
CCD camera assembly 706 is for acquiring image or video.Optionally, CCD camera assembly 706 include front camera and
Rear camera.In general, the front panel of terminal is arranged in front camera, the back side of terminal is arranged in rear camera.One
In a little embodiments, rear camera at least two is main camera, depth of field camera, wide-angle camera, focal length camera shooting respectively
Any one in head, to realize that main camera and the fusion of depth of field camera realize background blurring function, main camera and wide-angle
Camera fusion realizes that pan-shot and VR (Virtual Reality, virtual reality) shooting function or other fusions are clapped
Camera shooting function.
Voicefrequency circuit 707 may include microphone and loudspeaker.Microphone is used to acquire the sound wave of user and environment, and will
Sound wave, which is converted to electric signal and is input to processor 701, to be handled, or is input to radio circuit 704 to realize voice communication.
For stereo acquisition or the purpose of noise reduction, microphone can be separately positioned on the different parts of automobile 700 to be multiple.Mike
Wind can also be array microphone or omnidirectional's acquisition type microphone.Loudspeaker is then used to that processor 701 or radio circuit will to be come from
704 electric signal is converted to sound wave.Loudspeaker can be traditional wafer speaker, be also possible to piezoelectric ceramic loudspeaker.When
When loudspeaker is piezoelectric ceramic loudspeaker, the audible sound wave of the mankind can be not only converted electrical signals to, it can also be by telecommunications
Number the sound wave that the mankind do not hear is converted to carry out the purposes such as ranging.In some embodiments, voicefrequency circuit 707 can also include
Earphone jack.
Positioning component 708 is used to position the current geographic position of automobile 700, to realize navigation or LBS (Location
Based Service, location based service).Positioning component 708 can be the GPS (Global based on the U.S.
Positioning System, global positioning system), the dipper system of China, Russia Gray receive this system or European Union
The positioning component of Galileo system.
Power supply 709 is used to be powered for the various components in automobile 700.Power supply 709 can be alternating current, direct current,
Disposable battery or rechargeable battery.When power supply 709 includes rechargeable battery, which can support wired charging
Or wireless charging.The rechargeable battery can be also used for supporting fast charge technology.
In some embodiments, automobile 700 further includes having one or more sensors 710.The one or more sensors
710 include but is not limited to: acceleration transducer 711.
The acceleration that acceleration transducer 711 can detecte in three reference axis of the coordinate system established with automobile 700 is big
It is small.For example, acceleration transducer 711 can be used for detecting component of the acceleration of gravity in three reference axis.Processor 701 can
With the acceleration of gravity signal acquired according to acceleration transducer 711, touch display screen 705 is controlled with transverse views or longitudinal view
Figure carries out the display of user interface.Acceleration transducer 711 can be also used for the acquisition of game or the exercise data of user.
It that is to say, the embodiment of the present invention provides not only a kind of automobile, including processor and can hold for storage processor
The memory of row instruction, wherein processor is configured as executing the method in Fig. 1 and embodiment shown in Fig. 2, moreover, this hair
Bright embodiment additionally provides a kind of computer readable storage medium, is stored with computer program in the storage medium, the computer
The control method of Fig. 1 and the automobile in embodiment shown in Fig. 2 may be implemented when program is executed by processor.
It will be understood by those skilled in the art that structure shown in Fig. 7 does not constitute the restriction to automobile 700, can wrap
It includes than illustrating more or fewer components, perhaps combine certain components or is arranged using different components.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of control method of automobile, which is characterized in that the described method includes:
While the car is driving, the driving status of the automobile is detected；
When detecting that the automobile turns to, the camera for controlling the automobile head installation is based on the automobile and is turned
To direction information rotated, and the visual information on automobile current driving direction is obtained by the camera；
Based on the visual information, the self-adaption cruise system for controlling the automobile carries out speed control.
2. the method as described in claim 1, which is characterized in that it is described to be based on the visual information, control the automobile oneself
It adapts to cruise system and carries out speed control, comprising:
Vision-based detection is carried out to the visual information；
When detecting on automobile current driving direction there are when other automobiles, it is determining between other described automobiles away from
From；
Speed control is carried out based on self-adaption cruise system described in the distance controlling.
3. the method as described in claim 1, which is characterized in that the camera of the control automobile head installation is based on institute
The direction information that automobile is turned to is stated to be rotated, comprising:
It controls the camera to be rotated according to the motor turning direction and steering angle, so that the camera is visual
Horn cupping line is identical as the steering of the automobile.
4. the method as described in claim 1, which is characterized in that after the driving status of the detection automobile, further includes:
When detecting the automobile straight-line travelling, the operating status of the millimetre-wave radar of the automobile is detected；
When the millimetre-wave radar breaks down, return described by camera acquisition automobile current driving direction
On visual information operation.
5. the method as described in claim 1-4 is any, which is characterized in that the method also includes:
Speed-limiting messages are obtained by the camera；
When the speed of the automobile is greater than speed described in the speed-limiting messages, the speed for controlling the automobile is reduced to institute
State speed described in speed-limiting messages.
6. a kind of control device of automobile, which is characterized in that described device includes:
First detection module, for while the car is driving, detecting the driving status of the automobile；
First control module, for when detecting that the automobile turns to, controlling the camera of the automobile head installation
The direction information turned to based on the automobile is rotated, and obtains the automobile current driving side by the camera
Upward visual information；
Second control module, for being based on the visual information, the self-adaption cruise system for controlling the automobile carries out speed control
System.
7. device as claimed in claim 6, which is characterized in that second control module includes:
Detection sub-module, for carrying out vision-based detection to the visual information；
Determine submodule, for when detecting on automobile current driving direction there are when other automobiles, it is determining with it is described its
The distance between his automobile；
Control submodule, for carrying out speed control based on self-adaption cruise system described in the distance controlling.
8. device as claimed in claim 6, which is characterized in that first control module is used for:
It controls the camera to be rotated according to the motor turning direction and steering angle, so that the camera is visual
Horn cupping line is identical as the steering of the automobile.
9. device as claimed in claim 6, which is characterized in that described device further include:
Second detection module, for detecting the fortune of the millimetre-wave radar of the automobile when detecting the automobile straight-line travelling
Row state；
Trigger module passes through the camera shooting for when the millimetre-wave radar breaks down, triggering first control module
Head obtains the operation of the visual information on automobile current driving direction.
10. a kind of computer readable storage medium, which is characterized in that computer program is stored in the storage medium, it is described
Method as claimed in any one of claims 1 to 5 is realized when computer program is executed by processor.
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| CN201811555452.0A CN109484480B (en) | 2018-12-19 | 2018-12-19 | Automobile control method and device and storage medium |
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| CN201811555452.0A CN109484480B (en) | 2018-12-19 | 2018-12-19 | Automobile control method and device and storage medium |
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Denomination of invention: Control methods, devices, and storage media for automobiles Effective date of registration: 20230818 Granted publication date: 20201110 Pledgee: Wuhu Economic and Technological Development Zone sub branch of China Construction Bank Co.,Ltd. Pledgor: CHERY AUTOMOBILE Co.,Ltd. Registration number: Y2023980052691 |