CN109624842A - A kind of control method and device of automobile automatic whistling - Google Patents
A kind of control method and device of automobile automatic whistling Download PDFInfo
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- CN109624842A CN109624842A CN201910062958.6A CN201910062958A CN109624842A CN 109624842 A CN109624842 A CN 109624842A CN 201910062958 A CN201910062958 A CN 201910062958A CN 109624842 A CN109624842 A CN 109624842A
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- automatic whistling
- determined distance
- whistling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
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Abstract
The present invention relates to technical field of vehicle safety, specifically disclose a kind of control method of automobile automatic whistling, which comprises obtain the run routing information of automobile；Judged at the first pre-determined distance in front of the current location of the automobile based on the run routing information with the presence or absence of bend；If so, obtaining the radius of the bend；Judge whether the radius is greater than pre-set radius threshold value；If so, controlling the automobile automatic whistling at second pre-determined distance of bend.The present invention can control automobile in corner automatic whistling, play the role of safety prompt function, can solve the problem of it is existing in the prior art can not corner carry out automatic whistling be easy to cause safety accident.
Description
Technical field
The present invention relates to technical field of vehicle safety, and in particular to a kind of control method and device of automobile automatic whistling.
Background technique
With the continuous growth of car ownership and driving number, concern of the road traffic accident increasingly by society.
It is counted according to road traffic accident in 2009, the traffic accident in negotiation of bends occurs and accounts for 10% or more of total number of accident." in
Magnificent people's republic's law on road traffic safety implementing regulations " the 59th article of regulation, approaching sharp turn or in the bend for influencing safe sight distance
On when driving, in addition to slow down, the loudspeaker that also to ring signal.But ring loudspeaker need driver to manually complete.Due to awareness of safety
Thin, the generally existing thought not wanted to take the trouble and have many reasons such as lucky psychology in arms, most drivers are in turning driving condition
Under do not blow a whistle, very big traffic safety hidden danger is left to turning driving.
In addition, in recent years, the research of automatic driving vehicle is among heat grinds both at home and abroad, but is not had also so far
See the function for automatic whistling of turning involved in intelligent driving method, also discloses realization without any patent and controlled in corner
The scheme of automobile automatic whistling.
Summary of the invention
The technical problem to be solved by the present invention is to existing in the prior art asking for automatic whistling can not be carried out in corner
Topic.
In order to solve the above technical problems, the invention discloses a kind of methods of automobile automatic whistling, which comprises
Obtain the run routing information of automobile；
Judge whether deposit at the first pre-determined distance in front of the current location of the automobile based on the run routing information
In bend；
If so, obtaining the radius of the bend；
Judge whether the radius of the bend is greater than pre-set radius threshold value；
If so, controlling the automobile automatic whistling at second pre-determined distance of bend.
Further, at the first pre-determined distance in front of the current location for judging the automobile there are when bend, institute
State method further include:
Obtain the image information in bend section；
Whether there are obstacles in analysis described image information；
If so, judging whether the barrier influences the safe sight distance of automobile；
If it is not, executing the operating procedure for obtaining the radius of the bend.
Further, described before controlling the automobile automatic whistling at second pre-determined distance of bend, institute
State method further include:
Whether there is no tooting mark in analysis described image information；
If it is not, executing the step of controlling the automobile automatic whistling at second pre-determined distance of bend.
Further, the method also includes:
When judging that the barrier influences the safe sight distance of automobile, execute at second pre-determined distance of bend
The step of controlling the automobile automatic whistling.
Further, in a preferred embodiment, described that the vapour is being controlled at second pre-determined distance of bend
Vehicle automatic whistling includes:
Starting to control the automobile automatic whistling N sound at second pre-determined distance of bend；
When the automobile enter the bend when, obtain the driving direction of the automobile center line and the bend sideline
Tangent line between angle；
Judge whether the angle is less than default angle threshold value；
If so, controlling the automobile stops whistle.
Further, in another preferred embodiment, it is described at second pre-determined distance of bend control described in
Automobile automatic whistling includes:
It rings automatically starting to control the automobile at second pre-determined distance of bend at interval of the first preset time
Flute M sound；
Whether the number of automatic whistling reaches preset times judging the automobile from second pre-determined distance；
If the number of automatic whistling reaches preset times judging the automobile from second pre-determined distance, control
It makes the automobile and stops whistle
Further, the present invention also provides a kind of control device of automobile automatic whistling, described device includes:
Routing information obtains module, for obtaining the run routing information of automobile；
First judgment module, first in front of current location for judging the automobile based on the run routing information
It whether there is bend at pre-determined distance；
Turning radius obtains module, for depositing at the first pre-determined distance in front of the current location for judging the automobile
In bend, the radius of the bend is obtained；
Second judgment module, for judging whether the radius is greater than pre-set radius threshold value；
Automobile automatic whistling control module, for judge the radius be greater than pre-set radius threshold value when, apart from institute
It states and controls the automobile ring at the second pre-determined distance of bend.
Further, described device further include:
Image information acquisition module, for being deposited at the first pre-determined distance in front of the current location for judging the automobile
In bend, the image information in bend section is obtained；
First analysis module, for analyzing, whether there are obstacles in described image information；
Third judgment module, for there are when barrier, judge that the barrier is in analyzing described image information
The no safe sight distance for influencing automobile；
The turning radius obtains module and is also used to obtain when judging the barrier not influences the safe sight distance of automobile
Take the radius of the bend.
Further, described device further include:
Whether the second analysis module has no tooting mark for analyzing in described image information；
The automobile automatic whistling control module is also used to, and no tooting mark is not present in analyzing described image information
When will, in the step of controlling the automobile automatic whistling at second pre-determined distance of bend.
Further, the automobile automatic whistling control module is also used in the peace for judging the barrier influence automobile
When full sighting distance, the automobile automatic whistling is being controlled at second pre-determined distance of bend.
Further, the automobile automatic whistling control module includes:
The automobile automatic whistling control module includes:
First control unit, for starting to control the automobile automatic whistling at second pre-determined distance of bend
N sound；
Second control unit, the driving direction for the automobile when judging that the automobile obtained enters bend
Center line and the bend sideline tangent line between angle when being less than default angle threshold value, control the automobile and stop ring
Flute.
Further, the automobile automatic whistling control module further include:
Third control unit, for starting to control the automobile at second pre-determined distance of bend at interval of
One preset time automatic whistling M sound；
4th control unit, time for the automatic whistling judging the automobile at second pre-determined distance
Number reaches preset times, controls the automobile and stops whistle.
By adopting the above technical scheme, the control method and device of automobile automatic whistling of the present invention have following beneficial
Effect:
1) in the present invention, by planning path, the bend information in acquisite approachs, before entering bend or enters curved in advance
Automobile automatic whistling is controlled when road, can effectively be reminded other side driver to pay attention to avoiding, be provided safeguard for driving safety；
2) in the present invention, the prompting of automobile automatic whistling or the automatic whistling of automobile can be realized in corner, avoids driving
The person of sailing forgets to blow a whistle, and effectively reduces traffic accident.
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 flow diagram of the control method of automobile automatic whistling shown according to an exemplary embodiment；
Fig. 2 is a kind of process signal of the control method of the automobile automatic whistling shown according to another exemplary embodiment
Figure；
Fig. 3 is a kind of process signal of the control method of the automobile automatic whistling shown according to another exemplary embodiment
Figure；
Fig. 4 is a kind of structural block diagram of the control device of automobile automatic whistling of the present invention；
Fig. 5 is the angle between the center line of the driving direction of automobile of the present invention and the tangent line in the bend sideline
Schematic diagram；
In figure, 1- routing information obtains module, 2- first judgment module, and 3- turning radius obtains module, and 4- second judges
Module, 5- automobile automatic whistling control module, 51- first control unit, the second control unit of 52-, 53- third control unit,
The 4th control unit of 54-, the 5th control unit of 55-, 6- image information acquisition module, the first analysis module of 7-, the judgement of 8- third
Module, the second analysis module of 9-, 10- angle obtain module, the 4th judgment module of 11-, the 5th judgment module of 12-.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
" one embodiment " or " embodiment " referred to herein, which refers to, may be included at least one implementation of the invention
A particular feature, structure, or characteristic.In the description of the present invention, it is to be understood that, description and claims of the invention
Book and term " first " in above-mentioned attached drawing, " second ", " third " and " the 4th " etc. rather than are used for distinguishing different objects
In description particular order.In addition, term " includes " and " having " and their any deformations, it is intended that cover non-exclusive packet
Contain.Such as it contains the process, method, system, product or equipment of a series of steps or units and is not limited to listed step
Rapid or unit, but optionally further comprising the step of not listing or unit, or optionally further comprising for these processes, side
The intrinsic other step or units of method, product or equipment.
With reference to the accompanying drawing, the method and device of automobile automatic whistling provided by the present application is described in detail.
Specifically, refering to fig. 1, Fig. 1 is the flow chart of the method for automobile automatic whistling described in exemplary embodiment, described
Method can be applied in the public transports terminal such as automobile, private vehicle, bus, electric car, light rail, or for another example
It, specifically can be by the processing of these terminals in the terminals of communications network functionalities such as smart phone, tablet computer, intelligent wearable device
Device is realized, which comprises
S100, the run routing information for obtaining automobile；
Specifically, in the present embodiment, the driving path of automobile, vehicle navigation apparatus are obtained by vehicle navigation apparatus
(path guiding device) is mounted on a vehicle, sets path of navigation from origin to destination, and according to the path of navigation into
The Route guiding of row from origin to destination.Preferably, the vehicle navigation apparatus can be mobile phone terminal or car-mounted terminal,
Navigation information can be leading online for the terminal networkings acquisition such as offline navigation map either mobile phone downloaded in the terminals such as mobile phone
Boat information or navigation information are also possible to what the offline navigation map downloaded in car-mounted terminal either car-mounted terminal networking obtained
Online navigation information.
S102, judged based on the run routing information be at the first pre-determined distance in front of the current location of the automobile
It is no that there are bends；
It can be parsed by the navigation information to the automobile in navigation map, in front of the current location to know vehicle
The first pre-determined distance at whether there is bend.
Specifically, the current vehicle drive information for driving vehicle can be obtained by terminal, in the specific implementation, if described
Terminal is the vehicle itself, then the vehicle can pass through such as position sensor, global position system GPS
(GlobalPositioningSystem, GPS) etc. carrys out the driving information in real time or periodically detecting and obtaining vehicle itself,
If the terminal is not vehicle termination, the terminal can be in such a way that wire/wireless be communicated (such as WiFi, bluetooth)
The driving information of the vehicle is obtained from the cloud server including the information of vehicles.That is, in some enforceable schemes
In, the information for the road surface bend being stored in cloud server can be directly received, or regarded by vehicle-mounted GPS apparatus
Information away from the road surface bend in range, or real-time nothing is passed through with fixed frequency (such as 1Hz) from the car-mounted terminal of vehicle
Line communicates to obtain bend information.
If judging, there are bends at the first pre-determined distance in front of the current location of the automobile, execute step S104,
If judging, portion is there are bend at the first pre-determined distance in front of the current location of the automobile, and vehicle, which does not have to whistle, to be reminded,
Vehicle normally continues to travel, and passes through road ahead.
S104, the radius for obtaining the bend；
Specifically, the radius of the bend can be detected by the bend detection device being arranged on automobile, it is described curved
Road detection device can be preferably camera, and the camera is passed through at image by obtaining the image information of road ahead
Reason obtains road ahead radius.
Further, bend can also be carried out by the radius information picked up in the navigation map stored in navigational route database
The acquisition of radius.It is understood that being stored with routing information in the navigational route database, the routing information includes at least road
The turning radius information of diameter, the information such as speed-limiting messages of bend, need to obtain need the bend information in section when, directly transfer
The turning radius information in the section.
Preferably, first pre-determined distance is a preset value, can be set as needed, does not limit it
Fixed, in some enforceable schemes, first pre-determined distance can be 150m~300m, in the present embodiment, preferably
150m judges at the 150m in front of current location with the presence or absence of bend.
Step S106 is executed after the radius for getting bend.
S106, judge whether the radius is greater than pre-set radius threshold value；
Specifically, the pre-set radius threshold value is a preset value, which can be according to the safe sight distance of calculating
The turning radius value setting of the safety of middle demand, or set according to actual needs, in an enforceable scheme, according to safety
Sighting distance sets turning radius value setting of the pre-set radius threshold value according to the safety of demand in the safe sight distance calculated, preferably foundation
Radius of horizontal curve setting.
It is understood that the radius of horizontal curve of bend is smaller, curvature is bigger, and bend is more anxious, and safe sight distance is shorter, instead
It, radius of horizontal curve is bigger, and curvature is smaller, and bend is gentler, and safe sight distance is longer, according to the definition of above-mentioned safe sight distance and
Relationship between horizontal curve and safe sight distance is it is found that safe sight distance is bigger more advantageous to driver, and radius of horizontal curve is bigger, peace
Full sighting distance is bigger, it is contemplated that road width problem, in highway layout, can not design radius of horizontal curve is too big, because
This, it is contemplated that road width problem, in conjunction with automobile turning radius, in a kind of enforceable scheme, the pre-set radius threshold value
For 20m~40m, in the present embodiment, the pre-set radius threshold value is preferably 30m.
If judging, the radius of the bend obtained is greater than pre-set radius threshold value, S108 is thened follow the steps, if judging to obtain
The radius of bend be not more than pre-set radius threshold value, then illustrate that the bend, can be normal through than more gentle, do not need whistle and mention
Awake opposite vehicle.
S108, the automobile automatic whistling is being controlled at second pre-determined distance of bend；
Specifically, control automobile automatic whistling can also can be set by manually controlling automobile automatic whistling.In one kind
In specific implementation, whistle alarm set can be set on automobile and automatic whistling button be arranged the whistle alarm set and
Position sensor on automobile mounted terminal called, car-mounted terminal and automobile communicates, and position sensor is used to acquire the position of automobile
Confidence number, and the location information of collected automobile is transferred to car-mounted terminal, car-mounted terminal is according to the position of the automobile received
Confidence, which is ceased to whistle alarm set, sends the prompting of automobile automatic whistling, to remind at second pre-determined distance of bend
Driver presses automatic whistling button, controls vehicle whistle.
Further, in another kind specific implementation, automatic whistling device can be set on automobile, and it is automatic that this is arranged
Horn device and car-mounted terminal communicate, and the position sensor on car-mounted terminal and automobile communicates, and position sensor is for acquiring vapour
The position signal of vehicle, and the location information of collected automobile is transferred to car-mounted terminal, car-mounted terminal is according to the vapour received
The location information of vehicle sends automatic whistling instruction to automatic whistling device, so that automatic whistling device is default apart from bend second
Automatic whistling at distance.
It is understood that car-mounted terminal is controlling automobile automatic whistling at the second pre-determined distance of bend, this second
Pre-determined distance can be identical as the first pre-determined distance, that is, is judging that there are automobile automatic whistling is just controlled when bend.For example,
Automobile automatic whistling is controlled at bend 150m, further, which might be less that the first pre-determined distance,
Judging there are after bend, so that automobile travels certain distance again controls automobile automatic whistling again, it is preferred that this is second pre-
If distance can be equal to the radius of bend, i.e., automobile automatic whistling is controlled when automobile will enter bend.Described second is default
Distance can be set according to actual needs, and be not limited thereof.
Preferably, in step S108 to control the automobile automatic whistling at second pre-determined distance of bend specific
Include:
Starting to control the automobile automatic whistling N sound at second pre-determined distance of bend；
Preferably, N takes positive integer value, and in a preferred embodiment, N can take 6, i.e., apart from the bend second it is default away from
Start to control 6 sound of automobile automatic whistling from place, to prompt opposite driving vehicle to pay attention to avoiding.
S110, when the automobile enter the bend when, obtain the center of the driving direction of the automobile as shown in Figure 5
Angle between line and the tangent line in the bend sideline；
Specifically, can be by the angle between the center line of the driving direction of the automobile and the tangent line in the bend sideline
It is denoted as α, can be obtained by angle radar between the center line of the driving direction of the automobile and the tangent line in the bend sideline
Angle α；
S112, judge whether the angle is less than default angle threshold value；
If judging, the angle is less than default angle threshold value, executes step S114, the angle is not less than if judging
Default angle threshold value, then explanation needs automatic whistling N sound again, and in automatic whistling again at this point, not yet by the bend
After N sound, continue to judge whether the angle is less than default angle threshold value, to judge whether automobile passes through the bend.
S114, the control automobile stop whistle.
Specifically, it is specially on the operation basis of above-mentioned control automobile automatic whistling that the control automobile, which stops whistle,
Upper end vehicle whistle.
It is understood that by judging the folder between the center line of driving direction of automobile and the tangent line in bend sideline
Angle can obtain driving condition of the automobile on bend in real time, judge whether automobile is driven out to bend, it is to be understood that work as vapour
When angle between the center line of the driving direction of vehicle and the tangent line in bend sideline is less than certain threshold value, preferably 10 °, illustrate vapour
Vehicle will enter in straight way.
Further, the N sound if automobile has been blown a whistle, and detect that automobile still travels on bend at this time, illustrate that this is curved
For track pitch from too long, primary whistle is insufficient to assure that automotive safety makes to go off the curve, therefore is detecting that automobile still travels on bend,
And when still meeting whistle condition, it can blow a whistle again during automobile is in negotiation of bends.
Further, referring to Fig. 2, Fig. 2 is a kind of automobile automatic whistling shown according to another exemplary embodiment
The flow diagram of method, specifically, the described method includes:
S100, the run routing information for obtaining automobile；
S102, judged based on the run routing information be at the first pre-determined distance in front of the current location of the automobile
It is no that there are bends；
There are when bend at the first pre-determined distance in front of the current location for judging the automobile, step is executed
S200, if judging, there are bends, vehicle not to have to whistle in portion at the first pre-determined distance in front of the current location of the automobile
It reminds, vehicle normally continues to travel, pass through road ahead:
S200, the image information for obtaining bend section；
Specifically, imaging sensor can be installed on automobile, believed by the image that imaging sensor obtains driving path
Breath.It is understood that the imaging sensor can be constantly in open state while the car is driving, traveling is obtained in real time
The image information in path, can also there are open when bend at the first pre-determined distance in front of the current location for judging automobile
It opens, obtains the image information on curve ahead.
Whether there are obstacles in S202, analysis described image information；
Preferably, the detection that barrier can be realized based on optic flow technique, can also pass through image processing method analysis chart
As whether there are obstacles in information.
Whether deposited in bend image information and analysis image information it is understood that being obtained in step S200-S202
It is only to judge that a kind of bend section preferred embodiment that whether there are obstacles can in other enforceable modes in barrier
To install ultrasonic radar or millimetre-wave radar on automobile, detecting bend section by ultrasonic radar or millimetre-wave radar is
It is no to have barrier.
If analyzing in image information, there are barriers, execute step S204, if analyzing in image information, there is no barriers
Hinder object, executes step S104.
S204, judge whether the barrier influences the safe sight distance of automobile；
It is understood that bend sighting distance situation is directly related to the road traffic safety of driver, if curve inner side
There is landscape to block the sight of driver, then sighting distance will be not being met, and influence the normally travel of driver.Usually guarantee peace
Entirely, the barrier of high 1.2m must be removed in planar curve path sighting distance boundary, the barrier includes trees, building, massif etc..
It is described to judge whether the barrier influences the safe sight distance i.e. height of disturbance in judgement object of automobile and whether be greater than 1.2m, if obstacle
The height of object is greater than 1.2m, then illustrates that the barrier influences safe sight distance.It is understood that 1.2m is in current highway code
Preferred height, in some schemes, can set according to demand influence automobile safe sight distance barrier Height Standard.
Preferably, in the prior art, bend sighting distance is usually combined by sighting distance envelope and T. minor to determine.Specifically
Determine method, which is not described herein again.
Further, if judging barrier not influences the safe sight distance of automobile, S104 is thened follow the steps, if judging to hinder
Hinder object to influence safe sight distance, thens follow the steps S108.
S104, the radius for obtaining the bend；
S106, judge whether the radius of the bend is greater than pre-set radius threshold value；
When the radius for judging the bend is greater than pre-set radius threshold value, step S108 is executed.If judging described curved
When the radius in road is not more than pre-set radius threshold value, then illustrate that the bend, can be normal through than more gentle, does not need whistle and remind
Opposite vehicle.
S108, the automobile automatic whistling is being controlled at second pre-determined distance of bend；
Preferably, in step S108 to control the automobile automatic whistling at second pre-determined distance of bend specific
Include:
Starting to control the automobile at second pre-determined distance of bend at interval of the first preset time whistle M
Sound；
Whether the number blown a whistle judging the automobile from second pre-determined distance reaches preset times；
If the number blown a whistle judging the automobile from second pre-determined distance reaches preset times, institute is controlled
It states automobile and stops whistle.
It is understood that not referring to that place please refers in above-described embodiment in this scenario, in step S100-S108
Correlation is discussed in detail.
Further, referring to Fig. 3, Fig. 3 is a kind of automobile automatic whistling shown according to another exemplary embodiment
The flow diagram of method, specifically, the described method includes:
S100, the run routing information for obtaining automobile；
S102, judged based on the run routing information be at the first pre-determined distance in front of the current location of the automobile
It is no that there are bends；
There are when bend at the first pre-determined distance in front of the current location for judging the automobile, step is executed
S200, if judging, there is no when bend at the first pre-determined distance in front of the current location of the automobile, automobile continues normal
Traveling, passes through road ahead:
S200, the image information for obtaining bend section；
Whether there is no tooting mark in S300, analysis described image information；
If no tooting mark is not present in described image information, step S108 is executed, if analyzing described image information
It is middle there are the mark of no tooting, then automobile do not blow a whistle normal through.
S108, the automobile automatic whistling is being controlled at second pre-determined distance of bend.
Preferably, in step S108 to control the automobile automatic whistling at second pre-determined distance of bend specific
Include:
Second preset time of automobile automatic whistling is being controlled at second pre-determined distance of bend.
It is understood that being not directed to place in step in the program please refers to detailed description in above scheme.
Further, the specific implementation step of the step S108 in above scheme is not limited only to the preferred side of above scheme
The specific embodiment of formula, the step S108 in three kinds of embodiments can according to need exchange.
Following is present system embodiment, can be used for executing embodiment of the present invention method, is implemented to present system
Undisclosed details in example, please refers to embodiment of the method for the invention.
Fig. 4 is a kind of structural block diagram of the control device of automobile automatic whistling of the present invention.
As shown in figure 4, described device includes:
Routing information obtains module, for obtaining the run routing information of automobile；
First judgment module, first in front of current location for judging the automobile based on the run routing information
It whether there is bend at pre-determined distance；
Turning radius obtains module, in front of the current location that the first judgment module judges the automobile
There are when bend at first pre-determined distance, the radius of the bend is obtained；
Second judgment module, for judging whether the radius is greater than pre-set radius threshold value；
Automobile automatic whistling control module, for judging that the radius is greater than pre-set radius in second judgment module
When threshold value, the automobile ring is being controlled at second pre-determined distance of bend.
Further, described device further include:
Image information acquisition module, in front of the current location that the first judgment module judges the automobile
There are when bend at first pre-determined distance, the image information in bend section is obtained；
First analysis module, for analyzing, whether there are obstacles in described image information；
Third judgment module, for analyzing in described image information in first analysis module there are when barrier,
Judge whether the barrier influences the safe sight distance of automobile；
Further, the turning radius obtains module and is also used to judge the barrier in the third judgment module
When not influencing the safe sight distance of automobile, the radius of the bend is obtained.
Further, described device further include:
Whether the second analysis module has no tooting mark for analyzing in described image information；
The automobile automatic whistling control module is also used to, and is analyzed in described image information in second analysis module
There is no when no tooting mark, the automobile automatic whistling is being controlled at second pre-determined distance of bend.
Further, the automobile automatic whistling control module is also used to judge the barrier in the third judgment module
When object being hindered to influence the safe sight distance of automobile, the automobile automatic whistling is being controlled at second pre-determined distance of bend.
Further, described device further include:
Angle obtains module, in the driving direction for obtaining the automobile when the automobile enters the bend
Angle between heart line and the tangent line in the bend sideline；
4th judgment module judges that the angle obtains whether the angle that module obtains is less than default angle threshold value；
Further, the automobile automatic whistling control module includes:
First control unit, for starting to control the automobile automatic whistling at second pre-determined distance of bend
N sound；
Second control unit, for the institute when the 4th judgment module judges that the automobile obtained enters bend
When stating the angle between the center line of the driving direction of automobile and the tangent line in the bend sideline less than default angle threshold value, control
The automobile stops whistle.
Further, the automobile automatic whistling control module further include:
Third control unit, for starting to control the automobile at second pre-determined distance of bend at interval of
One preset time whistle M sound；
Further, described device further include:
Whether the 5th judgment module, the number for blowing a whistle judging the automobile from second pre-determined distance reach
To preset times；
Further, the automobile automatic whistling control module further include:
4th control unit judges the automobile since at second pre-determined distance in the 5th judgment module
The number of whistle reaches preset times, controls the automobile and stops whistle.
5th control unit, for controlling the automobile automatic whistling second at second pre-determined distance of bend
Preset time.
It is worth noting that, included modules and unit are only according to function in above-mentioned apparatus and terminal embodiment
Energy logic is divided, but is not limited to the above division, as long as corresponding functions can be realized；In addition, each mould
The specific name of block and unit is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, terminal embodiment described above is only schematical, for example, the module or unit
Division, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or group
Part can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown
Or the mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, module or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
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 automatic whistling, which is characterized in that the described method includes:
Obtain the run routing information of automobile；
Judged at the first pre-determined distance in front of the current location of the automobile based on the run routing information with the presence or absence of curved
Road；
If so, obtaining the radius of the bend；
Judge whether the radius of the bend is greater than pre-set radius threshold value；
If so, controlling the automobile automatic whistling at second pre-determined distance of bend.
2. the control method of automobile automatic whistling according to claim 1, which is characterized in that when judging the automobile
There are when bend at the first pre-determined distance in front of current location, the method also includes:
Obtain the image information in bend section；
Whether there are obstacles in analysis described image information；
If so, judging whether the barrier influences the safe sight distance of automobile；
If it is not, executing the operating procedure for obtaining the radius of the bend.
3. the control method of automobile automatic whistling according to claim 2, which is characterized in that the method also includes:
When judging that the barrier influences the safe sight distance of automobile, executes and controlled at second pre-determined distance of bend
The step of automobile automatic whistling.
4. the control method of automobile automatic whistling according to claim 1, which is characterized in that described apart from the bend
The automobile automatic whistling is controlled at second pre-determined distance includes:
Starting to control the automobile automatic whistling N sound at second pre-determined distance of bend；
When the automobile enters the bend, the center line of the driving direction of the automobile and cutting for the bend sideline are obtained
Angle between line；
Judge whether the angle is less than default angle threshold value；
If so, controlling the automobile stops whistle.
5. the control method of automobile automatic whistling according to claim 1, which is characterized in that described apart from the bend
The automobile automatic whistling is controlled at second pre-determined distance includes:
Starting to control the automobile at second pre-determined distance of bend at interval of the first preset time automatic whistling M
Sound；
Whether the number of automatic whistling reaches preset times judging the automobile from second pre-determined distance；
If the number of automatic whistling reaches preset times judging the automobile from second pre-determined distance, institute is controlled
It states automobile and stops whistle.
6. a kind of control device of automobile automatic whistling, which is characterized in that described device includes:
Routing information obtains module, for obtaining the run routing information of automobile；
First judgment module, first in front of current location for judging the automobile based on the run routing information are default
It whether there is bend at distance；
Turning radius obtains module, for there are curved at the first pre-determined distance in front of the current location for judging the automobile
When road, the radius of the bend is obtained；
Second judgment module, for judging whether the radius is greater than pre-set radius threshold value；
Automobile automatic whistling control module, for judge the radius be greater than pre-set radius threshold value when, apart from described curved
The automobile automatic whistling is controlled at the second pre-determined distance of road.
7. the control device of automobile automatic whistling according to claim 6, which is characterized in that described device further include:
Image information acquisition module, for there are curved at the first pre-determined distance in front of the current location for judging the automobile
When road, the image information in bend section is obtained；
First analysis module, for analyzing, whether there are obstacles in described image information；
Third judgment module, in analyzing described image information there are when barrier, judge the barrier whether shadow
Ring the safe sight distance of automobile；
The turning radius obtains module and is also used to when judging the barrier not influences the safe sight distance of automobile, obtains institute
State the radius of bend.
8. the control device of automobile automatic whistling according to claim 7, which is characterized in that
The automobile automatic whistling control module is also used to when judging that the barrier influences the safe sight distance of automobile, away from
From the control automobile automatic whistling at second pre-determined distance of bend.
9. the control device of automobile automatic whistling according to claim 6, which is characterized in that
The automobile automatic whistling control module includes:
First control unit, for starting to control the automobile automatic whistling N sound at second pre-determined distance of bend；
Second control unit, for judge obtain the automobile enter bend when the automobile driving direction in
When angle between heart line and the tangent line in the bend sideline is less than default angle threshold value, controls the automobile and stop whistle.
10. the control device of automobile automatic whistling according to claim 6, which is characterized in that
The automobile automatic whistling control module further include:
Third control unit, for starting to control the automobile at second pre-determined distance of bend at interval of first in advance
If time automatic whistling M sound；
4th control unit, the number for the automatic whistling judging the automobile at second pre-determined distance reach
To preset times, controls the automobile and stop whistle.
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| CN201910062958.6A CN109624842B (en) | 2019-01-23 | 2019-01-23 | Control method and device for automatic whistle of automobile |
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| CN201910062958.6A CN109624842B (en) | 2019-01-23 | 2019-01-23 | Control method and device for automatic whistle of automobile |
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| CN109624842B (en) | 2021-03-09 |
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