CN110047366A - Automobile teaching aid avoiding obstacles method and device, readable storage medium storing program for executing and terminal - Google Patents
Automobile teaching aid avoiding obstacles method and device, readable storage medium storing program for executing and terminal Download PDFInfo
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- CN110047366A CN110047366A CN201910235577.3A CN201910235577A CN110047366A CN 110047366 A CN110047366 A CN 110047366A CN 201910235577 A CN201910235577 A CN 201910235577A CN 110047366 A CN110047366 A CN 110047366A
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- teaching aid
- automobile teaching
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- automobile
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- Theoretical Computer Science (AREA)
- Business, Economics & Management (AREA)
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- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Automobile teaching aid avoiding obstacles method and device, readable storage medium storing program for executing and terminal.The invention discloses a kind of automobile teaching aid avoiding obstacles methods, comprising: the real-time range of barrier is arrived immediately ahead of measurement automobile teaching aid；Judge whether the real-time range immediately ahead of the automobile teaching aid measured to barrier is more than or equal to preset threshold, automobile teaching aid is then controlled if it is greater than or equal to preset threshold to continue to move forward, and re-measure the real-time range that barrier is arrived immediately ahead of automobile teaching aid, otherwise control automobile teaching aid is turned to and is travelled apart from the farther away side of barrier into the automobile teaching aid left and right sides, while being re-measured immediately ahead of automobile teaching aid to the real-time range for barrier.The present invention passes through the distance between real-time measurement automobile teaching aid and front obstacle, and constantly control automobile teaching aid is turned into two sides apart from the farther away side of barrier if necessary, the avoiding obstacles so that automobile teaching aid can independently hide realize the accessible traveling of automobile teaching aid.
Description
Technical field
The present invention relates to educational aid technical field more particularly to a kind of automobile teaching aid avoiding obstacles method and device,
Readable storage medium storing program for executing and terminal.
Background technique
It usually requires to use automobile teaching aid model during carrying out vehicle teaching, vapour is mainly simulated by automobile teaching aid
The control of vehicle and driving mode improve the manipulative ability of student, enhance the training of student's logical thinking, and it is comprehensive to have reached raising student
The purpose of conjunction ability.
Existing automobile teaching aid practice course would generally guide student voluntarily to carry out the traveling experiment of automobile teaching aid, pass through
The traveling scheme of designed, designed is given birth to complete automobile teaching aid driving path.But existing automobile teaching aid is generally also only in ideal item
Part is absolutely not travelled in the case where barrier, but existing automobile teaching aid traveling Site Design becomes increasingly complex, and
In place inevitably can because of the reasons such as unclean are swept, there are some small barriers, once automobile teaching aid encounters on traveling road
Barrier automobile teaching aid can then bump against on barrier, to there is the possibility of damage automobile teaching aid, while can also teach automobile
The traveling of tool has an impact.Damage is generated after encountering barrier in the process of running in order to avoid automobile teaching aid and influences traveling
The problem of, while in order to enhance the rich of automobile teaching aid practice course, need to avoid hindering in a kind of automobile teaching aid driving process
Hinder the mode of object.
Summary of the invention
The barrier in driving path can not voluntarily be hidden the technical problem to be solved by the present invention is to existing automobile teaching aid,
When to barrier occur during automobile teaching aid form, it be easy to cause automobile teaching aid to damage and influences the row of automobile teaching aid
It sails.
In order to solve the above-mentioned technical problems, the present invention provides a kind of automobile teaching aid avoiding obstacles methods, comprising:
Measure the real-time range that barrier is arrived immediately ahead of automobile teaching aid；
Judge whether the real-time range immediately ahead of the automobile teaching aid measured to barrier is more than or equal to preset threshold, if
The automobile teaching aid is then controlled more than or equal to the preset threshold to continue to move forward, and is re-measured and arrived immediately ahead of automobile teaching aid
Otherwise the real-time range of the barrier controls automobile teaching aid obstacle described in distance into the automobile teaching aid left and right sides
The farther away side of object turns to and travels, while re-measuring immediately ahead of automobile teaching aid to the real-time range for the barrier.
Preferably, the real-time range step immediately ahead of measurement automobile teaching aid to barrier includes:
The steering engine being set on the automobile teaching aid is initialized, so that being installed on the range finder on the steering engine
Ranging direction be the automobile teaching aid front；
Measure the real-time range that the barrier is arrived immediately ahead of the automobile teaching aid.
Preferably, automobile teaching aid barrier farther away one described in distance into the automobile teaching aid left and right sides is controlled
Side turns to and travels
It controls the automobile teaching aid and stops traveling；
Measure the distance for arriving the barrier at left and right sides of the automobile teaching aid respectively；
Go out the automobile religion according to the Distance Judgment for arriving the barrier at left and right sides of the automobile teaching aid measured respectively
The farther away side of barrier described in distance in the tool left and right sides；
The automobile teaching aid farther away side of barrier described in distance into the automobile teaching aid left and right sides is controlled to turn to
Predetermined angle, and control automobile teaching aid correspondence after steering and move forward.
Preferably, measuring the distance that the barrier is arrived in the automobile teaching aid left and right sides respectively includes:
It controls the steering engine to turn to the front-left of the automobile teaching aid, measure on the left of the automobile teaching aid to the obstacle
The distance of object, and control the steering engine after being measured and go back to former direction；
It controls the steering engine to turn to the front-right of the automobile teaching aid, measure on the right side of the automobile teaching aid to the obstacle
The distance of object, and control the steering engine after being measured and go back to former direction.
Preferably, gone out according to the Distance Judgment for arriving the barrier at left and right sides of the automobile teaching aid measured respectively described
The farther away side of barrier described in distance includes: at left and right sides of automobile teaching aid
Automobile teaching aid described in the Distance Judgment of the barrier is arrived respectively according to the automobile teaching aid left and right sides measured
To the size of the distance of the barrier on the right side of left side to the distance of the barrier and the automobile teaching aid；
Distance on the left of the automobile teaching aid to the barrier, which is greater than on the right side of the automobile teaching aid, arrives the barrier
Apart from when, assert on the left of the automobile teaching aid for apart from the farther away side of the barrier；
Distance on the left of the automobile teaching aid to the barrier is less than or equal on the right side of the automobile teaching aid to described
Barrier apart from when, assert on the right side of the automobile teaching aid for apart from the farther away side of the barrier.
Preferably, when the steering engine is not when the automobile teaching aid left or right side detects the barrier, then assert institute
It states on the left of automobile teaching aid or the right distance to the barrier is the ranging limiting value of the range finder.
Preferably, the predetermined angle is 90 degree.
In order to solve the above-mentioned technical problem, the present invention also provides a kind of automobile teaching aid avoiding obstacles devices, including phase
The front distance-measurement module and adjustment steering module to connect；
Front distance measuring unit, for measuring the real-time range for arriving barrier immediately ahead of automobile teaching aid；
Steering unit is adjusted, whether the real-time range immediately ahead of the automobile teaching aid for judging to measure to barrier is big
In being equal to preset threshold, the automobile teaching aid is then controlled if it is greater than or equal to the preset threshold and continues to move forward, is otherwise controlled
The automobile teaching aid farther away side of barrier described in distance into the automobile teaching aid left and right sides turns to and travels.
In order to solve the above-mentioned technical problem, it the present invention also provides a kind of computer readable storage medium, is stored thereon with
Computer program, the program realize the automobile teaching aid operation method when being executed by processor.
It in order to solve the above-mentioned technical problem, include: processor and memory, the memory the present invention also provides one kind
It is communicated to connect between the processor；
The memory is used to execute the computer of the memory storage for storing computer program, the processor
Program, so that the terminal executes the automobile teaching aid operation method.
Compared with prior art, one or more embodiments in above scheme can have following advantage or beneficial to effect
Fruit:
Using automobile teaching aid avoiding obstacles method provided in an embodiment of the present invention, taught using range finder real-time measurement automobile
Have the distance away from barrier, when automobile teaching aid drives to position closer away from barrier, is arrived at left and right sides of measurement automobile teaching aid
The distance of barrier then turns to automobile teaching aid according to measurement result, so that automobile teaching aid is after encountering barrier
It can hide in time, avoid automobile teaching aid and continue to move ahead and cause unnecessary damage, while it is default to complete automobile teaching aid
Traveling task.Furthermore the present invention passes through the distance between real-time measurement automobile teaching aid and front obstacle, and if necessary not
Disconnected control automobile teaching aid is turned into two sides apart from the farther away side of barrier, so that automobile teaching aid can independently hide
Avoiding obstacles realize the accessible traveling of automobile teaching aid.
The other feature and advantage of invention will illustrate in the following description, and partly become from specification aobvious
And it is clear to, or understand through the implementation of the invention.The objectives and other advantages of the invention can be by specification, claim
Specifically noted structure is achieved and obtained in book and attached drawing.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example and is used together to explain the present invention, be not construed as limiting the invention.In the accompanying drawings:
Fig. 1 shows the flow diagram of one automobile teaching aid avoiding obstacles method of the embodiment of the present invention；
Fig. 2 shows the operation charts of one automobile teaching aid avoiding obstacles method of the embodiment of the present invention；
Fig. 3 shows the structural schematic diagram of two automobile teaching aid avoiding obstacles device of the embodiment of the present invention；
Fig. 4 shows the structural schematic diagram of four terminal of the embodiment of the present invention.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technical effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each feature in each embodiment and each embodiment in the present invention can be combined with each other,
It is within the scope of the present invention to be formed by technical solution.
Existing automobile teaching aid practice course would generally guide student voluntarily to carry out the traveling experiment of automobile teaching aid, pass through
The traveling scheme of designed, designed is given birth to complete automobile teaching aid driving path.But existing automobile teaching aid is generally also only in ideal item
Part is absolutely not travelled in the case where barrier, but existing automobile teaching aid traveling Site Design becomes increasingly complex, and
In place inevitably can because of the reasons such as unclean are swept, there are some small barriers, once automobile teaching aid encounters on traveling road
Barrier automobile teaching aid can then bump against on barrier, to there is the possibility of damage automobile teaching aid, while can also teach automobile
The traveling of tool has an impact.Damage is generated after encountering barrier in the process of running in order to avoid automobile teaching aid and influences traveling
The problem of, while in order to enhance the rich of automobile teaching aid practice course, need to avoid hindering in a kind of automobile teaching aid driving process
Hinder the mode of object.
Embodiment one
To solve the above-mentioned technical problems in the prior art, the embodiment of the invention provides a kind of automobile teaching aids to avoid
Barrier method.
Fig. 1 shows the flow diagram of one automobile teaching aid avoiding obstacles method of the embodiment of the present invention；Fig. 2 shows this
The operation chart of one automobile teaching aid avoiding obstacles method of inventive embodiments；With reference to Fig. 1 and Fig. 2, automobile of the embodiment of the present invention
Teaching aid avoiding obstacles method includes the following steps.
The real-time range of barrier is arrived in step S101, measurement automobile teaching aid front.
In order to realize the measurement for carrying out distance to automobile teaching aid periphery barrier, needing to be arranged on automobile teaching aid in advance can
Range finder, while in order to realize that range finder can measure the distance of four side barriers of automobile teaching aid, i.e., by range finder
It is arranged on automobile teaching aid by steering engine, the conversion in range finder ranging direction is realized by the steering of steering engine, and then realize and survey
Multi-faceted measurement away from device.
Specifically, the steering engine being set on automobile teaching aid is initialized, so that being installed on the range finder on steering engine
Obstacle distance immediately ahead of automobile teaching aid can be measured.Further measured immediately ahead of automobile teaching aid by range finder to barrier
Hinder the real-time range of object.It should be noted that being measured to the distance of the barrier immediately ahead of automobile teaching aid, can be taught in automobile
It carries out, while can also be carried out after automobile teaching aid is out of service when tool operation.Further, if range finder is transported in automobile teaching aid
The distance immediately ahead of automobile teaching aid to barrier is measured when row, then can choose that time of measuring is shorter, measuring speed is very fast
Range finder, to avoid subsequent measurement automobile teaching aid two sides to barrier apart from when, the barrier of automobile teaching aid and front
It collides.Preferably range finder is airborne laser range finder.If range finder after automobile teaching aid is out of service again to automobile teaching aid just
The distance of front to barrier measures, and settable periodically control automobile teaching aid is out of service, stops transporting in automobile teaching aid
The measurement for arriving obstacle distance immediately ahead of automobile teaching aid is carried out after row again, avoids that time of measuring is too long or range finder breaks down
Etc. causing to collide between automobile teaching aid and barrier, and then automobile teaching aid is caused to damage.
Whether step S102, the automobile teaching aid front judged are more than or equal to default threshold to the real-time range of barrier
Value goes to step S101, if automobile teaching aid if being more than or equal to preset threshold to the real-time range of barrier immediately ahead of automobile teaching aid
The real-time range of front to barrier is less than preset threshold, then goes to step S103.
Specifically, the specific value of preset threshold is set according to the time of the speed of service of automobile teaching aid and range finder,
The specific value of preset threshold need to ensure that the moment remains safe distance between automobile teaching aid and barrier, to be avoided as much as
It collides between automobile teaching aid and barrier.Preferably, preset threshold 20cm.If arriving barrier immediately ahead of automobile teaching aid
Real-time range is more than or equal to preset threshold, then needs to re-measure the real-time range for arriving barrier immediately ahead of automobile teaching aid, that is, turn to walk
Rapid S101 goes to step S103 if being less than preset threshold to the real-time range of barrier immediately ahead of automobile teaching aid.
Step S103, control automobile teaching aid turn into the automobile teaching aid left and right sides apart from the farther away side of barrier parallel
It sails.
Specifically, when being less than preset threshold to the real-time range of barrier immediately ahead of automobile teaching aid, then it represents that automobile religion
Have the barrier in very close front, control automobile teaching aid at this time and stop traveling, and measures the automobile teaching aid left and right sides respectively
To the distance of barrier.Further, the distance for arriving barrier at left and right sides of measurement automobile teaching aid respectively includes: control setting
It is turned in the steering engine on automobile teaching aid to the front-left of automobile teaching aid, so that measuring appliance direction and automobile teaching aid left direction phase
Together, range finder measures the distance that barrier is arrived on the left of automobile teaching aid after the completion of steering, measures to preferably distinguish away from device
Automobile teaching aid on the left of arrived at a distance from barrier to the distance of barrier and the subsequent automobile teaching aid left side measured away from device, will be away from
The distance definition that barrier is arrived on the left of the automobile teaching aid that device is measured is the left side distance of automobile teaching aid.It completes on the left of automobile teaching aid
After the measurement of distance, control steering engine goes back to former direction, i.e. control steering engine turns to so that measuring appliance measurement direction and automobile teaching aid
Front direction is identical.Control steering engine is turned to the front-right of automobile teaching aid later, so that measuring appliance direction and automobile teaching aid are right
Side direction is identical, range finder measures the distance that barrier is arrived on the right side of automobile teaching aid after the completion of steering, and will measure away from device
The distance definition that barrier is arrived on the right side of automobile teaching aid is the right side distance of automobile teaching aid.
Barrier is arrived according to the Distance Judgment automobile teaching aid left side for arriving barrier at left and right sides of the automobile teaching aid measured respectively
Distance and automobile teaching aid on the right side of to barrier distance size；It is greater than automobile to the distance of barrier on the left of automobile teaching aid
On the right side of teaching aid to barrier apart from when, assert on the left of automobile teaching aid for apart from the farther away side of barrier；When an automobile teaching aid left side
The distance of side to barrier be less than or equal on the right side of automobile teaching aid to barrier apart from when, assert to be distance on the right side of automobile teaching aid
The farther away side of barrier.Further, compare the size of the left side distance of automobile teaching aid and the right side distance of automobile teaching aid,
When automobile teaching aid left side distance be greater than automobile teaching aid right side distance, then assert automobile teaching aid left side distance be automobile teaching aid
Apart from the farther away side of barrier.When automobile teaching aid left side distance be less than or equal to automobile teaching aid right side distance, then assert
The right side distance of automobile teaching aid is automobile teaching aid apart from the farther away side of barrier.
It controls automobile teaching aid and turns to predetermined angle apart from the farther away side of barrier into the automobile teaching aid left and right sides, and control
Automobile teaching aid processed correspondence after steering moves forward.And re-measure the real-time range that barrier is arrived immediately ahead of automobile teaching aid, i.e.,
Step S101 is gone to, until automobile teaching aid completes traveling task.Preferably, predetermined angle is 90 degree.
It should be noted that then assert when steering engine is not when front, the left or right side of automobile teaching aid detect barrier
On the left of the front of automobile teaching aid or the right distance to barrier is the ranging limiting value of range finder.Obstacle in this paper text simultaneously
Object is not some fixed obstruction, but sets all obstacles for stopping automobile teaching aid forward as barrier.
Using automobile teaching aid avoiding obstacles method provided in an embodiment of the present invention, taught using range finder real-time measurement automobile
Have the distance away from barrier, when automobile teaching aid drives to position closer away from barrier, is arrived at left and right sides of measurement automobile teaching aid
The distance of barrier then turns to automobile teaching aid according to measurement result, so that automobile teaching aid is after encountering barrier
It can hide in time, avoid automobile teaching aid and continue to move ahead and cause unnecessary damage, while it is default to complete automobile teaching aid
Traveling task.Furthermore the present invention passes through the distance between real-time measurement automobile teaching aid and front obstacle, and if necessary not
Disconnected control automobile teaching aid is turned into two sides apart from the farther away side of barrier, so that automobile teaching aid can independently hide
Avoiding obstacles realize the accessible traveling of automobile teaching aid.
Embodiment two
To solve the above-mentioned problems in the prior art, the embodiment of the invention provides a kind of automobile teaching aids to avoid obstacle
Object device.
Fig. 3 shows the structural schematic diagram of two automobile teaching aid avoiding obstacles device of the embodiment of the present invention；With reference to Fig. 3, originally
Inventive embodiments automobile teaching aid avoiding obstacles device includes that front distance-measurement module interconnected and adjustment turn to mould
Block.
Front distance measuring unit, for measuring the real-time range for arriving barrier immediately ahead of automobile teaching aid；
Steering unit is adjusted, whether the real-time range immediately ahead of the automobile teaching aid for judging to obtain to barrier is greater than
In preset threshold, automobile teaching aid is then controlled if it is greater than or equal to preset threshold and continues to move forward, and re-measures automobile teaching aid just
Otherwise front controls automobile teaching aid into the automobile teaching aid left and right sides apart from barrier farther away one to the real-time range of barrier
Side turns to and travels.
Using automobile teaching aid avoiding obstacles device provided in an embodiment of the present invention, taught using range finder real-time measurement automobile
Have the distance away from barrier, when automobile teaching aid drives to position closer away from barrier, is arrived at left and right sides of measurement automobile teaching aid
The distance of barrier then turns to automobile teaching aid according to measurement result, so that automobile teaching aid is after encountering barrier
It can hide in time, avoid automobile teaching aid and continue to move ahead and cause unnecessary damage, while it is default to complete automobile teaching aid
Traveling task.Furthermore the present invention passes through the distance between real-time measurement automobile teaching aid and front obstacle, and if necessary not
Disconnected control automobile teaching aid is turned into two sides apart from the farther away side of barrier, so that automobile teaching aid can independently hide
Avoiding obstacles realize the accessible traveling of automobile teaching aid.
Embodiment three
To solve the above-mentioned technical problems in the prior art, the embodiment of the invention also provides a kind of readable storage mediums
Matter is stored with computer program, can realize that automobile teaching aid is avoided in embodiment one when which is executed by processor
All steps in barrier traveling.
The specific steps and application readable storage medium provided in an embodiment of the present invention of automobile teaching aid avoiding obstacles method
The beneficial effect that matter obtains is the same as example 1, and is not repeated herein to it.
It should be understood that storage medium, which includes: that ROM, RAM, magnetic or disk etc. are various, can store program code
Medium.
Example IV
To solve the above-mentioned technical problems in the prior art, the embodiment of the invention also provides a kind of terminals.
Fig. 4 shows four terminal structure schematic diagram of the embodiment of the present invention, and referring to Fig. 4, the present embodiment terminal includes mutually interconnecting
The processor and memory connect；Memory is used to execute the computer of memory storage for storing computer program, processor
Program, so that terminal can realize all steps in embodiment one in automobile teaching aid avoiding obstacles method when executing.
What the specific steps and application terminal provided in an embodiment of the present invention of automobile teaching aid avoiding obstacles method obtained
Beneficial effect is the same as example 1, and is not repeated herein to it.
It should be noted that memory may include random access memory (Random Access Memory, abbreviation
RAM), it is also possible to further include nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.
Similarly processor is also possible to general processor, including central processing unit (Central Processing Unit, abbreviation CPU),
Network processing unit (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital Signal
Processing, abbreviation DSP), specific integrated circuit (Application Specific Integrated Circuit, referred to as
ASIC), field programmable gate array (Field Programmable Gate Array, abbreviation FPGA) or other are programmable
Logical device, discrete gate or transistor logic, discrete hardware components.
While it is disclosed that embodiment content as above but described only to facilitate understanding the present invention and adopting
Embodiment is not intended to limit the invention.Any those skilled in the art to which this invention pertains are not departing from this
Under the premise of the disclosed spirit and scope of invention, any modification and change can be made in the implementing form and in details,
But protection scope of the present invention still should be subject to the scope of the claims as defined in the appended claims.
Claims (10)
1. a kind of automobile teaching aid avoiding obstacles method, comprising:
Measure the real-time range that barrier is arrived immediately ahead of automobile teaching aid；
Judge whether the real-time range immediately ahead of the automobile teaching aid measured to barrier is more than or equal to preset threshold, if more than
The automobile teaching aid is then controlled equal to the preset threshold to continue to move forward, and is re-measured immediately ahead of automobile teaching aid to described
The real-time range of barrier, otherwise control the automobile teaching aid at left and right sides of the automobile teaching aid barrier described in distance compared with
Remote side turns to and travels, while re-measuring immediately ahead of automobile teaching aid to the real-time range for the barrier.
2. the method according to claim 1, wherein arriving the real-time range of barrier immediately ahead of measurement automobile teaching aid
Step includes:
The steering engine being set on the automobile teaching aid is initialized, so that the survey for the range finder being installed on the steering engine
It is the front of the automobile teaching aid away from direction；
Measure the real-time range that the barrier is arrived immediately ahead of the automobile teaching aid.
3. the method according to claim 1, wherein controlling the automobile teaching aid to described automobile teaching aid or so two
The farther away side of barrier described in distance, which turns to and travels, in side includes:
It controls the automobile teaching aid and stops traveling；
Measure the distance for arriving the barrier at left and right sides of the automobile teaching aid respectively；
It is left to go out the automobile teaching aid according to the Distance Judgment for arriving the barrier at left and right sides of the automobile teaching aid measured respectively
The farther away side of barrier described in distance in right two sides；
It is default to control the automobile teaching aid farther away side steering of barrier described in distance into the automobile teaching aid left and right sides
Angle, and control automobile teaching aid correspondence after steering and move forward.
4. according to the method described in claim 3, arriving the barrier respectively at left and right sides of the automobile teaching aid it is characterized in that, measuring
The distance for hindering object includes:
It controls the steering engine to turn to the front-left of the automobile teaching aid, measure on the left of the automobile teaching aid to the barrier
Distance, and control the steering engine after being measured and go back to former direction；
It controls the steering engine to turn to the front-right of the automobile teaching aid, measure on the right side of the automobile teaching aid to the barrier
Distance, and control the steering engine after being measured and go back to former direction.
5. according to the method described in claim 3, it is characterized in that, according to being arrived respectively at left and right sides of the automobile teaching aid measured
The Distance Judgment of the barrier goes out the farther away side of barrier described in distance at left and right sides of the automobile teaching aid
It is arrived on the left of automobile teaching aid described in the Distance Judgment of the barrier respectively according to the automobile teaching aid left and right sides measured
To the size of the distance of the barrier on the right side of to the distance of the barrier and the automobile teaching aid；
Distance on the left of the automobile teaching aid to the barrier be greater than on the right side of the automobile teaching aid to the barrier away from
From when, assert on the left of the automobile teaching aid for apart from the farther away side of the barrier；
Distance on the left of the automobile teaching aid to the barrier, which is less than or equal on the right side of the automobile teaching aid, arrives the obstacle
Object apart from when, assert on the right side of the automobile teaching aid for apart from the farther away side of the barrier.
6. according to the method described in claim 5, it is characterized in that, when the range finder the automobile teaching aid front,
When left or right side does not detect the barrier, then front, the left or right side to the obstacle of the automobile teaching aid are set
The distance of object is the ranging limiting value of the range finder.
7. according to the method described in claim 3, it is characterized in that, the predetermined angle is 90 degree.
8. a kind of automobile teaching aid avoiding obstacles device, which is characterized in that including front distance-measurement module interconnected
With adjustment steering module；
Front distance measuring unit, for measuring the real-time range for arriving barrier immediately ahead of automobile teaching aid；
Steering unit is adjusted, whether the real-time range immediately ahead of the automobile teaching aid for judging to measure to barrier is greater than
In preset threshold, the automobile teaching aid is then controlled if it is greater than or equal to the preset threshold and continues to move forward, otherwise described in control
Automobile teaching aid farther away side of barrier described in distance into the automobile teaching aid left and right sides turns to and travels.
9. a kind of readable storage medium storing program for executing, is stored thereon with computer program, which is characterized in that real when the program is executed by processor
Automobile teaching aid barrier detour method described in existing any one of claims 1 to 7.
10. a kind of terminal characterized by comprising processor and memory communicate between the memory and the processor
Connection；
The memory is used to execute the computer journey of the memory storage for storing computer program, the processor
Sequence, so that the terminal executes the automobile teaching aid barrier detour method as described in any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910235577.3A CN110047366A (en) | 2019-03-26 | 2019-03-26 | Automobile teaching aid avoiding obstacles method and device, readable storage medium storing program for executing and terminal |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910235577.3A CN110047366A (en) | 2019-03-26 | 2019-03-26 | Automobile teaching aid avoiding obstacles method and device, readable storage medium storing program for executing and terminal |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114296458A (en) * | 2021-12-29 | 2022-04-08 | 深圳创维数字技术有限公司 | Vehicle control method, device and computer readable storage medium |
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