CN109795484A - Control method for vehicle and equipment - Google Patents
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- CN109795484A CN109795484A CN201811584990.2A CN201811584990A CN109795484A CN 109795484 A CN109795484 A CN 109795484A CN 201811584990 A CN201811584990 A CN 201811584990A CN 109795484 A CN109795484 A CN 109795484A
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Abstract
The embodiment of the present invention provides a kind of control method for vehicle and equipment, and this method includes the location information for obtaining target object；And it is based on Ackermann steering model, according to the driving trace of the wheel speed of vehicle and turning radius prediction vehicle；After getting the driving trace of location information and vehicle of target object respectively, according to the location information of target object and the driving trace of vehicle, vehicle is controlled.Control method for vehicle provided in an embodiment of the present invention and equipment improve the safety in vehicle travel process.
Description
Technical field
The present embodiments relate to traffic safety technical field more particularly to a kind of control method for vehicle and equipment.
Background technique
With the continuous development of science and technology, autonomous driving vehicle comes into being, autonomous driving vehicle be also known as pilotless automobile,
Computer driving or wheeled mobile robot are that one kind by computer system realizes unpiloted intelligent automobile, it out
Now provided a great convenience for people's lives, meanwhile, how to guarantee its driving safety be also those skilled in the art urgently
Problem to be solved.
In the prior art, in vehicle travel process, usually according to sensor to target object (such as barrier) into
Row monitoring, to determine the position where target object relative vehicle, and calculates the distance between target object and vehicle；Later,
Further according to the distance between target object and vehicle and vehicle travel speed determine between vehicle-to-target object safety away from
From, and vehicle is controlled based on the safe distance.
However, use which, if the target object on road to corner, can not determine the target object and vehicle it
Between safe distance cause the safety in vehicle travel process not high to can not accurately control vehicle.
Summary of the invention
The embodiment of the present invention provides a kind of control method for vehicle and equipment, to improve the safety in vehicle travel process.
In a first aspect, the embodiment of the present invention provides a kind of control method for vehicle, which may include:
Obtain the location information of target object；
Based on Ackermann steering model, the driving trace of the vehicle is predicted according to the wheel speed of vehicle and turning radius；
According to the location information of the target object and the driving trace of the vehicle, the vehicle is controlled.
It is described according to the location information of the target object and the traveling rail of the vehicle in a kind of possible implementation
Mark controls the vehicle, comprising:
According to the location information of the target object and the driving trace of the vehicle, judge the target object whether
On the driving trace of the vehicle；
If the target object on the driving trace of the vehicle, detects between the target object and the vehicle
Distance；
According to the distance between the target object and the vehicle, the vehicle is controlled.
It is described according to the distance between the target object and the vehicle in a kind of possible implementation, to described
Vehicle is controlled, comprising:
According to the distance between the target object and the vehicle, the braking moment of the vehicle is determined；Wherein, described
The braking moment negative correlation of distance and the vehicle；
According to the braking moment of the vehicle, the vehicle is controlled.
In a kind of possible implementation, the location information for obtaining target object, comprising:
At least one monitoring device is obtained to the initial monitor information of the target object；
Noise processed is carried out to the initial monitor information, the monitoring information that obtains that treated；
According to treated the detection information, the location information of the target object is obtained.
In a kind of possible implementation, treated according to the detection information obtains the target object
Location information, comprising:
Treated that detection information is pre-processed to described, obtains treated the target monitoring information；Wherein, institute
Stating pretreatment includes limit filtration processing and/or median filter process；
According to treated the target monitoring information, the location information of the target object is obtained.
It is described to be based on Ackermann steering model in a kind of possible implementation, according to the wheel speed and turning radius of vehicle
Before the driving trace for determining the vehicle, further includes:
Obtain the wheelbase and steering wheel angle between the radius of wheel of the vehicle, the vehicle front and back wheel；
According to the wheelbase and steering wheel angle between the radius of wheel of the vehicle, the vehicle front and back wheel, determine described in
The turning radius of vehicle.
Second aspect, the embodiment of the present invention also provide a kind of control equipment, which may include:
Acquiring unit, for obtaining the location information of target object；
Predicting unit predicts the vehicle according to the wheel speed of vehicle and turning radius for being based on Ackermann steering model
Driving trace；
Control unit, for according to the location information of the target object and the driving trace of the vehicle, to the vehicle
It is controlled.
In a kind of possible implementation, described control unit, specifically for the location information according to the target object
And the driving trace of the vehicle, judge the target object whether on the driving trace of the vehicle；If the object
Body then detects the distance between the target object and the vehicle on the driving trace of the vehicle；And according to the mesh
The distance between object and the vehicle are marked, the vehicle is controlled.
In a kind of possible implementation, described control unit is specifically used for according to the target object and the vehicle
The distance between, determine the braking moment of the vehicle；Wherein, the negatively correlated pass of braking moment of the distance and the vehicle
System；And according to the braking moment of the vehicle, the vehicle is controlled.
In a kind of possible implementation, the acquiring unit is specifically used for obtaining at least one monitoring device to described
The initial monitor information of target object；And noise processed is carried out to the initial monitor information, the monitoring information that obtains that treated；
Further according to treated the detection information, the location information of the target object is obtained.
In a kind of possible implementation, the acquiring unit is specifically used for described that treated that detection information carries out
Pretreatment obtains treated the target monitoring information；Wherein, the pretreatment includes limit filtration processing and/or intermediate value
Filtering processing；And according to treated the target monitoring information, the location information of the target object is obtained.
In a kind of possible implementation, the acquiring unit is also used to obtain radius of wheel, the vehicle of the vehicle
Wheelbase and steering wheel angle between front and back wheel；And according between the radius of wheel of the vehicle, the vehicle front and back wheel
Wheelbase and steering wheel angle determine the turning radius of the vehicle.
The third aspect, the embodiment of the present invention also provide a kind of control equipment, which may include processor and deposit
Reservoir, wherein
The memory is for storing program instruction；
The processor is used to read the program instruction in the memory, and according to the program instruction in the memory
Execute the described in any item control method for vehicle of above-mentioned first aspect.
Fourth aspect, the embodiment of the present invention also provide a kind of computer readable storage medium, which is characterized in that
Computer program is stored on computer readable storage medium, when the computer program is executed by processor,
Execute the described in any item control method for vehicle of above-mentioned first aspect.
The embodiment of the invention provides a kind of control method for vehicle and equipment, by the location information for obtaining target object；
And it is based on Ackermann steering model, according to the driving trace of the wheel speed of vehicle and turning radius prediction vehicle；Further according to object
The location information of body and the driving trace of vehicle, control vehicle.It can be seen that vehicle control provided in an embodiment of the present invention
Method and apparatus processed is to first pass through based on Ackermann steering model, predicts vehicle according to the wheel speed of vehicle and turning radius
Driving trace, in this way after obtaining the driving trace of location information and vehicle of target object respectively, so that it may according to the mesh
The driving trace for the vehicle marking the location information of object and predicting controls vehicle, to improve vehicle travel process
In safety.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow diagram of control method for vehicle provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of another control method for vehicle provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram for controlling equipment provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of another control equipment provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Description and claims of this specification and term " first ", " second ", " third " " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein for example can be to remove
Sequence other than those of illustrating or describe herein is implemented.In addition, term " includes " and " having " and theirs is any
Deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, production
Product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for this
A little process, methods, the other step or units of product or equipment inherently.
A kind of application scenarios of the invention are as follows: during vehicle driving, if having a barrier on the road in traveling front
Hinder object, needs to judge the safe distance between the barrier and vehicle at this time, and control vehicle.In the prior art, lead to
It is often to be monitored according to sensor to the barrier, determines the position where the barrier relative vehicle, and be based on object
Safe distance between body and vehicle controls vehicle.If but the barrier is in corner, can not determine the obstacle
Safe distance between object and vehicle leads to the safety in vehicle travel process to can not accurately control vehicle
Property is not high.In order to improve the safety in vehicle travel process, the embodiment of the invention provides a kind of control method for vehicle, pass through
Obtain the location information of the barrier；And it is based on Ackermann steering model, vehicle is predicted according to the wheel speed of vehicle and turning radius
Driving trace；The driving trace of location information and vehicle further according to the barrier, controls vehicle.It can be seen that
Control method for vehicle provided in an embodiment of the present invention is to first pass through based on Ackermann steering model, according to the wheel speed of vehicle and is turned
Curved radius prediction goes out the driving trace of vehicle, in this way the location information and vehicle that obtain the barrier respectively driving trace it
Afterwards, so that it may vehicle be controlled according to the driving trace of the location information of the barrier and the vehicle predicted, to mention
Safety in high vehicle travel process.
How technical solution of the present invention and technical solution of the present invention are solved with specific embodiment below above-mentioned
Technical problem is described in detail.These specific embodiments can be combined with each other below, for the same or similar concept
Or process repeats no more in certain embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
Fig. 1 is a kind of flow diagram of control method for vehicle provided in an embodiment of the present invention, using autonomous driving vehicle,
The control method for vehicle can be executed by control equipment, which can be independently arranged, and also can integrate in the processor.
Exemplary, shown in Figure 1, which may include:
S101, the location information for obtaining target object.
Optionally, target object can be a stationary body, or a dynamic object.It is exemplary, object
Body can be a barrier, such as the branch fallen, target object may be certain a group traveling together, it is of course also possible to be its elsewhere
Object on road, here, the embodiment of the present invention is so that target object can be for a barrier or certain a group traveling together as an example
It is illustrated, but does not represent the embodiment of the present invention and be limited only to this.
Wherein, location information can be indicated with latitude and longitude information.When obtaining the location information of target object, can pass through
The ultrasonic sensor being arranged on vehicle obtains the location information of the target object, it is of course also possible to by being arranged on vehicle
The sensors such as infrared sensor, camera or laser radar obtain the location information of the target object.It should be noted that
Peace in the embodiment of the present invention, when obtaining the location information of target object, between the multiple ultrasonic sensors being arranged on vehicle
Dress interval and the certain requirement of satisfactions such as pitch angle, to guarantee when having a ultrasonic sensor scanning of N (N >=1) to target object
When, it can determine the coordinate points of the target object or positioned at a certain region divided in advance.
It optionally, can be according to whether there is multiple ultrasonic sensors that can visit when obtaining the location information of target object
It measures a certain region and determines acquisition modes, multiple ultrasonic sensors may detect a certain region if it exists, then can be based on three
Angular measurement principle can calculate the position of target object using the monitoring result of each adjacent two ultrasonic sensor；If only depositing
It may detect a certain region in a ultrasonic sensor, then can in advance be divided into the range that all probes can detect
Multiple regions determine the region for wherein only having single probe that can detect, the i.e. corresponding region of the single probe, then when only
When one probe detection is to target object, it can determine that the target object is located at the corresponding region of the single probe, so that it is determined that
The location information of target object.
S102, it is based on Ackermann steering model, according to the driving trace of the wheel speed of vehicle and turning radius prediction vehicle.
Wherein, Ackermann steering model refers to that four wheels are the concyclic hearts, by using Ackermam when car body turns to
Steering model allows to guarantee that car body turning radius is computable by this geometrical relationship.
When predicting the driving trace of vehicle according to the wheel speed and turning radius of vehicle, need first to calculate separately out vehicle
Wheel speed and turning radius, in this way after the wheel speed and turning radius for calculating separately out vehicle, so that it may be based on Ackermann steering
Model, and the driving trace according to the wheel speed of vehicle and turning radius prediction subsequent time vehicle relative to current location.
It should be noted that in embodiments of the present invention, sequencing is had no between S101 and S102, can first carry out
S101, then execute S102；S102 can also be first carried out, then executes S101, it is of course also possible to by executing S101 and S102,
This, the embodiment of the present invention is only to execute S101, then executes and be illustrated for S102, but do not represent the embodiment of the present invention only
It is confined to this.
S103, according to the location information of target object and the driving trace of vehicle, vehicle is controlled.
In the location information for getting target object by S101 respectively, and predict by S102 the driving trace of vehicle
Later, so that it may according to the location information of the target object and the driving trace of vehicle, which be controlled.Thus may be used
See, control method for vehicle provided in an embodiment of the present invention, be to first pass through based on Ackermann steering model, according to the wheel speed of vehicle and
Turning radius predicts the driving trace of vehicle, the in this way driving trace in the location information and vehicle for obtaining target object respectively
Later, so that it may vehicle is controlled according to the driving trace of the location information of the target object and the vehicle predicted, from
And improve the safety in vehicle travel process.
Control method for vehicle provided in an embodiment of the present invention, by the location information for obtaining target object；And it is based on Acker
Graceful steering model, according to the driving trace of the wheel speed of vehicle and turning radius prediction vehicle；Further according to the position letter of target object
The driving trace of breath and vehicle, controls vehicle.It can be seen that control method for vehicle provided in an embodiment of the present invention, is
It first passes through based on Ackermann steering model, the driving trace of vehicle is predicted according to the wheel speed of vehicle and turning radius, is existed in this way
Respectively obtain target object location information and vehicle driving trace after, so that it may according to the location information of the target object
Vehicle is controlled with the driving trace of the vehicle predicted, to improve the safety in vehicle travel process.
Based on embodiment shown in FIG. 1, in order to be explicitly described, in embodiments of the present invention, how vehicle control is realized,
Exemplary, shown in Figure 2, Fig. 2 is the flow diagram of another control method for vehicle provided in an embodiment of the present invention, should
Control method for vehicle may include:
S201, at least one monitoring device is obtained to the initial monitor information of target object.
Wherein, the quantity of at least one monitoring device can be 1, or 2, it is of course also possible to be 3, tool
Body can be configured according to actual needs, here, the embodiment of the present invention, which is not done, to be had for the number of at least one monitoring device
Body limitation.
Exemplary, monitoring device can be ultrasonic sensor, or infrared sensor, camera or laser thunder
Up to equal sensors, here, for monitoring device it is specific why, the embodiment of the present invention is not particularly limited, as long as can lead to
It crosses the monitoring device to be monitored target object, and the initial monitor information of the target object can be got.
It should be noted that in embodiments of the present invention, obtaining at least one monitoring device to the initial of target object
When monitoring information, the certain requirement of the satisfactions such as installation interval and pitch angle between the multiple monitoring devices being arranged on vehicle, to protect
Card can determine the coordinate points of the target object or be located in advance when there is a monitoring device scanning of N (N >=1) to target object
The a certain region first divided, to get at least one monitoring device to the initial monitor information of target object.
S202, noise processed is carried out to initial monitor information, the monitoring information that obtains that treated.
After getting initial monitor information by S201, due to including many ambient noises in the initial monitor information
Equal other factors, detect influence of the factors such as unstable to monitoring result to reduce ambient noise and ultrasonic sensor,
Noise processed first can be carried out to the initial monitor information after getting initial monitor information, treated supervises to obtain
Measurement information.Wherein, ambient noise can be summarized as 4 seed types: Gaussian Profile, and exponential distribution is uniformly distributed and similar to pulse
The distribution of response.
Optionally, when carrying out noise processed to the initial monitor information, it will first can meet Gaussian Profile, index respectively
Distribution, is uniformly distributed and each noise of the distribution of similar impulse response is weighted summation, and the noise for obtaining monitoring device is surveyed
Measure model, and monitoring information obeys following probability distribution by obtaining that treated after noise processed:
Wherein, i indicates the distribution of the i-th seed type, ηiIndicate the probability distribution of the i-th seed type, piIndicate the i-th seed type
Weighting coefficient, p indicate to respectively indicate that treated the probability distribution that monitoring information is obeyed.
Noise processed is being carried out to initial monitor information by S202, the monitoring information of probability distribution is obeyed after being handled
Later, so that it may according to treated detection information, obtain the location information of target object, that is, execute following S203:
S203, according to treated detection information, obtain the location information of target object.
Optionally, in embodiments of the present invention, according to treated detection information, the location information of target object is obtained
Before, limit filtration processing and/or median filter process first can be carried out to treated detection information, treated to obtain
Target monitoring information thus can obtain the location information of target object according to treated target monitoring information.
It optionally, can be according to whether there is multiple monitoring devices may detect when obtaining the location information of target object
A certain region determines acquisition modes, and multiple monitoring devices may detect a certain region if it exists, then can be former based on triangulation
Reason, the position of target object can be calculated using the target monitoring information of each adjacent two monitoring device；If only existing a prison
Measurement equipment may detect a certain region, then the range that all probes can detect can be divided into multiple regions in advance, really
The fixed region for wherein only having single probe that can detect, the i.e. corresponding region of the single probe, then when only one probe is visited
When measuring target object, it can determine that the target object is located at the corresponding region of the single probe, so that it is determined that target object
Location information.
S204, it is based on Ackermann steering model, according to the driving trace of the wheel speed of vehicle and turning radius prediction vehicle.
Wherein, Ackermann steering model refers to that four wheels are the concyclic hearts, by using Ackermam when car body turns to
Steering model allows to guarantee that car body turning radius is computable by this geometrical relationship.
When predicting the driving trace of vehicle according to the wheel speed and turning radius of vehicle, need first to calculate separately out vehicle
Wheel speed and turning radius.Optionally, when calculating the turning radius of vehicle, before can first obtaining the radius of wheel of vehicle, vehicle
Wheelbase and steering wheel angle between rear-wheel；And according to the wheelbase and steering wheel between the radius of wheel of vehicle, vehicle front and back wheel
Corner calculates the turning radius for determining vehicle.In this way after the wheel speed and turning radius for calculating separately out vehicle, so that it may base
In Ackermann steering model, and the row according to the wheel speed of vehicle and turning radius prediction subsequent time vehicle relative to current location
Sail track.
It should be noted that in embodiments of the present invention, sequencing, Ke Yixian are had no between S201-S203 and S204
S201-S203 is executed, then executes S204；S204 can also be first carried out, then executes S201-S203, it is of course also possible to pass through execution
S201-S203 and S204, here, the embodiment of the present invention is only to execute S201-S203, then executes and is illustrated for S204,
But it does not represent the embodiment of the present invention and is limited only to this.
S205, according to the location information of target object and the driving trace of vehicle, judge target object whether in vehicle
On driving trace.
In the location information for getting target object by S201-S203, and predict by S204 the traveling rail of vehicle
After mark, vehicle is accurately controlled in order to realize, according to the location information of target object and the driving trace of vehicle, judges mesh
Object is marked whether on the driving trace of vehicle, to control according to judging result vehicle.
If S206, target object detect the distance between target object and vehicle on the driving trace of vehicle.
If target object on the driving trace of vehicle, detects the distance between target object and vehicle, and further
According to the distance between target object and vehicle, determine the braking moment of vehicle, further according to the braking moment of vehicle, to vehicle into
Row control, that is, execute following S207；Opposite, if target object illustrates the target object not on the driving trace of vehicle
It will not influence the traveling of vehicle, at this point it is possible to which there are no need to be according to vehicle without detecting the distance between target object and vehicle
Braking moment controls vehicle.
S207, according to the distance between target object and vehicle, determine the braking moment of vehicle, and according to the braking of vehicle
Torque controls vehicle.
Wherein, the braking moment negative correlation of distance and vehicle.
After at a distance from detecting target object between vehicle, so that it may according between the target object and vehicle
Distance determines the braking moment of vehicle.Wherein, the distance between target object and vehicle are smaller, the brake force of corresponding vehicle
Square is bigger；Opposite, the distance between target object and vehicle are bigger, and the braking moment of corresponding vehicle is smaller.According to mesh
The distance between object and vehicle are marked, after the braking moment for determining vehicle, so that it may according to the braking moment of the vehicle to vehicle
It is accurately controlled, to improve the safety in vehicle travel process.
It is exemplary, it, can be with according to the demand of parking if the monitoring distance of ultrasonic sensor is the region in 25cm-250cm
By the monitoring region of ultrasonic sensor be divided into four parts (such as: 0cm-25cm, 25cm-60cm, 60cm-150cm, 150cm-
250cm), four descending grades of braking moment are respectively corresponded, are determining braking moment size, so that it may according to the vehicle
Braking moment vehicle is accurately controlled, to improve the safety in vehicle travel process.According to the braking of the vehicle
Torque accurately controls vehicle, such as it is real can to send control signal to vehicle brake assemblies according to the braking moment
It is existing.
In actual application, by taking target object is a barrier as an example, during vehicle driving, if before traveling
There is a barrier on the road of side, needs to judge the safe distance between the barrier and vehicle at this time, and then according to the peace
Full distance controls vehicle.The initial monitor of the barrier is believed specifically, at least one monitoring device can be obtained first
Breath, and influence of the factors such as unstable to monitoring result is detected in order to reduce ambient noise and ultrasonic sensor, it is obtaining
To after initial monitor information, noise processed first can be carried out to the initial monitor information, with the monitoring information that obtains that treated；
And limit filtration processing and/or median filter process are carried out to treated detection information, the target monitoring letter that obtains that treated
Breath thus can obtain the location information of barrier according to treated target monitoring information；In addition, in prediction vehicle
When driving trace, it can calculate and determine first according to the wheelbase and steering wheel angle between the radius of wheel of vehicle, vehicle front and back wheel
The turning radius of vehicle；And it is based on Ackermann steering model, according to the traveling rail of the wheel speed of vehicle and turning radius prediction vehicle
Mark；The location information of barrier is being got respectively in this way, and after predicting the driving trace of vehicle, so that it may according to the barrier
Hinder the location information of object and the driving trace of vehicle, judges the barrier whether on the driving trace of vehicle；If the barrier
On the driving trace of vehicle, then the distance between barrier and vehicle are detected；And according to the distance between barrier and vehicle,
The braking moment for determining vehicle accurately controls vehicle further according to the braking moment of the vehicle, to improve vehicle driving
Safety in the process.
Fig. 3 is a kind of structural schematic diagram for controlling equipment 30 provided in an embodiment of the present invention, exemplary, refers to Fig. 3 institute
Show, which may include:
Acquiring unit 301, for obtaining the location information of barrier.
Predicting unit 302 predicts vehicle according to the wheel speed of vehicle and turning radius for being based on Ackermann steering model
Driving trace.
Control unit 303, for controlling vehicle according to the location information of barrier and the driving trace of vehicle.
Optionally, control unit 303, specifically for according to the location information of barrier and the driving trace of vehicle, judgement
Whether barrier is on the driving trace of vehicle；If barrier on the driving trace of vehicle, detect barrier and vehicle it
Between distance；And according to the distance between barrier and vehicle, vehicle is controlled.
Optionally, control unit 303 are specifically used for determining the braking of vehicle according to the distance between barrier and vehicle
Torque；Wherein, the braking moment negative correlation of distance and vehicle；And according to the braking moment of vehicle, vehicle is controlled
System.
Optionally, the initial monitor of barrier is believed specifically for obtaining at least one monitoring device in acquiring unit 301
Breath；And noise processed is carried out to initial monitor information, the monitoring information that obtains that treated；Further according to treated detection information,
Obtain the location information of barrier.
Optionally, acquiring unit 301 obtain that treated specifically for detection information pre-processes to treated
Target monitoring information；Wherein, pretreatment includes limit filtration processing and/or median filter process；And according to treated target
Monitoring information obtains the location information of barrier.
Optionally, acquiring unit 301, the wheelbase for being also used to obtain between the radius of wheel of vehicle, vehicle front and back wheel and side
To disk corner；And according to the wheelbase and steering wheel angle between the radius of wheel of vehicle, vehicle front and back wheel, the turning of vehicle is determined
Radius.
Equipment 30 is controlled shown in the embodiment of the present invention, can execute control method for vehicle shown in any of the above-described embodiment
Technical solution, realization principle and beneficial effect are similar with the realization principle of control method for vehicle and beneficial effect, this
Place is no longer repeated.
Fig. 4 is the structural schematic diagram of another control equipment provided in an embodiment of the present invention, exemplary, refers to Fig. 4 institute
Show, which may include processor 401 and memory 402, wherein
Memory 402 is for storing program instruction.
Processor 401 is used to read the program instruction in memory 402, and is held according to the program instruction in memory 402
Apparatus control method is controlled shown in any of the above-described embodiment of row.
Exemplary, control equipment can be vehicle itself, or the equipment on vehicle.
Equipment 40 is controlled shown in the embodiment of the present invention, can execute control equipment control shown in any of the above-described embodiment
The realization principle and beneficial effect of the technical solution of method, realization principle and beneficial effect and control apparatus control method
It is similar, it is no longer repeated herein.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored on the computer readable storage medium
Computer program can execute vehicle control side shown in any of the above-described embodiment when computer program is executed by processor
The technical solution of method, realization principle and beneficial effect are similar with the realization principle of control method for vehicle and beneficial effect,
It is no longer repeated herein.
Processor can be general processor, digital signal processor (digital signal in above-described embodiment
Processor, DSP), it is specific integrated circuit (application specific integrated circuit, ASIC), existing
At programmable gate array (field programmable gate array, FPGA) or other programmable logic device, discrete
Door or transistor logic, discrete hardware components.It may be implemented or execute the disclosed each side in the embodiment of the present invention
Method, step and logic diagram.General processor can be microprocessor or the processor is also possible to any conventional processing
Device etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be embodied directly in hardware decoding processor and execute completion,
Or in decoding processor hardware and software module combination execute completion.Software module can be located at random access memory
(random access memory, RAM), flash memory, may be programmed read-only deposit at read-only memory (read-only memory, ROM)
In the storage medium of this fields such as reservoir or electrically erasable programmable memory, register maturation.The storage medium, which is located at, to be deposited
The step of reservoir, processor reads the instruction in memory, completes the above method in conjunction with its hardware.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.In addition, the functional units in various embodiments of the present invention may be integrated into one processing unit, it is also possible to each
Unit physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unit both may be used
To use formal implementation of hardware, can also be realized in the form of hardware adds SFU software functional unit.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.The present invention is directed to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claims are pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by appended claims
System.
Claims (14)
1. a kind of control method for vehicle characterized by comprising
Obtain the location information of target object；
Based on Ackermann steering model, the driving trace of the vehicle is predicted according to the wheel speed of vehicle and turning radius；
According to the location information of the target object and the driving trace of the vehicle, the vehicle is controlled.
2. the method according to claim 1, wherein the location information according to the target object and described
The driving trace of vehicle controls the vehicle, comprising:
According to the location information of the target object and the driving trace of the vehicle, judge the target object whether described
On the driving trace of vehicle；
If the target object on the driving trace of the vehicle, detect between the target object and the vehicle away from
From；
According to the distance between the target object and the vehicle, the vehicle is controlled.
3. according to the method described in claim 2, it is characterized in that, described according between the target object and the vehicle
Distance controls the vehicle, comprising:
According to the distance between the target object and the vehicle, the braking moment of the vehicle is determined；Wherein, the distance
With the braking moment negative correlation of the vehicle；
According to the braking moment of the vehicle, the vehicle is controlled.
4. the method according to claim 1, wherein the location information for obtaining target object, comprising:
At least one monitoring device is obtained to the initial monitor information of the target object；
Noise processed is carried out to the initial monitor information, the monitoring information that obtains that treated；
According to treated the detection information, the location information of the target object is obtained.
5. according to the method described in claim 4, it is characterized in that, treated according to the detection information, obtains institute
State the location information of target object, comprising:
Treated that detection information is pre-processed to described, obtains treated the target monitoring information；Wherein, described pre-
Processing includes limit filtration processing and/or median filter process；
According to treated the target monitoring information, the location information of the target object is obtained.
6. method according to claim 1-5, which is characterized in that it is described to be based on Ackermann steering model, according to
The wheel speed and turning radius of vehicle determine before the driving trace of the vehicle, further includes:
Obtain the wheelbase and steering wheel angle between the radius of wheel of the vehicle, the vehicle front and back wheel；
According to the wheelbase and steering wheel angle between the radius of wheel of the vehicle, the vehicle front and back wheel, the vehicle is determined
Turning radius.
7. a kind of control equipment characterized by comprising
Acquiring unit, for obtaining the location information of target object；
Predicting unit predicts the row of the vehicle according to the wheel speed of vehicle and turning radius for being based on Ackermann steering model
Sail track；
Control unit, for according to the location information of the target object and the driving trace of the vehicle, to the vehicle into
Row control.
8. equipment according to claim 7, which is characterized in that
Described control unit, specifically for according to the location information of the target object and the driving trace of the vehicle, judgement
Whether the target object is on the driving trace of the vehicle；If the target object on the driving trace of the vehicle,
Then detect the distance between the target object and the vehicle；And according between the target object and the vehicle away from
From controlling the vehicle.
9. equipment according to claim 8, which is characterized in that
Described control unit is specifically used for determining the vehicle according to the distance between the target object and the vehicle
Braking moment；Wherein, the braking moment negative correlation of the distance and the vehicle；And according to the brake force of the vehicle
Square controls the vehicle.
10. equipment according to claim 7, which is characterized in that
The acquiring unit, specifically for obtaining at least one monitoring device to the initial monitor information of the target object；And
Noise processed is carried out to the initial monitor information, the monitoring information that obtains that treated；Further according to it is described treated detection letter
Breath, obtains the location information of the target object.
11. equipment according to claim 10, which is characterized in that
The acquiring unit obtains treated the mesh specifically for treated that detection information is pre-processed to described
Mark monitoring information；And according to treated the target monitoring information, the location information of the target object is obtained；
Wherein, the pretreatment includes limit filtration processing and/or median filter process.
12. according to the described in any item equipment of claim 7-11, which is characterized in that
The acquiring unit, the wheelbase for being also used to obtain between the radius of wheel of the vehicle, the vehicle front and back wheel and direction
Disk corner；And according to the wheelbase and steering wheel angle between the radius of wheel of the vehicle, the vehicle front and back wheel, determine described in
The turning radius of vehicle.
13. a kind of control equipment, which is characterized in that including processor and memory, wherein
The memory is for storing program instruction；
The processor is used to read the program instruction in the memory, and is executed according to the program instruction in the memory
Control method for vehicle described in any one of claims 1-6.
14. a kind of computer readable storage medium, which is characterized in that
It is stored with computer program on computer readable storage medium, when the computer program is executed by processor, executes
Control method for vehicle described in any one of claims 1-6.
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| CN201811584990.2A CN109795484A (en) | 2018-12-24 | 2018-12-24 | Control method for vehicle and equipment |
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| CN201811584990.2A CN109795484A (en) | 2018-12-24 | 2018-12-24 | Control method for vehicle and equipment |
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