CN109484480B - Automobile control method and device and storage medium - Google Patents
Automobile control method and device and storage medium Download PDFInfo
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- CN109484480B CN109484480B CN201811555452.0A CN201811555452A CN109484480B CN 109484480 B CN109484480 B CN 109484480B CN 201811555452 A CN201811555452 A CN 201811555452A CN 109484480 B CN109484480 B CN 109484480B
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- automobile
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- steering
- control
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- 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
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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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
Abstract
The invention discloses a control method and device of an automobile and a storage medium, and belongs to the field of vehicle engineering. The method comprises the following steps: detecting the driving state of the automobile during the driving process of the automobile; when the automobile is detected to be steered, controlling a camera arranged on the head of the automobile to rotate based on steering information of the automobile for steering, and acquiring visual information of the automobile in the current driving direction through the camera; and controlling an adaptive cruise system of the automobile to control the speed of the automobile based on the visual information. The invention can control the camera at the head of the automobile to turn and acquire the visual information at the same time when the automobile turns, and control the self-adaptive cruise system of the automobile to adjust the speed of the automobile according to the visual information, thereby avoiding the occurrence of traffic accidents caused by the incapability of tracking by the millimeter wave radar on the automobile when the automobile turns, and improving the driving safety and the reliability of self-adaptive cruise.
Description
Technical Field
The present invention relates to the field of vehicle engineering technologies, and in particular, to a method and an apparatus for controlling an automobile, and a storage medium.
Background
With the development of technology, the degree of automobile intelligence is higher and higher. The self-adaptive cruise system in the automobile can automatically detect other automobiles in the current driving direction, when the fact that other automobiles do not exist in the current driving direction or the distance between the self-adaptive cruise system and other automobiles is far is detected, the current automobile is controlled to automatically accelerate, and when the fact that other automobiles exist in the current driving direction and the distance between the self-adaptive cruise system and other automobiles is close is detected, the current automobile is controlled to automatically decelerate, so that the current automobile can automatically adapt to the traffic condition.
At present, the road condition in the driving direction can be detected in real time through a millimeter wave radar fixed in front of the automobile, the road condition in the current driving direction is fed back to a control system of the automobile, and the control system of the automobile can perform self-adaptive adjustment on the speed of the automobile according to the obtained road condition.
However, since the adaptive cruise of the automobile is realized mainly by the millimeter wave radar fixedly installed in front of the automobile, and the beams transmitted and received by the radar are all linear, the adaptive cruise system of the automobile has a high probability of losing the front target in urban curves with small curvature radius, especially in road conditions with continuous turning. That is, the adaptive cruise system of the vehicle cannot detect other vehicles in the current driving direction, so that the vehicle is controlled to automatically accelerate when the vehicle considers that no other vehicle exists in the current driving direction, thereby causing traffic accidents.
Disclosure of Invention
The embodiment of the invention provides a control method and device of an automobile and a storage medium, which are used for solving the problem that in the related art, when the automobile turns, a millimeter wave radar of the automobile cannot detect other automobiles in the current driving direction, so that the risk of traffic accidents is increased. The technical scheme is as follows:
in a first aspect, a control method for a vehicle is provided, the method comprising:
detecting the driving state of the automobile during the driving process of the automobile;
when the automobile is detected to be steered, controlling a camera arranged on the head of the automobile to rotate based on steering information of the automobile for steering, and acquiring visual information of the automobile in the current driving direction through the camera;
and controlling an adaptive cruise system of the automobile to control the speed of the automobile based on the visual information.
Optionally, the controlling an adaptive cruise system of the automobile to perform speed control based on the visual information includes:
performing visual detection on the visual information;
when detecting that other automobiles exist in the current driving direction of the automobile, determining the distance between the automobile and the other automobiles;
and controlling the self-adaptive cruise system to control the vehicle speed based on the distance.
Optionally, the controlling the camera mounted on the head of the automobile to rotate based on the steering information of the automobile for steering includes:
and controlling the camera to rotate according to the steering direction and the steering angle of the automobile so that the normal line of the visual angle of the camera is the same as the steering of the automobile.
Optionally, after detecting the driving state of the automobile, the method further includes:
when the automobile is detected to run straight, detecting the running state of a millimeter wave radar of the automobile;
and when the millimeter wave radar breaks down, returning to the operation of acquiring the visual information of the automobile in the current driving direction through the camera.
Optionally, the method further comprises:
acquiring speed limit information through the camera;
and when the speed of the automobile is greater than the speed described by the speed limit information, controlling the speed of the automobile to be reduced to the speed described by the speed limit information.
In a second aspect, there is provided a control apparatus for an automobile, the apparatus comprising:
the device comprises a first detection module, a second detection module and a control module, wherein the first detection module is used for detecting the driving state of the automobile in the driving process of the automobile;
the first control module is used for controlling a camera arranged on the head of the automobile to rotate based on steering information of the automobile for steering when the automobile is detected to be steered, and acquiring visual information of the automobile in the current driving direction through the camera;
and the second control module is used for controlling the self-adaptive cruise system of the automobile to control the speed of the automobile based on the visual information.
Optionally, the second control module comprises:
the detection submodule is used for carrying out visual detection on the visual information;
the determining submodule is used for determining the distance between the vehicle and other vehicles when the vehicle is detected to have other vehicles in the current driving direction;
and the control submodule is used for controlling the adaptive cruise system to control the vehicle speed based on the distance.
Optionally, the first control module is configured to:
and controlling the camera to rotate according to the steering direction and the steering angle of the automobile so that the normal line of the visual angle of the camera is the same as the steering of the automobile.
Optionally, the apparatus further comprises:
the second detection module is used for detecting the running state of the millimeter wave radar of the automobile when the automobile is detected to run straight;
and the triggering module is used for triggering the first control module to acquire the operation of the visual information of the automobile in the current driving direction through the camera when the millimeter wave radar breaks down.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring speed limit information through the camera;
and the third control module is used for controlling the speed of the automobile to be reduced to the speed of the speed limit information when the speed of the automobile is greater than the speed of the automobile described by the speed limit information.
In a third aspect, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the method of any one of the above-mentioned first aspects.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
in the embodiment of the invention, the driving state of the automobile can be detected in the driving process of the automobile, when the automobile is detected to turn, the camera at the head of the automobile is controlled to turn and collect the visual information at the same time, and the adaptive cruise system of the automobile is controlled to regulate the speed of the automobile according to the visual information, so that the traffic accident caused by the fact that the millimeter wave radar on the automobile cannot track when the automobile turns is avoided, and the driving safety and the reliability of adaptive cruise are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a control method for a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for controlling a vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a control device of a first vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a second control module according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a control device of a second vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a control device of a third vehicle according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an automobile according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Before explaining the embodiments of the present invention in detail, the application scenarios related to the embodiments of the present invention are explained separately.
With the development of technology, the degree of automobile intelligence is higher and higher. The automobile can detect the road condition in the driving direction in real time through the millimeter wave radar fixed in front of the automobile, and the road condition in the current driving direction is fed back to the control system of the automobile. And if the current driving direction of the automobile is detected to have no other automobile or the distance between the current driving direction of the automobile and the other automobile is relatively short, the current automobile is controlled to automatically accelerate, and if the current driving direction of the automobile is detected to have the other automobile and the distance between the current driving direction of the automobile and the other automobile is relatively short, the current automobile is controlled to automatically decelerate. However, since the adaptive cruise of the automobile is realized mainly by the millimeter wave radar fixedly installed in front of the automobile, and the beams transmitted and received by the radar are all linear, the adaptive cruise system of the automobile has a high probability of losing the front target in urban curves with small curvature radius, especially in road conditions with continuous turning. That is, the adaptive cruise system of the vehicle cannot detect other vehicles in the current driving direction, so that the vehicle is controlled to automatically accelerate when the vehicle considers that no other vehicle exists in the current driving direction, thereby causing traffic accidents.
Based on the scene, the embodiment of the invention provides the automobile control method for improving the driving safety and reducing the risk of traffic accidents.
After describing an application scenario of the embodiment of the present invention, a detailed description will be given of a control method of an automobile according to the embodiment of the present invention with reference to the accompanying drawings.
Fig. 1 is a flowchart of a control method for a vehicle according to an embodiment of the present invention, and referring to fig. 1, the method is applied to a vehicle and includes the following steps.
Step 101: during the running of the automobile, the running state of the automobile is detected.
Step 102: when the automobile is detected to turn, the camera mounted on the head of the automobile is controlled to rotate based on the turning information of the automobile, and the visual information of the automobile in the current driving direction is acquired through the camera.
Step 103: and controlling an adaptive cruise system of the automobile to control the speed of the automobile based on the visual information.
In the embodiment of the invention, the driving state of the automobile can be detected in the driving process of the automobile, when the automobile is detected to turn, the camera at the head of the automobile is controlled to turn and collect the visual information at the same time, and the adaptive cruise system of the automobile is controlled to regulate the speed of the automobile according to the visual information, so that the traffic accident caused by the fact that the millimeter wave radar on the automobile cannot track when the automobile turns is avoided, and the driving safety and the reliability of adaptive cruise are improved.
Optionally, controlling an adaptive cruise system of the vehicle to perform vehicle speed control based on the visual information, comprising:
carrying out visual detection on the visual information;
when detecting that other automobiles exist in the current driving direction of the automobile, determining the distance between the automobile and the other automobiles;
and controlling the adaptive cruise system to control the vehicle speed based on the distance.
Optionally, the camera that control this car locomotive installation rotates based on this car turns to the information, includes:
and controlling the camera to rotate according to the steering direction and the steering angle of the automobile so that the visual angle normal of the camera is the same as the steering of the automobile.
Optionally, after detecting the driving state of the automobile, the method further includes:
when the automobile is detected to run straight, detecting the running state of the millimeter wave radar of the automobile;
and when the millimeter wave radar breaks down, returning to the operation of acquiring the visual information of the automobile in the current driving direction through the camera.
Optionally, the method further comprises:
acquiring speed limit information through the camera;
and when the speed of the automobile is greater than the speed described by the speed limit information, controlling the speed of the automobile to be reduced to the speed of the speed limit information.
All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present invention, which is not described in detail herein.
Fig. 2 is a flowchart of a control method for a vehicle according to an embodiment of the present invention, and referring to fig. 2, the method includes the following steps.
Step 201: during the driving of the vehicle, the vehicle detects the driving state.
The automobile is likely to encounter different road conditions during driving, such as straight-driving road conditions, turning road conditions, uphill road conditions, downhill road conditions, and the like. According to different road conditions, the self-adaptive cruise system of the automobile needs to make different adjustments on the speed of the automobile. Therefore, in order to accurately control the vehicle speed of the vehicle, the vehicle needs to detect the current driving state during driving.
The driving state of the automobile can be detected in real time during driving of the automobile, or the driving state of the automobile can be detected at intervals, which can be set in advance, for example, the intervals can be 5 minutes, 10 minutes, 30 minutes, and the like.
In addition, when the speed of the automobile is too fast, the driver cannot timely cope with the sudden road condition, so that the possibility of traffic accidents is increased. Therefore, the automobile can also detect the running state of the automobile when the speed of the automobile is greater than the speed threshold value. The vehicle speed threshold may be set in advance, for example, the vehicle speed threshold may be 60 km/h, 70 km/h, or the like.
Step 202: when the automobile is detected to turn, the camera installed on the automobile control head rotates based on the turning information of the automobile, and the visual information of the automobile in the current driving direction is obtained through the camera.
When the automobile is turned, the millimeter wave radar installed on the automobile may not detect whether other automobiles or other objects, such as pedestrians, exist in the current driving direction of the automobile. If it is determined that no other cars or objects exist at this time, the adaptive cruise system of the car is likely to control the car to accelerate, and if other cars or objects exist in the current driving direction, the acceleration of the car is likely to cause the car to collide with the other cars or objects in the current driving direction. Therefore, in order to improve driving safety and tracking accuracy of other automobiles or objects, the automobile can control the installed camera to rotate based on steering information of the automobile for steering, and visual information in the current driving direction of the automobile is acquired through the camera.
The steering information of the automobile can comprise the steering direction and the steering angle of the automobile, so that the automobile can control the camera to rotate according to the steering direction and the steering angle of the automobile, and the normal line of the visual angle of the camera is the same as the steering of the automobile.
It should be noted that the camera can be arranged at the head of the automobile in a support form, the camera can automatically and transversely rotate at the head of the automobile according to the rotation condition of the automobile body, and the automobile body rotates depending on wheels of the automobile, so that the rotation of the camera according to the rotation direction and the steering angle of the automobile can mean that the rotation direction of the camera is equal to the rotation direction of front wheels of the automobile, and the steering angle of the camera is equal to the rotation angle of the front wheels of the automobile.
Further, since the road condition encountered by the vehicle may be any one of a straight-driving road condition, a turning road condition, an uphill road condition, a downhill road condition, and the like, the vehicle may detect different driving states under different road conditions. The way in which a car tracks other cars or objects in the current direction of travel is also different for different driving situations.
When the automobile is detected to run straight, the running state of the millimeter wave radar of the automobile can be detected; when the millimeter wave radar has a failure, the operation returns to the above step 202. When the millimeter wave radar is not in fault, other automobiles or objects in the current driving direction can be tracked through the millimeter wave radar, and an automatic cruise system of the automobile is controlled to adjust the speed of the automobile according to the final condition.
In addition, when the millimeter wave radar is not in fault, the visual information of the current driving direction of the automobile can be acquired through the camera.
When the automobile tracks other automobiles or objects in the current driving direction of the automobile through the millimeter wave radar and the camera, the automobile may obtain two same tracking results and may also obtain two different tracking results; and when two identical tracking results are obtained, adjusting the speed of the automobile through an automatic cruise system of the automobile according to any one of the two identical tracking results. When two different tracking results are obtained, the speed of the automobile is adjusted through an automatic cruise system of the automobile according to the tracking results obtained by the camera.
Step 203: the automobile controls an adaptive cruise system of the automobile to control the speed of the automobile based on the visual information.
The self-adaptive cruise system of the automobile has different speed regulation modes for different road conditions. The operation of controlling the speed control of the adaptive cruise system of the automobile based on the visual information can be as follows: carrying out visual detection on the visual information; when detecting that other automobiles exist in the current driving direction of the automobile, determining the distance between the automobile and the other automobiles; and controlling the speed of the vehicle by the adaptive cruise system based on the distance.
When the distance between the automobile and other automobiles is larger than a distance threshold value, the current automobile is controlled to accelerate, and when the distance is smaller than or equal to the distance threshold value, the current automobile is controlled to decelerate. When detecting that no other automobile exists in the current driving direction of the automobile, the current automobile can be controlled to accelerate.
Since the probability of collision between the current vehicle and another vehicle is high when the distance between the current vehicle and the other vehicle is short, the automatic cruise system of the vehicle can control the speed of the vehicle to be reduced in order to reduce the risk of collision. That is, when the distance between the current automobile and the other automobiles is smaller than or equal to the distance threshold, the current automobile is controlled to decelerate. When the distance between the current automobile and other automobiles is long or other automobiles do not exist in the driving direction of the current automobile, the collision possibility between the current automobile and other automobiles is low, and at the moment, in order to save driving time, the current automobile can be properly controlled to accelerate. That is, when the distance between the vehicle and other vehicles is greater than the distance threshold, the current vehicle is controlled to accelerate.
The visual detection of the visual information may be pattern recognition, object recognition, or the like of the visual information. The distance threshold may be set in advance, for example, the distance threshold may be 50 meters, 100 meters, and the like.
Further, since the range of the camera is usually large, it can be determined from the visual information that there are not only other cars in the driving direction of the current car, but also the speed limit sign of the current driving road may be included in the visual information. At the moment, in order to improve the driving safety, the automobile can also acquire the speed limit information of the current road from the visual information, and control the self-adaptive cruise system of the automobile to adjust the speed of the automobile according to the speed limit information.
The automobile can acquire speed limit information through the camera; and when the speed of the automobile is greater than the speed described by the speed limit information, controlling the speed of the automobile to be reduced to the speed of the speed limit information.
In addition, sometimes, the driver may control the speed of the automobile in person, and at this time, in order to avoid that the driver adjusts the speed too fast, after the automobile detects the speed limit information through the camera, the automobile can remind the driver of the speed limit information of the current road through reminding modes such as voice and/or pictures and texts.
In the embodiment of the invention, the automobile can detect the running state of the automobile in the running process of the automobile, when the automobile is detected to turn, the camera at the head of the automobile is controlled to turn and collect visual information at the same time, and the adaptive cruise system of the automobile is controlled to regulate the speed of the automobile according to the visual information, so that the traffic accident caused by the fact that the millimeter wave radar on the automobile cannot track when the automobile turns is avoided, and the driving safety and the reliability of adaptive cruise are improved.
After explaining the control method of the automobile according to the embodiment of the present invention, a control device of the automobile according to the embodiment of the present invention will be described.
Fig. 3 is a block diagram of a control device of an automobile according to an embodiment of the present disclosure, and referring to fig. 3, the control device may be implemented by software, hardware, or a combination of the two. The device includes: a first detection module 301, a first control module 302, and a second control module 303.
The first detection module 301 is used for detecting the driving state of the automobile in the driving process of the automobile;
the first control module 302 is configured to, when it is detected that the automobile is steered, control a camera mounted at a head of the automobile to rotate based on steering information of the automobile for steering, and acquire visual information of the automobile in a current driving direction through the camera;
and the second control module 303 is configured to control an adaptive cruise system of the automobile to perform speed control based on the visual information.
Optionally, referring to fig. 4, the second control module 303 includes:
a detection submodule 3031, configured to perform visual detection on the visual information;
a determining submodule 3032, configured to determine, when it is detected that there is another automobile in the current driving direction of the automobile, a distance to the other automobile;
and a control submodule 3033, configured to control the adaptive cruise system to perform vehicle speed control based on the distance.
Optionally, the first control module 302 is configured to:
and controlling the camera to rotate according to the steering direction and the steering angle of the automobile so that the normal line of the visual angle of the camera is the same as the steering of the automobile.
Optionally, referring to fig. 5, the apparatus further comprises:
the second detection module 304 is used for detecting the running state of the millimeter wave radar of the automobile when the automobile is detected to run straight;
a triggering module 305, configured to trigger, when the millimeter wave radar fails, the first control module 302 to acquire, through the camera, the operation of the visual information in the current driving direction of the automobile.
Optionally, referring to fig. 6, the apparatus further comprises:
an obtaining module 306, configured to obtain speed limit information through the camera;
and a third control module 307, configured to control the speed of the vehicle to be reduced to the speed described in the speed limit information when the speed of the vehicle is greater than the speed described in the speed limit information.
In summary, in the embodiment of the invention, the automobile can detect the driving state of the automobile during the driving process of the automobile, when the automobile is detected to turn, the camera at the head of the automobile is controlled to turn and collect the visual information at the same time, and the adaptive cruise system of the automobile is controlled to adjust the speed of the automobile according to the visual information, so that the traffic accident caused by the fact that the millimeter wave radar on the automobile cannot track when the automobile turns is avoided, and the driving safety and the reliability of the adaptive cruise are improved.
It should be noted that: in the control device for an automobile provided in the above embodiment, when controlling an automobile, only the division of the above functional modules is exemplified, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the control device of the vehicle provided by the above embodiment and the control method embodiment of the vehicle belong to the same concept, and the specific implementation process thereof is detailed in the method embodiment and will not be described again.
Fig. 7 shows a block diagram of an automobile 700 according to an exemplary embodiment of the present invention.
Generally, the automobile 700 includes: a processor 701 and a memory 702.
The processor 701 may include one or more processing cores, such as a 4-core processor, a 7-core processor, and so on. The processor 701 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 701 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 701 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 701 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.
In some embodiments, the vehicle 700 may also optionally include: a peripheral interface 703 and at least one peripheral. The processor 701, the memory 702, and the peripheral interface 703 may be connected by buses or signal lines. Various peripheral devices may be connected to peripheral interface 703 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 704, touch screen display 705, camera 706, audio circuitry 707, positioning components 708, and power source 709.
The peripheral interface 703 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 701 and the memory 702. In some embodiments, processor 701, memory 702, and peripheral interface 703 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 701, the memory 702, and the peripheral interface 703 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 704 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 704 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 704 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 704 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 704 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 704 may also include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 705 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 705 is a touch display screen, the display screen 705 also has the ability to capture touch signals on or over the surface of the display screen 705. The touch signal may be input to the processor 701 as a control signal for processing. At this point, the display 705 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 705 may be one, providing the front panel of the automobile 700; in other embodiments, the display 705 may be at least two, each disposed on a different surface of the vehicle 700 or in a folded design; in still other embodiments, the display 705 may be a flexible display, disposed on a curved surface or on a folded surface of the automobile 700. Even more, the display 705 may be arranged in a non-rectangular irregular pattern, i.e. a shaped screen. The Display 705 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), or the like.
The camera assembly 706 is used to capture images or video. Optionally, camera assembly 706 includes a front camera and a rear camera. Generally, a front camera is disposed at a front panel of the terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions.
The audio circuitry 707 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 701 for processing or inputting the electric signals to the radio frequency circuit 704 to realize voice communication. For stereo capture or noise reduction purposes, the microphones may be multiple and located in different locations of the vehicle 700. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 701 or the radio frequency circuit 704 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, the audio circuitry 707 may also include a headphone jack.
The Location component 708 is used to locate the current geographic Location of the automobile 700 to implement navigation or LBS (Location Based Service). The Positioning component 708 can be a Positioning component based on the GPS (Global Positioning System) in the united states, the beidou System in china, the graves System in russia, or the galileo System in the european union.
In some embodiments, the vehicle 700 also includes one or more sensors 710. The one or more sensors 710 include, but are not limited to: an acceleration sensor 711.
The acceleration sensor 711 can detect the magnitude of acceleration in three coordinate axes of a coordinate system established with the automobile 700. For example, the acceleration sensor 711 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 701 may control the touch screen 705 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 711. The acceleration sensor 711 may also be used for acquisition of motion data of a game or a user.
That is, not only is an embodiment of the present invention provide an automobile including a processor and a memory for storing processor-executable instructions, wherein the processor is configured to perform the method in the embodiment shown in fig. 1 and 2, but also an embodiment of the present invention provides a computer-readable storage medium having stored therein a computer program, which, when executed by the processor, can implement the control method of the automobile in the embodiment shown in fig. 1 and 2.
Those skilled in the art will appreciate that the configuration shown in fig. 7 is not intended to be limiting of the vehicle 700 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be used.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A control method of an automobile, characterized by comprising:
detecting the driving state of the automobile during the driving process of the automobile;
when the automobile is detected to be steered, controlling a camera arranged on the head of the automobile to rotate based on steering information of the automobile for steering, acquiring visual information in the current driving direction of the automobile through the camera, and tracking other automobiles or objects in the current driving direction of the automobile through a millimeter wave radar;
when two tracking results are respectively obtained through a camera and the millimeter wave radar, if the two tracking results are the same, the speed of the automobile is adjusted through an adaptive cruise system of the automobile according to any one of the two tracking results;
and when the two tracking results are different, controlling the self-adaptive cruise system of the automobile to control the speed of the automobile based on the visual information.
2. The method of claim 1, wherein controlling an adaptive cruise system of the automobile for vehicle speed control based on the visual information comprises:
performing visual detection on the visual information;
when detecting that other automobiles exist in the current driving direction of the automobile, determining the distance between the automobile and the other automobiles;
and controlling the self-adaptive cruise system to control the vehicle speed based on the distance.
3. The method of claim 1, wherein controlling the camera mounted on the head of the vehicle to rotate based on steering information of the vehicle to steer comprises:
and controlling the camera to rotate according to the steering direction and the steering angle of the automobile so that the normal line of the visual angle of the camera is the same as the steering of the automobile.
4. The method of claim 1, wherein after detecting the driving state of the vehicle when the steering of the vehicle is detected, further comprising:
when the automobile is detected to run straight, detecting the running state of a millimeter wave radar of the automobile;
and when the millimeter wave radar breaks down, returning to the operation of acquiring the visual information of the automobile in the current driving direction through the camera.
5. The method of any of claims 1-4, wherein the method further comprises:
acquiring speed limit information through the camera;
and when the speed of the automobile is greater than the speed described by the speed limit information, controlling the speed of the automobile to be reduced to the speed described by the speed limit information.
6. A control device for a vehicle, characterized in that the device comprises:
the device comprises a first detection module, a second detection module and a control module, wherein the first detection module is used for detecting the driving state of the automobile in the driving process of the automobile;
the first control module is used for controlling a camera arranged on the head of the automobile to rotate based on steering information of the automobile for steering when the automobile is detected to be steered, acquiring visual information in the current driving direction of the automobile through the camera, and tracking other automobiles or objects in the current driving direction of the automobile through a millimeter wave radar;
the second control module is used for adjusting the speed of the automobile through an adaptive cruise system of the automobile according to any one of two tracking results if the two tracking results are the same when the two tracking results are respectively obtained through the camera and the millimeter wave radar; and when the two tracking results are different, controlling the self-adaptive cruise system of the automobile to control the speed of the automobile based on the visual information.
7. The apparatus of claim 6, wherein the second control module comprises:
the detection submodule is used for carrying out visual detection on the visual information;
the determining submodule is used for determining the distance between the vehicle and other vehicles when the vehicle is detected to have other vehicles in the current driving direction;
and the control submodule is used for controlling the adaptive cruise system to control the vehicle speed based on the distance.
8. The apparatus of claim 6, wherein the first control module is to:
and controlling the camera to rotate according to the steering direction and the steering angle of the automobile so that the normal line of the visual angle of the camera is the same as the steering of the automobile.
9. The apparatus of claim 6, wherein the apparatus further comprises:
the second detection module is used for detecting the running state of the millimeter wave radar of the automobile when the automobile is detected to run straight;
and the triggering module is used for triggering the first control module to acquire the operation of the visual information of the automobile in the current driving direction through the camera when the millimeter wave radar breaks down.
10. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when being executed by a processor, carries out the method of any one of claims 1-5.
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| CN113682305A (en) * | 2020-05-19 | 2021-11-23 | 广州汽车集团股份有限公司 | Vehicle-road cooperative self-adaptive cruise control method and device |
| CN113269974A (en) * | 2021-04-09 | 2021-08-17 | 东风汽车集团股份有限公司 | Target loss early warning and control method and device |
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| KR101822890B1 (en) * | 2015-01-22 | 2018-01-29 | 엘지전자 주식회사 | Front Vedeo Camera for Vehicles |
| JP6536064B2 (en) * | 2015-02-10 | 2019-07-03 | 株式会社デンソー | Travel locus selection device, travel locus selection method |
| CN105083283B (en) * | 2015-08-04 | 2017-09-29 | 北汽福田汽车股份有限公司 | For the control method of trailer-mounted radar, control device and system |
| CN105459907B (en) * | 2015-12-15 | 2018-02-02 | 小米科技有限责任公司 | Vehicle security system, blind area monitoring method and device |
| CN106347351A (en) * | 2016-09-28 | 2017-01-25 | 奇瑞汽车股份有限公司 | Adaptive cruise control method and system having automatic emergency braking function |
| CN108297869B (en) * | 2018-01-30 | 2019-11-26 | 浙江吉利汽车研究院有限公司 | Vehicle and system globe area method for vehicle |
| CN108705980B (en) * | 2018-05-07 | 2020-06-09 | 集美大学 | Vehicle front wheel and camera synchronous steering system |
| CN108501957A (en) * | 2018-06-10 | 2018-09-07 | 陕西理工大学 | Vehicle travel support device based on cam movement |
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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 |