CN110979316B - Vehicle speed adjusting method and device, vehicle control equipment and vehicle - Google Patents

Vehicle speed adjusting method and device, vehicle control equipment and vehicle Download PDF

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Publication number
CN110979316B
CN110979316B CN201911314026.2A CN201911314026A CN110979316B CN 110979316 B CN110979316 B CN 110979316B CN 201911314026 A CN201911314026 A CN 201911314026A CN 110979316 B CN110979316 B CN 110979316B
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vehicle
person
distance range
preset
personnel
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CN110979316A (en
Inventor
斯戈泰
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Neolithic Unmanned Vehicle Songyang Co ltd
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Neolix Technologies Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B60K2031/0016—Identification of obstacles; Selection of a target vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

Abstract

The application provides a vehicle speed detection method and device, vehicle control equipment and a vehicle, and relates to the technical field of vehicle control. The method comprises the following steps: when a sensing component arranged on the vehicle determines that a person exists in a first specified distance range of the vehicle, judging whether a deceleration condition is met; and when the deceleration condition is met, controlling the current speed of the vehicle to decelerate to the speed corresponding to the subsection range based on the subsection range where the distance between the target person and the vehicle is in the first appointed distance range. The vehicle can identify whether people exist around the vehicle or not, can actively judge whether the deceleration condition is met or not when people exist around the vehicle, and can solve the problem that the unmanned vehicle is inflexible in speed adjustment.

Description

Vehicle speed adjusting method and device, vehicle control equipment and vehicle
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle speed adjusting method and device, vehicle control equipment and a vehicle.
Background
With the development of information technology, the way of interaction between human and machine is increasing. For example, during the interaction process between the unmanned vehicle and the user, the user can go out in an unmanned driving mode. At present, in the automatic driving process of the unmanned vehicle, obstacles can be avoided usually only based on external obstacles, or corresponding vehicle speed adjustment can be realized only by actually operating the unmanned vehicle by a user, and the vehicle speed cannot be actively adjusted according to the requirements of external personnel.
Disclosure of Invention
The application provides a vehicle speed adjusting method and device, vehicle control equipment and a vehicle, which can solve the problem that the vehicle speed adjustment of the vehicle is not flexible.
In order to achieve the above purpose, the technical solutions provided in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a vehicle speed adjusting method, applied to a vehicle, the method including:
when a sensing component arranged on the vehicle determines that a person exists in a first specified distance range of the vehicle, judging whether a deceleration condition is met;
and when the deceleration condition is met, controlling the current speed of the vehicle to decelerate to a speed corresponding to the subsection range based on the subsection range where the distance between the target person and the vehicle is within the first appointed distance range.
In the above embodiment, the vehicle can recognize the person through the sensing component, and can actively judge whether the deceleration condition is met or not when the person exists around the vehicle, and when the deceleration condition is met, the vehicle is decelerated to the vehicle speed corresponding to the corresponding distance range in a segmented manner, so that the vehicle speed can be flexibly adjusted based on the requirement of the person, and the problem that the unmanned vehicle speed is not flexibly adjusted is solved.
With reference to the first aspect, in some optional embodiments, controlling the current vehicle speed of the vehicle to decelerate to a vehicle speed corresponding to the segment range includes:
when the distance between the target person and the vehicle is within a monitoring distance range, controlling the current vehicle speed of the vehicle to be less than or equal to a first vehicle speed;
when the distance between the target person and the vehicle is within a braking distance range, controlling the current vehicle speed of the vehicle to be less than or equal to a second vehicle speed, wherein the second vehicle speed is less than the first vehicle speed, and the maximum value of the braking distance range is less than the minimum value of the monitoring distance range;
and when the distance between the target person and the vehicle is within a parking distance range, controlling the vehicle to stop running, wherein the maximum value of the parking distance range is smaller than the minimum value of the braking distance range.
In the above embodiment, the vehicle is beneficial to controlling the safe parking distance by decelerating or parking in sections, and the vehicle is prevented from parking too early or too late.
With reference to the first aspect, in some optional embodiments, the method further comprises:
controlling the vehicle to travel when no person is present within a second specified distance range of the vehicle, a maximum value of the second specified distance range being greater than a maximum value of the stopping distance range.
In the above-described embodiment, when there is no person in the second specified distance range, it may be used as a trigger condition for automatic travel of the vehicle, thereby facilitating completion of automatic travel of the vehicle after parking.
With reference to the first aspect, in some optional embodiments, the determining whether the deceleration condition is satisfied when the sensing component disposed on the vehicle determines that the person is present within the first specified distance range of the vehicle includes:
determining that a person exists in the first specified distance range through the peripheral information of the vehicle sensed by the sensing assembly;
judging whether the distance between the person in the first appointed distance range and the vehicle is smaller than or equal to a preset distance or not;
and when the distance between the person and the vehicle is smaller than or equal to the preset distance, determining that a deceleration condition is met, wherein the preset distance is smaller than the maximum value of the first appointed distance range.
In the above-described embodiment, the vehicle may determine that the deceleration condition is satisfied when the distance between the person and the vehicle is less than or equal to the preset distance, so as to automatically perform the stepwise deceleration.
With reference to the first aspect, in some optional embodiments, the determining whether the deceleration condition is satisfied when the sensing component disposed on the vehicle determines that the person is present within the first specified distance range of the vehicle includes:
determining that a person exists in the first specified distance range through the peripheral information of the vehicle sensed by the sensing assembly;
judging whether the expression of the facial image is a preset expression or not according to the facial image of the person in the peripheral information within the first appointed distance range, wherein the preset expression is an expression representing that the vehicle needs to be decelerated or stopped to run;
and when the expression of the face image is the preset expression and the walking direction of the person corresponding to the face image faces the vehicle, determining that a deceleration condition is met.
In the above embodiment, the vehicle may actively recognize whether the person has a demand for decelerating the vehicle according to the face image of the person within the first specified distance range, and determine that the deceleration condition is satisfied when the expression identifier of the face image requires parking or deceleration, so that the vehicle automatically performs segment deceleration.
With reference to the first aspect, in some optional embodiments, the determining whether the deceleration condition is satisfied when the sensing component disposed on the vehicle determines that the person is present within the first specified distance range of the vehicle includes:
determining that a person exists in the first specified distance range through the peripheral information of the vehicle sensed by the sensing assembly;
judging the similarity between the personnel posture in the personnel image in the peripheral information and a preset posture;
and when the similarity between the personnel posture and the preset posture is greater than or equal to a preset threshold value, determining that a deceleration condition is met, wherein the preset posture is the posture representing the personnel needing to decelerate or stop driving the vehicle.
In the above-described embodiment, the vehicle can determine whether the deceleration condition is satisfied by the person posture of the person image, thereby facilitating the vehicle to decelerate or stop based on the person posture of the person image.
With reference to the first aspect, in some optional embodiments, before controlling the current vehicle speed of the vehicle to decelerate to a vehicle speed corresponding to the segment range, the method further comprises:
judging whether the expression of the facial image is a preset expression or not according to the facial image of the person in the first appointed distance range sensed by the sensing assembly, wherein the preset expression is an expression representing that the vehicle needs to be decelerated or stopped to run, and when the expression of the facial image is the preset expression and the walking direction of the person corresponding to the facial image faces towards the vehicle, determining the person corresponding to the facial image as the target person;
or acquiring the similarity between the personnel posture in the personnel image and a preset posture according to the personnel image of the personnel in the first appointed distance range sensed by the sensing assembly, wherein when the similarity between the personnel posture and the preset posture is larger than or equal to a preset threshold value, the personnel corresponding to the personnel posture is determined to be the target personnel, and the preset posture is the posture representing that the vehicle needs to decelerate or stop running.
In the above embodiment, the target person is determined from the crowd, so that the influence of other people in the crowd on the judgment of the deceleration parking is favorably eliminated, and the accuracy and the reliability of the judgment of the deceleration parking are favorably improved.
In a second aspect, an embodiment of the present application further provides a vehicle speed adjusting device, applied to a vehicle, the device including:
a condition judgment unit configured to judge whether a deceleration condition is satisfied when a sensing component provided on the vehicle determines that a person is present within a first specified distance range of the vehicle;
and the vehicle speed adjusting unit is used for controlling the current vehicle speed of the vehicle to be decelerated to the vehicle speed corresponding to the subsection range based on the subsection range where the distance between the target person and the vehicle is within the first appointed distance range when the deceleration condition is met.
In a third aspect, an embodiment of the present application further provides an automobile control device, where the automobile control device includes a sensing component, a memory and a processor, the sensing component is configured to sense peripheral information of the automobile, and the memory stores a computer program, and when the computer program is executed by the processor, the automobile control device is enabled to execute the above method.
In a fourth aspect, an embodiment of the present application further provides an automobile, where the automobile includes an automobile body and the above-mentioned automobile control device, and the automobile control device is disposed in the automobile body.
In a fifth aspect, the present invention further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program runs on a computer, the computer is caused to execute the method as described above.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below. It is appreciated that the following drawings depict only certain embodiments of the application and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.
Fig. 1 is a schematic circuit module diagram of an automobile control device according to an embodiment of the present application.
FIG. 2 is a flowchart illustrating a vehicle speed adjustment method according to an embodiment of the present disclosure.
Fig. 3 is a scene schematic diagram of a vehicle and a person provided in the embodiment of the present application.
Fig. 4 is a functional block diagram of a vehicle speed adjusting device according to an embodiment of the present application.
Icon: 10-a vehicle control device; 11-a processing module; 12-a storage module; 13-a sensing component; 100-vehicle speed regulating means; 110-a condition judging unit; 120-vehicle speed regulating unit.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. It should be noted that the terms "first," "second," and the like are used merely to distinguish one description from another, and are not intended to indicate or imply relative importance.
For an unmanned vehicle for transporting goods, interaction between a person and the vehicle is usually based on the outside of the vehicle body, and the interaction between the person and the vehicle is realized by triggering a button on the outside of the vehicle body or utilizing a module such as a remote controller, and the like, so that the vehicle cannot be decelerated or stopped actively based on the requirement of the person. For example, when selling goods using an unmanned vehicle, the unmanned vehicle may be loaded with a corresponding vending machine and driven at a low speed in a square, a mall, or the like to attract the attention of passers-by, so as to attract passers-by to complete vending of goods. The goods sold may be determined based on the actual circumstances, including, but not limited to, beverages, snacks, etc., for example. At present, in the driving process, the vehicle usually cannot recognize the intention of personnel or cannot flexibly determine the parking condition according to external personnel, and the vehicle cannot be decelerated and parked flexibly.
In view of the above problems, the applicant of the present application has conducted long-term research and research to propose the following embodiments to solve the above problems. The embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, an embodiment of the present application provides an automobile control device 10. The vehicle control apparatus 10 may include a processing module 11, a storage module 12, and a sensing assembly 13, the sensing assembly 13 being configured to sense peripheral information of the vehicle, the storage module 12 storing a computer program, which when executed by the processing module 11, causes the vehicle control apparatus 10 to perform a vehicle speed adjusting method described below.
In the present embodiment, the sensing assembly 13 includes, but is not limited to, at least one image capturing module, a plurality of ranging modules disposed on the vehicle. The number of the image acquisition modules can be one or more, and the image acquisition modules can be used for shooting surrounding environment images of the automobile. The image acquisition module may be, but is not limited to, a camera, a wide-angle camera, an infrared camera, etc. For example, an image capture module may be disposed directly in front of the vehicle for capturing an image of the environment directly in front of the vehicle. Ranging modules include, but are not limited to, ultrasonic rangefinders, laser rangefinders, and the like. The number of the ranging modules can be set according to actual conditions, for example, the number can be 4, 5 and the like, and the ranging modules can be used for detecting the distance between obstacle vehicles around the vehicle. For example, a distance measuring module is arranged around the vehicle.
The surrounding information includes, but is not limited to, a person image acquired by the image acquisition module, a face image in the person image, a distance between the person and the vehicle detected by the distance measurement module, and the like.
The vehicle may be an electric vehicle, a hybrid vehicle, or the like that supports unmanned driving. A hybrid vehicle is understood to be an unmanned vehicle, in which the power is provided by a mixture of electric power and fuel.
Understandably, the processing module 11, the storage module 12 and the sensing assembly 13 are electrically connected directly or indirectly to each other to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The processing module 11 may be an integrated circuit chip having signal processing capability. The processing module 11 may be a general-purpose processor. For example, the Processor may be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Network Processor (NP), or the like; the method, the steps and the logic block diagram disclosed in the embodiments of the present Application may also be implemented or executed by a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The memory module 12 may be, but is not limited to, a random access memory, a read only memory, a programmable read only memory, an erasable programmable read only memory, an electrically erasable programmable read only memory, and the like. In the present embodiment, the storage module 12 may be configured to store the peripheral information, the first specified distance range, the second specified distance range, the vehicle speed corresponding to the segment range, and the like. Of course, the storage module 12 may also be used to store a program, and the processing module 11 executes the program after receiving the execution instruction.
It is to be understood that the configuration shown in fig. 1 is merely a schematic configuration of the vehicle control apparatus 10, and the vehicle control apparatus 10 may further include more components than those shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
Referring to fig. 2, an embodiment of the present application further provides a vehicle speed adjusting method, which can be applied to the vehicle control device 10, and each step of the method is executed or implemented by the vehicle control device 10. The method may include steps S210 to S240, and the following describes each step in the method in detail as follows:
in step S210, when the sensing component 13 disposed on the vehicle determines that a person is present within a first specified distance range of the vehicle, it is determined whether a deceleration condition is satisfied.
In this embodiment, the sensing component 13 may be the image capturing module, the distance measuring module, or the like, and may be disposed at the periphery of the vehicle for sensing the peripheral information of the vehicle. The surrounding information includes, but is not limited to, the distance between the obstacle and the vehicle, an environmental image of the vehicle surroundings, and the like.
The peripheral information may be used for analysis by the vehicle control device 10. For example, the peripheral information may be used for the automobile control apparatus 10 to analyze whether or not a person is present in the periphery of the vehicle, whether or not a deceleration condition is satisfied, and the like.
In the present embodiment, the periphery information includes the distance between the obstacle and the vehicle measured by the sensing assembly 13 and an environment image of the periphery of the vehicle. Obstacles include, but are not limited to, people, rocks, walls, etc. that obstruct the travel of the vehicle. The first designated distance range may be set according to actual conditions, and may be, for example, 0 to 10 meters, 0 to 15 meters, and the like.
As an alternative implementation, step S210 may include: the automobile control apparatus 10 first determines whether or not a person image is present in the environment image in the surrounding information, and then determines whether or not the distance between the person image and the vehicle is within a first specified distance range.
For example, the automobile control device 10 may determine whether or not there is a person image in the environment image from the environment image. The judging method can be as follows: the contour of an object is extracted from an environment image by a contour extraction algorithm, and then whether a head contour image of a person, a body contour image of a person, and the like exist is judged from the contour. For example, if the similarity between the extracted contour and the image of the contour of the head of the person is greater than or equal to a specified value, the image of the person is considered to be present in the environment image, and the specified value may be one of 90% to 100%. Similarly, when a body contour image of a person exists in the contour of an extracted object in the environment image, it can also be considered that a person image exists in the environment image. Whether the body contour image of the person exists in the environment image is judged to be similar to whether the head contour image exists, and details are not repeated here.
Of course, the manner of identifying the image of the person from the image may also be other manners, for example, identifying whether the image of the person exists in the environmental image through a trained deep learning model, which is well known to those skilled in the art and will not be described herein again.
When the presence of a person in the environment image is recognized, the distance between the person and the vehicle may be measured by the distance measurement module. It is then determined whether the distance between the person and the vehicle is within a first specified distance range.
As an optional implementation, step S210 may include: whether the distance between the obstacle and the vehicle is within a first specified distance range is judged, and whether the obstacle within the first specified distance range is a person is judged.
For example, the automobile control device 10 senses the distance between an obstacle around the automobile and the automobile through the distance measurement module. If the distance is not measured, it indicates that there is no obstacle around the vehicle. If the distance between the obstacle and the vehicle is measured, whether the distance is within a first specified distance range is judged. When the distance is not within the first specified distance range, the obstacle may be ignored and the vehicle may continue to travel. When the distance is within the first designated distance range, an environment image is photographed based on the sensing direction of the ranging module, and then it is determined whether an obstacle in the sensing direction is a person from the environment image.
Understandably, the sensing direction of the ranging module and the shooting direction of the environment image shot by the image acquisition module may be consistent. For example, one distance measurement module and one image acquisition module can be used as a sensing unit, and the set position and the sensing direction can be the same, so that the region where the obstacle in the distance measurement direction is located can be quickly located from the environment image. And then judging whether the region where the obstacle is located is a person image. The manner of determining whether the obstacle is a person may refer to the above implementation manner of identifying a person from the environment image, and is not described herein again.
In this embodiment, the vehicle may actively determine whether the current surrounding information satisfies the deceleration condition according to the surrounding information.
As an alternative implementation, step S210 may include: determining that a person exists in the first specified distance range through the peripheral information of the vehicle sensed by the sensing component 13; judging whether the distance between the person in the first appointed distance range and the vehicle is smaller than or equal to a preset distance or not; and when the distance between the person and the vehicle is smaller than or equal to the preset distance, determining that a deceleration condition is met, wherein the preset distance is smaller than the maximum value of the first appointed distance range.
In this embodiment, the preset distance may be set according to actual conditions, and is used to indicate that the person is a short distance from the vehicle. For example, if the first designated distance range is 0 to 15 meters, the predetermined distance may be 10 meters, 9 meters, etc. And when the distance between the person and the vehicle is detected to be smaller than or equal to the preset distance, determining that the vehicle meets the deceleration condition. After the deceleration condition is met, the vehicle is controlled to start the sectional deceleration.
As an alternative implementation, step S210 may include: determining that a person exists in the first specified distance range through the peripheral information of the vehicle sensed by the sensing component 13; judging whether the expression of the facial image is a preset expression or not according to the facial image of the person in the peripheral information within the first appointed distance range, wherein the preset expression is an expression representing that the vehicle needs to be decelerated or stopped to run; and when the expression of the face image is the preset expression and the walking direction of the person corresponding to the face image faces the vehicle, determining that a deceleration condition is met. .
In the present embodiment, the automobile control device 10 may extract a face image from the person image when determining that the person image exists in a region in the environment image where the vehicle is located within the first specified distance range. The way of extracting the face image may be: based on the head contour shape of the person, a face image is extracted from the person image.
After extracting the face image, the vehicle control device 10 may analyze and compare whether the expression of the face image is a preset expression, and the preset expression may be one or more expressions. The analysis and comparison mode can be as follows: by classifying the expression of the face image, for example, the facial expression of the face image may be classified according to the actual situation, and for example, the facial expression may include an expression such as a facial expression, a smile, a frown due to an emergency, a shout, and the like. The vehicle control apparatus 10 may determine the type of facial expression of the face image through an image recognition algorithm. The preset expression may be an expression of frowning or shouting due to an emergency.
In addition, the automobile control device 10 may also take scene images including images of the person at different points in time and then determine the walking path and the walking direction of the person based on the position of the person in the different scene images. When the walking direction faces the vehicle, the distance between the person and the vehicle is within a first specified range, and the expression of the facial image is a preset expression, the person is indicated to intentionally decelerate or stop the vehicle. In addition, at this time, the automobile control device 10 may actively recognize that the person intentionally decelerates or stops the vehicle.
For example, when the vehicle is an automated vending car for vending goods, the purchaser may approach the automated vending car when the purchaser desires to purchase goods on the automated vending car. In this process, the purchaser has a desire to purchase the product, and therefore, the facial expression is not usually an facial expression, and the facial expression may be a smile, frown due to worries, shout, or the like. At this time, the preset expression may be a smile, frown due to urgency, shout, or the like type expression. Meanwhile, the sensing assembly 13 may measure the distance between the person and the vehicle, the walking direction, and the face image of the person. Then, the automobile control device 10 can determine whether the person intentionally decelerates or stops the vehicle based on the person's walking direction, the distance between the person and the vehicle, and the face image of the person. For example, if the walking direction of the person faces the automobile, the distance between the person and the automobile is within a first designated range, and the expression of the face image is a preset expression (for example, an expression such as smile, frown due to urgency, shout, and the like), it is determined that the person intends to decelerate or stop the automobile.
Of course, the vehicle control apparatus 10 may determine whether the person intentionally decelerates the vehicle to stop the vehicle based on other means. For example, the time period during which the person is looking at the vehicle is determined by capturing a video of the surroundings of the vehicle or by an image of the surroundings at a plurality of time points. And the distance between the vehicle and the walking direction of the personnel is combined to judge whether the personnel intentionally decelerates and stops the vehicle. For example, if it is determined that the time period during which the person looks at the vehicle exceeds a preset time period (the preset time period may be set according to actual conditions, for example, 10 seconds, 20 seconds, and the like), and the walking direction of the person is toward the vehicle and the distance between the person and the vehicle is within a first specified range, it is determined that the peripheral information satisfies the deceleration condition.
As an alternative implementation, step S210 may include: determining that a person exists in the first specified distance range through the peripheral information of the vehicle sensed by the sensing component 13; judging the similarity between the personnel posture in the personnel image in the peripheral information and a preset posture; and when the similarity between the personnel posture and the preset posture is greater than or equal to a preset threshold value, determining that a deceleration condition is met, wherein the preset posture is the posture representing the personnel needing to decelerate or stop driving the vehicle.
Understandably, the vehicle control apparatus 10 may extract the person image from the environment image in the surrounding information. Then, calculating the similarity between the personnel posture of the personnel image and the preset posture, wherein the similarity can be calculated in the following way: the method comprises the steps of scaling the size of an image corresponding to a person posture and the size of an image corresponding to a preset posture to enable the size of the image corresponding to the person posture and the size of the image corresponding to the preset posture to be the same or similar, then carrying out processing such as rotation and mirror image on the two scaled images to calculate the maximum overlapping area ratio of the two scaled images, wherein the higher the similarity is, the larger the maximum overlapping area ratio is. The preset threshold value can be set according to actual conditions, and is, for example, 80%, 90%, and the like.
In addition, the preset posture can be set according to actual conditions and used for indicating that the person needs to decelerate or stop the vehicle. For example, the preset gestures may include, but are not limited to, hand waving, head nodding, and the like. The user can know the gesture (i.e. the preset gesture) for decelerating or stopping the vehicle in advance, and when the user makes the action of the preset gesture, it indicates that the user needs to decelerate and stop the vehicle.
When a plurality of persons are present in the first specified distance range, the method may further include determining the target person from the plurality of persons.
As an optional implementation manner, before step S210, the method may further include: judging whether the expression of the facial image is a preset expression or not according to the facial image of the person in the first appointed distance range sensed by the sensing component 13, wherein the preset expression is an expression representing that the vehicle needs to be decelerated or stopped to run, and when the expression of the facial image is the preset expression and the walking direction of the person corresponding to the facial image faces towards the vehicle, determining that the person corresponding to the facial image is the target person.
For example, referring to fig. 3, in fig. 3, it is assumed that the distances between the person a and the person B and the vehicle are within the first predetermined range, the walking direction of the person a is toward the vehicle as shown by the arrow of the person a, the walking direction of the person B is away from the vehicle as shown by the arrow of the person B, and the traveling direction of the vehicle is leftward as shown by the arrow of the vehicle in the front view of fig. 3. At this time, person a is the target person, and person B is not the target person.
As an optional implementation manner, before step S210, the method may further include: and acquiring the similarity between the personnel posture in the personnel image and a preset posture according to the personnel image of the personnel in the first appointed distance range sensed by the sensing component 13, wherein when the similarity between the personnel posture and the preset posture is greater than or equal to a preset threshold value, the personnel corresponding to the personnel posture is determined as the target personnel, and the preset posture is a posture which represents that the vehicle needs to decelerate or stop running.
In this embodiment, the manner of determining whether the person within the first designated distance range is the target person is similar to the manner of determining whether the peripheral information satisfies the deceleration condition, and is not described herein again.
In the above embodiment, the target person is determined from the crowd, so that the influence of other people in the crowd on the judgment of the deceleration parking is favorably eliminated, and the accuracy and the reliability of the judgment of the deceleration parking are favorably improved.
And S220, when the deceleration condition is met, controlling the current speed of the vehicle to decelerate to a speed corresponding to the subsection range based on the subsection range where the distance between the target person and the vehicle is within the first appointed distance range.
The segmentation range may be understood as a division of the first specified distance range, and the division manner may be set according to an actual situation. The vehicle speeds corresponding to different subsection ranges are different. For example, the first designated distance range is 0 to 15 meters, and the segment ranges may include a monitoring distance range a, a braking distance range b, and a stopping distance range c. The monitoring distance range a can be a e (10, 15), the braking distance range b can be b e (0.5, 10), the parking distance range c can be c e (0, 0.5) and the unit is meter.
In this embodiment, step S220 may include: when the distance between the target person and the vehicle is within a monitoring distance range, controlling the current vehicle speed of the vehicle to be less than or equal to a first vehicle speed; when the distance between the target person and the vehicle is within a braking distance range, controlling the current vehicle speed of the vehicle to be less than or equal to a second vehicle speed, wherein the second vehicle speed is less than the first vehicle speed, and the maximum value of the braking distance range is less than the minimum value of the monitoring distance range; and when the distance between the target person and the vehicle is within a parking distance range, controlling the vehicle to stop running, wherein the maximum value of the parking distance range is smaller than the minimum value of the braking distance range.
In this embodiment, the vehicle speeds corresponding to different segment ranges are different. The first vehicle speed and the second vehicle speed can be set according to actual conditions. For example, the first vehicle speed is 20km/h and the second vehicle speed is 5 km/h. And when the speed reduction condition is met and the distance between the target person and the vehicle is within the monitoring distance range, reducing the speed of the vehicle to be within 20 km/h. And when the speed reduction condition is met and the distance between the target person and the vehicle is within the braking distance range, reducing the speed of the vehicle to be within 5 km/h. And when the deceleration condition is met and the distance between the target person and the vehicle is within the parking distance range, controlling the vehicle to stop running. The vehicle speed control can be realized through the magnitude and duration of the braking force.
Understandably, the slower the vehicle speed of the vehicle before deceleration, the smaller the braking force and the shorter the duration of braking. In addition, the vehicle can automatically control the safe parking distance by decelerating in sections or until the vehicle stops, so that the vehicle can be prevented from parking too early or too late, and the safety and the reliability of the vehicle in deceleration and parking can be improved.
Based on the design, the vehicle can flexibly judge whether the current peripheral information meets the speed reduction condition according to the peripheral information, and the problem that the speed of the unmanned vehicle is not flexibly adjusted is solved.
As an optional implementation, the method may further include: controlling the vehicle to travel when no person is present within a second specified distance range of the vehicle, a maximum value of the second specified distance range being greater than a maximum value of the stopping distance range.
The second designated distance range may be set according to an actual situation, and a maximum value of the second designated distance range is greater than a maximum value of the parking distance range and smaller than a maximum value of the first designated distance range. For example, in the above example, the first specified distance range is [0,15], the stopping distance range c is [0,0.5], and the maximum value of the second specified distance range may be a value that is larger than and close to the maximum value of the stopping distance range. For example, the second designated distance range may be a range of [0,1], [0,1.5] and the like, where the numbers in the range are all in meters.
Based on this, when no person is present in the second specified distance range, it can be used as a trigger condition for the automatic travel of the vehicle, thereby facilitating the completion of the automatic travel of the vehicle after the vehicle is stopped.
It should be noted that, during the deceleration stop of the vehicle, the peripheral information may be collected once at short intervals (the time period may be set according to actual conditions, for example, 0.1 second, 0.5 second, etc.), and the vehicle speed adjusting method described above may be executed for each collected peripheral information until the vehicle stops or is away from the person.
Referring to fig. 4, the present embodiment further provides a vehicle speed adjusting device 100, which can be applied to the vehicle or the automobile described above, for executing the steps of the vehicle speed adjusting method. The vehicle speed adjusting device 100 includes at least one software functional module which may be stored in the form of software or firmware (firmware) in the memory module 12 or solidified in an Operating System (OS) of the vehicle control apparatus 10. The processing module 11 is used for executing executable modules stored in the storage module 12, such as software functional modules and computer programs included in the vehicle speed adjusting device 100. The vehicle speed adjusting device 100 may include a condition determining unit 110 and a vehicle speed adjusting unit 120.
A condition determination unit 110 configured to determine whether a deceleration condition is satisfied when the sensing component 13 provided on the vehicle determines that a person is present within a first specified distance range of the vehicle;
and the vehicle speed adjusting unit 120 is configured to, when the deceleration condition is met, control the current vehicle speed of the vehicle to decelerate to a vehicle speed corresponding to the segment range based on the segment range where the distance between the target person and the vehicle is within the first specified distance range.
Optionally, the vehicle speed adjusting unit 120 may be further configured to:
when the distance between the target person and the vehicle is within a monitoring distance range, controlling the current vehicle speed of the vehicle to be less than or equal to a first vehicle speed;
when the distance between the target person and the vehicle is within a braking distance range, controlling the current vehicle speed of the vehicle to be less than or equal to a second vehicle speed, wherein the second vehicle speed is less than the first vehicle speed, and the maximum value of the braking distance range is less than the minimum value of the monitoring distance range;
and when the distance between the target person and the vehicle is within a parking distance range, controlling the vehicle to stop running, wherein the maximum value of the parking distance range is smaller than the minimum value of the braking distance range.
Alternatively, the vehicle speed adjusting apparatus 100 may further include a start control unit for controlling the vehicle to travel when no person is present within a second specified distance range of the vehicle, a maximum value of the second specified distance range being larger than a maximum value of the stopping distance range.
Optionally, the condition determining unit 110 may be further configured to: determining that a person exists in the first specified distance range through the peripheral information of the vehicle sensed by the sensing component 13; judging whether the distance between the person in the first appointed distance range and the vehicle is smaller than or equal to a preset distance or not; and when the distance between the person and the vehicle is smaller than or equal to the preset distance, determining that a deceleration condition is met, wherein the preset distance is smaller than the maximum value of the first appointed distance range.
Optionally, the condition determining unit 110 may be further configured to: determining that a person exists in the first specified distance range through the peripheral information of the vehicle sensed by the sensing component 13; judging whether the expression of the facial image is a preset expression or not according to the facial image of the person in the peripheral information within the first appointed distance range, wherein the preset expression is an expression representing that the vehicle needs to be decelerated or stopped to run; and when the expression of the face image is the preset expression and the walking direction of the person corresponding to the face image faces the vehicle, determining that a deceleration condition is met.
Optionally, the condition determining unit 110 may be further configured to: determining that a person exists in the first specified distance range through the peripheral information of the vehicle sensed by the sensing component 13; judging the similarity between the personnel posture in the personnel image in the peripheral information and a preset posture; and when the similarity between the personnel posture and the preset posture is greater than or equal to a preset threshold value, determining that a deceleration condition is met, wherein the preset posture is the posture representing the personnel needing to decelerate or stop driving the vehicle.
Optionally, the vehicle speed adjusting apparatus 100 may further include a person determining unit, configured to determine, according to a facial image of a person within the first specified distance range sensed by the sensing component 13, whether an expression of the facial image is a preset expression, where the preset expression is an expression indicating that the vehicle needs to be decelerated or stopped to run, and when the expression of the facial image is the preset expression and a walking direction of the person corresponding to the facial image faces the vehicle, determine that the person corresponding to the facial image is the target person; or, according to the person image of the person in the first specified distance range sensed by the sensing component 13, acquiring a similarity between the person posture in the person image and a preset posture, wherein when the similarity between the person posture and the preset posture is greater than or equal to a preset threshold value, it is determined that the person corresponding to the person posture is the target person, and the preset posture is a posture representing that the vehicle needs to be decelerated or stopped to run.
The embodiment of the application also provides an automobile, which can be the unmanned electric automobile or the hybrid electric automobile. The automobile includes an automobile body and the automobile control device 10 as described in the above embodiment. The vehicle control device 10 is disposed in the vehicle body and is used for executing or realizing the vehicle speed adjusting method.
It should be noted that, as will be clear to those skilled in the art, for convenience and brevity of description, the specific working processes of the automobile, the automobile control device 10 and the vehicle speed adjusting device 100 described above may refer to the corresponding processes of the steps in the foregoing method, and will not be described in too much detail herein.
The embodiment of the application also provides a computer readable storage medium. The readable storage medium has stored therein a computer program that, when run on a computer, causes the computer to execute the vehicle speed adjustment method as described in the above-described embodiments.
From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by hardware, or by software plus a necessary general hardware platform, and based on such understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions to enable a computer device (which can be a personal computer, or a network device, etc.) to execute the method described in the various implementation scenarios of the present application.
In summary, the application provides a vehicle speed detection method and device, a vehicle control device and a vehicle. The method comprises the following steps: when a sensing component arranged on the vehicle determines that a person exists in a first specified distance range of the vehicle, judging whether a deceleration condition is met; and when the deceleration condition is met, controlling the current speed of the vehicle to decelerate to the speed corresponding to the subsection range based on the subsection range where the distance between the target person and the vehicle is in the first appointed distance range. In the scheme, the vehicle can identify personnel based on the peripheral information of the vehicle, can actively judge whether the speed reduction condition is met or not when the personnel exist around the vehicle, and can reduce the speed to the speed corresponding to the corresponding distance range in a segmented manner when the speed reduction condition is met, so that the vehicle can be flexibly adjusted based on the requirement of the personnel, and the problem that the speed adjustment of the unmanned vehicle is inflexible is solved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus, system, and method may be implemented in other ways. The apparatus, system, and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A vehicle speed adjustment method, characterized by being applied to a vehicle, the method comprising:
when a sensing component arranged on the vehicle determines that a person exists in a first specified distance range of the vehicle, judging whether a deceleration condition is met;
judging whether the expression of the facial image is a preset expression or not according to the facial image of the person in the first appointed distance range sensed by the sensing assembly, wherein the preset expression is an expression representing that the vehicle needs to be decelerated or stopped to run, and when the expression of the facial image is the preset expression and the walking direction of the person corresponding to the facial image faces towards the vehicle, determining that the person corresponding to the facial image is a target person and meeting the deceleration condition;
or acquiring similarity between the personnel posture in the personnel image and a preset posture according to the personnel image of the personnel in the first appointed distance range sensed by the sensing assembly, wherein when the similarity between the personnel posture and the preset posture is greater than or equal to a preset threshold value, the personnel corresponding to the personnel posture is determined to be a target personnel and meets the deceleration condition, and the preset posture is a posture representing that the vehicle needs to decelerate or stop running;
and when the deceleration condition is met, controlling the current speed of the vehicle to decelerate to a speed corresponding to the subsection range based on the subsection range where the distance between the target person and the vehicle is within the first appointed distance range.
2. The method of claim 1, wherein controlling the current vehicle speed of the vehicle to decelerate to a vehicle speed corresponding to the staging range comprises:
when the distance between the target person and the vehicle is within a monitoring distance range, controlling the current vehicle speed of the vehicle to be less than or equal to a first vehicle speed;
when the distance between the target person and the vehicle is within a braking distance range, controlling the current vehicle speed of the vehicle to be less than or equal to a second vehicle speed, wherein the second vehicle speed is less than the first vehicle speed, and the maximum value of the braking distance range is less than the minimum value of the monitoring distance range;
and when the distance between the target person and the vehicle is within a parking distance range, controlling the vehicle to stop running, wherein the maximum value of the parking distance range is smaller than the minimum value of the braking distance range.
3. The method of claim 2, further comprising:
controlling the vehicle to travel when no person is present within a second specified distance range of the vehicle, a maximum value of the second specified distance range being greater than a maximum value of the stopping distance range.
4. The method of claim 1, wherein determining whether a deceleration condition is satisfied when a sensing assembly disposed on the vehicle determines that a person is present within a first specified distance range of the vehicle comprises:
determining that a person exists in the first specified distance range through the peripheral information of the vehicle sensed by the sensing assembly;
judging whether the distance between the person in the first appointed distance range and the vehicle is smaller than or equal to a preset distance or not;
and when the distance between the person and the vehicle is smaller than or equal to the preset distance, determining that a deceleration condition is met, wherein the preset distance is smaller than the maximum value of the first appointed distance range.
5. The method of claim 1, wherein determining whether a deceleration condition is satisfied when a sensing assembly disposed on the vehicle determines that a person is present within a first specified distance range of the vehicle comprises:
determining that a person exists in the first specified distance range through the peripheral information of the vehicle sensed by the sensing assembly;
judging whether the expression of the facial image is a preset expression or not according to the facial image of the person in the peripheral information within the first appointed distance range, wherein the preset expression is an expression representing that the vehicle needs to be decelerated or stopped to run;
and when the expression of the face image is the preset expression and the walking direction of the person corresponding to the face image faces the vehicle, determining that a deceleration condition is met.
6. The method of any of claims 1-5, wherein determining whether a deceleration condition is satisfied when a sensing assembly disposed on the vehicle determines that a person is present within a first specified distance range of the vehicle comprises:
determining that a person exists in the first specified distance range through the peripheral information of the vehicle sensed by the sensing assembly;
judging the similarity between the personnel posture in the personnel image in the peripheral information and a preset posture;
and when the similarity between the personnel posture and the preset posture is greater than or equal to a preset threshold value, determining that a deceleration condition is met, wherein the preset posture is the posture representing the personnel needing to decelerate or stop driving the vehicle.
7. A vehicle speed adjustment device, characterized by being applied to a vehicle, the device comprising:
a condition judgment unit configured to judge whether a deceleration condition is satisfied when a sensing component provided on the vehicle determines that a person is present within a first specified distance range of the vehicle;
the condition judging unit is used for judging whether the expression of the facial image is a preset expression or not according to the facial image of the person in the first appointed distance range sensed by the sensing assembly, wherein the preset expression is an expression representing that the vehicle needs to be decelerated or stopped to run, and when the expression of the facial image is the preset expression and the walking direction of the person corresponding to the facial image faces towards the vehicle, the person corresponding to the facial image is determined to be a target person and meets the deceleration condition;
or the condition judging unit is used for acquiring the similarity between the personnel posture in the personnel image and a preset posture according to the personnel image of the personnel in the first appointed distance range sensed by the sensing assembly, wherein when the similarity between the personnel posture and the preset posture is greater than or equal to a preset threshold value, the personnel corresponding to the personnel posture is determined to be a target personnel and meets the deceleration condition, and the preset posture is a posture representing that the vehicle needs to decelerate or stop running;
and the vehicle speed adjusting unit is used for controlling the current vehicle speed of the vehicle to be decelerated to the vehicle speed corresponding to the subsection range based on the subsection range where the distance between the target person and the vehicle is within the first appointed distance range when the deceleration condition is met.
8. An automotive control device, characterized in that the automotive control device comprises a sensing assembly for sensing surrounding information of the automobile, a memory, and a processor, the memory storing a computer program which, when executed by the processor, causes the automotive control device to carry out the method according to any one of claims 1-6.
9. An automobile, characterized in that the automobile comprises an automobile body and the automobile control device according to claim 8, the automobile control device being provided in the automobile body.
10. A computer-readable storage medium, in which a computer program is stored which, when run on a computer, causes the computer to carry out the method according to any one of claims 1-6.
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