CN111325982A - Vehicle control method, vehicle control device, computer equipment and storage medium - Google Patents
Vehicle control method, vehicle control device, computer equipment and storage medium Download PDFInfo
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- CN111325982A CN111325982A CN202010146258.8A CN202010146258A CN111325982A CN 111325982 A CN111325982 A CN 111325982A CN 202010146258 A CN202010146258 A CN 202010146258A CN 111325982 A CN111325982 A CN 111325982A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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Abstract
The application relates to a vehicle control method, a vehicle control device, a computer device and a storage medium. The method comprises the following steps: when the target vehicle is in a manual driving mode, acquiring the operation parameters measured by each measuring component; then judging whether the target vehicle meets a preset operation stopping condition or not according to the operation parameters; and finally, when the target vehicle meets the preset operation stopping condition, controlling the target vehicle to stop operating, and sending alarm information to an operation terminal corresponding to the target vehicle. By adopting the method, the safety of the target vehicle in the manual driving mode can be improved.
Description
Technical Field
The present application relates to the field of control technologies, and in particular, to a vehicle control method and apparatus, a computer device, and a storage medium.
Background
With the development of control technology, people's control of vehicles has been limited to manual driving. For example, the vehicle may be driven by remote control or remote control. Both the remote controller control and the remote control are manually operated by the operator to drive the vehicle using the control device, and therefore, both the remote controller control and the remote control may be collectively referred to as a manual driving mode.
In a conventional manual driving mode, an operator can use a remote controller to operate the vehicle at a driving site, or the operator can send related instructions to the vehicle through a network communication technology in an operating room to operate the vehicle.
However, in the manual driving mode, when an operator controls the vehicle through a remote controller on a driving site, a blind sight area often occurs, or when the operator gives an instruction through a received site picture in an operating room, the situation of picture distortion or unstable network often occurs, and due to the reasons, the operator cannot give a correct instruction, so that a safety accident of the vehicle is caused.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle control method, apparatus, computer device, and storage medium capable of improving safety in view of the above technical problems.
In a first aspect, there is provided a vehicle control method for use in a target vehicle capable of autonomous driving, the target vehicle being provided with a plurality of measurement components each for measuring an operating parameter of the target vehicle, the method comprising:
when the target vehicle is in a manual driving mode, acquiring the operation parameters measured by each measuring component;
judging whether the target vehicle meets a preset operation stopping condition or not according to the operation parameters;
and when the target vehicle meets the preset operation stopping condition, controlling the target vehicle to stop operating, and sending alarm information to an operation terminal corresponding to the target vehicle.
In one embodiment, the measurement assembly includes a pressure sensor connected to the anti-collision strip of the target vehicle, the pressure sensor for measuring a pressure value on the anti-collision strip; when the target vehicle meets the preset operation stopping condition, the target vehicle is controlled to stop operation, and the method comprises the following steps:
and when the pressure value on the anti-collision strip is greater than a preset pressure threshold value, controlling the target vehicle to stop running.
In one embodiment, the measuring assembly comprises a plurality of current-voltage sensors respectively connected with a motor, a steering gear, a brake pad and an electronic hand brake of the target vehicle; when the target vehicle meets the preset operation stopping condition, the target vehicle is controlled to stop operation, and the method comprises the following steps:
when the current value measured by the current-voltage sensor exceeds a preset current threshold value, controlling the target vehicle to stop running; or,
and when the voltage value measured by the current-voltage sensor exceeds a preset voltage threshold value, controlling the target vehicle to stop running.
In one embodiment, the measuring component includes an angle sensor, the angle sensor is connected to a steering motor of the target vehicle, and the target vehicle is controlled to stop operating when a preset stop operating condition is met, including:
and in the target duration range, when the angle value detected by the angle sensor cannot reach the target angle value, controlling the target vehicle to stop running.
In one embodiment, the measuring component includes a radar for measuring a first distance value between the target vehicle and an obstacle, and the target vehicle is controlled to stop when a preset stop condition is met, including:
and when the first distance value is smaller than a preset distance threshold value, controlling the target vehicle to stop running.
In one embodiment, the measuring component includes an ultrasonic sensor, the ultrasonic sensor is configured to measure a second distance value between the target vehicle and the obstacle, and the target vehicle is controlled to stop operating when the target vehicle meets a preset stop operating condition, including:
and when the second distance value is smaller than a preset distance threshold value, controlling the target vehicle to stop running.
In one embodiment, the measuring component includes a radio receiver for receiving a remote control signal, and the target vehicle is controlled to stop operation when the target vehicle meets a preset stop operation condition, including:
and when the radio receiver does not receive the remote controller signal, controlling the target vehicle to stop running.
In a second aspect, there is provided a vehicle control apparatus comprising:
the acquisition module is used for acquiring the operation parameters measured by each measuring component when the target vehicle is in a manual driving mode;
the judging module is used for judging whether the target vehicle meets a preset operation stopping condition or not according to the operation parameters;
and the control module is used for controlling the target vehicle to stop running and sending alarm information to the operation terminal corresponding to the target vehicle when the target vehicle meets the preset running stop condition.
In one embodiment, the measurement assembly includes a pressure sensor connected to the anti-collision strip of the target vehicle, the pressure sensor for measuring a pressure value on the anti-collision strip; the control module is specifically configured to control the target vehicle to stop operating when the pressure value on the anti-collision bar is greater than a preset pressure threshold value.
In one embodiment, the measuring assembly comprises a plurality of current-voltage sensors respectively connected with a motor, a steering gear, a brake pad and an electronic hand brake of the target vehicle; the control module is specifically used for controlling the target vehicle to stop running when the current value measured by the current-voltage sensor exceeds a preset current threshold; or when the voltage value measured by the current-voltage sensor exceeds a preset voltage threshold value, controlling the target vehicle to stop running.
In one embodiment, the measuring assembly includes an angle sensor connected to a steering motor of the target vehicle, and the control module is specifically configured to control the target vehicle to stop operating when the angle value detected by the angle sensor fails to reach a target angle value within a target time period.
In one embodiment, the measuring component includes a radar configured to measure a first distance value between the target vehicle and an obstacle, and the control module is specifically configured to control the target vehicle to stop operating when the first distance value is smaller than a preset distance threshold.
In one embodiment, the measuring assembly includes an ultrasonic sensor for measuring a second distance value between the target vehicle and the obstacle, and the control module is specifically configured to control the target vehicle to stop operating when the second distance value is smaller than a preset distance threshold.
In one embodiment, the measurement component includes a radio receiver for receiving a remote control signal, and the control module is specifically configured to control the target vehicle to stop operating when the radio receiver does not receive the remote control signal.
In a third aspect, there is provided a computer device comprising a memory storing a computer program and a processor implementing the vehicle control method of any one of the first aspects when the processor executes the computer program.
In a fourth aspect, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle control method of any of the first aspects described above.
The vehicle control method, the vehicle control device, the computer equipment and the storage medium are used in a target vehicle capable of automatically driving, the target vehicle is provided with a plurality of measuring assemblies, each measuring assembly is used for measuring the running parameters of the target vehicle, and when the target vehicle is in a manual driving mode, the running parameters measured by each measuring assembly are obtained; then judging whether the target vehicle meets a preset operation stopping condition or not according to the operation parameters; and finally, when the target vehicle meets the preset operation stopping condition, controlling the target vehicle to stop operating, and sending alarm information to an operation terminal corresponding to the target vehicle. According to the vehicle control method, when the target vehicle is in the manual mode, the target vehicle is not operated completely according to the instruction input by an operator, and the operation parameters measured by the plurality of measuring assemblies of the vehicle are combined, and the state of the target vehicle is judged, and then the target vehicle is further automatically controlled to operate.
Drawings
FIG. 1 is a diagram of an exemplary vehicle control system;
FIG. 2 is a schematic flow chart diagram of a vehicle control method in one embodiment;
FIG. 3 is a schematic flow chart diagram of a vehicle control method in another embodiment;
FIG. 4 is a flowchart illustrating a vehicle control method according to still another embodiment;
FIG. 5 is a flowchart illustrating a vehicle control method according to still another embodiment;
FIG. 6 is a schematic flow chart diagram illustrating a vehicle control method according to one embodiment;
FIG. 7 is a flowchart illustrating a vehicle control method according to still another embodiment;
FIG. 8 is a flowchart illustrating a vehicle control method according to still another embodiment;
FIG. 9 is a block diagram showing the construction of a vehicle control apparatus according to one embodiment;
FIG. 10 is a diagram showing an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The vehicle control method provided by the application can be applied to the application environment shown in FIG. 1. The target vehicle 101 has an in-vehicle device 103, and the in-vehicle device 103 and the control terminal 102 can communicate with each other in a wired or wireless manner. The vehicle-mounted device 103 may receive a control instruction sent by the control terminal 102, when the vehicle-mounted device 103 receives a manual driving mode instruction sent by the control terminal 102, the vehicle-mounted device 103 may adjust the driving state of the target vehicle 101 to a manual driving mode, then the vehicle-mounted device 103 may acquire an operation parameter measured by a measurement component of the target vehicle 101, then the vehicle-mounted device 103 may determine whether the target vehicle 101 satisfies a preset stop condition according to the operation parameter, and when the operation parameter satisfies the preset stop condition, the vehicle-mounted device 103 may control the target vehicle 101 to stop operating and send an alarm message to the control terminal 102.
The target vehicle 101 has an automatic driving function, and a plurality of measuring components are disposed on the target vehicle 101, and each measuring component is used for measuring an operating parameter of the target vehicle 101. The control terminal 102 may be, but is not limited to, various remote control devices, personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices.
In the embodiment of the present application, as shown in fig. 2, there is provided a vehicle control method, which is described by taking as an example that the method is applied to an in-vehicle apparatus on a target vehicle in fig. 1, and includes the steps of:
In the present application, the manual driving mode indicates a mode in which the target vehicle is controlled by a remote controller or remotely controlled. The remote controller control is that an operator realizes the operation control of a target vehicle through a remote control device on a driving site; the remote control means that an operator performs operation control of a target vehicle in a remote control room by a control device such as a computer or the like. Both modes require manual manipulation by the operator and therefore both modes are manual.
In the manual mode, the judgment and control of the running environment of the target vehicle are manually completed by an operator, and in order to enable the operator to more accurately issue an instruction, at the moment, a measuring component on the target vehicle needs to be used. The measurement component reflects the operating conditions of the target vehicle itself and the conditions of the driving environment in which the target vehicle is located, using the measured operating parameters.
The vehicle-mounted equipment exists on the target vehicle, and the vehicle-mounted equipment can acquire the operation parameters measured by each measuring component on the target vehicle in a wired or wireless mode. Meanwhile, the vehicle-mounted equipment can be connected with a controller on the target vehicle, so that the operation control of the target vehicle is realized through the controller on the target vehicle.
In step 202, the vehicle-mounted device determines whether the target vehicle meets a preset stop condition.
After the measurement component of the target vehicle measures the operation parameters, the target vehicle can judge whether the parameters meet the preset stop operation conditions. Because the target vehicle is in the manual mode and the target vehicle runs according to the instruction issued by the operator on the control terminal, the on-board device on the target vehicle may receive the wrong instruction sent by the operator through the control terminal and perform wrong operation. For example, when the target vehicle has collided with an obstacle, but the operator cannot know the situation, the control terminal is still used to send a continuous travel instruction, which is obviously wrong. Therefore, before the target vehicle executes the instruction sent by the control terminal through the control of the vehicle-mounted device, the vehicle-mounted device needs to compare the operation parameters measured by the measuring component with the preset operation stopping conditions, and then determine whether to continue executing the instruction sent by the operator through the control terminal according to the judgment result.
And step 203, when the target vehicle meets the preset operation stopping condition, controlling the target vehicle to stop operating by the vehicle-mounted equipment, and sending alarm information to an operation terminal corresponding to the target vehicle.
After the above-mentioned judgment of whether the operation parameters satisfy the preset operation stop condition in step 202, the in-vehicle device may execute whether to stop operation according to the judgment result, and send corresponding alarm information.
Optionally, the alarm information may be classified according to severity level in advance, and then different processing modes may be formulated for the alarm information with different severity levels.
For example, the anti-collision bar alarm may be classified into a serious fault class, and when the control terminal receives the anti-collision bar alarm transmitted from the in-vehicle device, it indicates that the target vehicle has a collision accident. At this time, firstly, the on-board device needs to control the target vehicle to stop running, and meanwhile, the driving mode of the target vehicle is prohibited from being switched, that is, the operator cannot make the target vehicle switch to another driving mode through the control terminal at this time, even if the pressure value of the anti-collision strip of the target vehicle is measured to be restored to a normal value subsequently, the on-board device does not automatically make the driving mode of the target vehicle be unlocked, but needs to make the operator perform relevant unlocking action, so that the prohibition can be unlocked.
For another example, the radar alarm may be classified into general fault classes, and when the control terminal receives the radar alarm information sent by the vehicle-mounted device, it indicates that the distance between the target vehicle and the obstacle is less than the safe distance but no collision occurs, and at this time, the vehicle-mounted device needs to first control the target vehicle to stop operating. If the radar alarm is removed in the subsequent process, the fact that the distance between the target vehicle and the obstacle is larger than the safe distance is proved, the vehicle-mounted equipment can automatically control the target vehicle to return to a normal driving state, and an operator does not need to unlock.
The vehicle control method is used in a target vehicle capable of automatic driving, wherein the target vehicle is provided with a plurality of measuring assemblies, each measuring assembly is used for measuring an operating parameter of the target vehicle, and when the target vehicle is in a manual driving mode, the operating parameter measured by each measuring assembly is acquired; then judging whether the target vehicle meets a preset operation stopping condition or not according to the operation parameters; and finally, when the target vehicle meets the preset operation stopping condition, controlling the target vehicle to stop operating, and sending alarm information to an operation terminal corresponding to the target vehicle. According to the vehicle control method, when the target vehicle is in the manual mode, the target vehicle is not operated completely according to the instruction input by an operator, and the operation parameters measured by the plurality of measuring assemblies of the vehicle are combined, and the state of the target vehicle is judged, and then the target vehicle is further automatically controlled to operate.
In an embodiment of the present application, as shown in fig. 3, there is provided another vehicle control method including:
The measurement assembly comprises a pressure sensor, the pressure sensor is connected with the anti-collision strip of the target vehicle, and the pressure sensor is used for measuring a pressure value on the anti-collision strip.
The anti-collision strips are located on the periphery of the outside of the target vehicle and connected with the pressure sensors. The anti-collision strip can prevent the vehicle body from being directly damaged when the target vehicle collides, and can judge whether the target vehicle collides currently or not according to the measurement data of the pressure sensor connected with the anti-collision strip.
Specifically, a pressure threshold may be preset, and when a pressure value measured by a pressure sensor connected to the anti-collision strip exceeds the pressure threshold, it may be determined that the target vehicle has undergone a collision accident.
And step 302, when the pressure value on the anti-collision strip is greater than a preset pressure threshold value, the vehicle-mounted equipment controls the target vehicle to stop running.
When the pressure value measured by the pressure sensor connected with the anti-collision strip exceeds the pressure threshold value, the target vehicle is proved to be in an accident state and is not suitable for running continuously. At this time, the target vehicle immediately stops operating.
For example, an operator sends a forward driving command to a target vehicle through a control terminal, when the target vehicle collides with an obstacle on a road during forward driving, a pressure sensor of the anti-collision strip detects that a pressure value is greater than a preset pressure threshold value, and then the target vehicle stops operating immediately instead of continuing to execute the forward driving command.
In the embodiment of the application, the anti-collision strip and the pressure sensor connected with the anti-collision strip are arranged, so that the safety protection of the target vehicle is greatly improved.
In an embodiment of the application, the measuring assembly comprises a plurality of current-voltage sensors, which are respectively connected with the motor, the steering gear, the brake pad and the electronic hand brake of the target vehicle. As shown in fig. 4, there is provided still another method of vehicle control, the method including:
In this step, the bottom layer actuator of the target vehicle is important for the operation of the target vehicle, and therefore, fault monitoring of the bottom layer actuator is required. The bottom layer actuating mechanism comprises a motor, a steering gear, a brake pad, an electronic hand brake and the like, each part in the bottom layer actuating mechanism is provided with different mechanical structures, the operating principles of the bottom layer actuating mechanism are different, and fault monitoring of each mechanical structure can be realized through a current voltage sensor. It is common to determine whether various components of the underlying actuator have failed by monitoring for overcurrent and overvoltage conditions.
When the above-described respective components are monitored by the current-voltage sensor, a current threshold and a voltage threshold may be set in advance for each component. Generally, each component has a normal current-voltage range when working normally, and when the current value or the voltage value measured by the current-voltage sensor of a certain component monitored by the vehicle-mounted equipment exceeds the normal current value or the voltage value range, the component can be determined to be in fault, so that the fault of the bottom-layer actuator of the target vehicle can be determined.
Furthermore, the vehicle-mounted equipment can control the target vehicle to stop running and send failure alarm information of the bottom-layer executing mechanism to the control terminal.
In the embodiment of the application, the current and voltage sensor is utilized to monitor the fault of the bottom actuating mechanism of the target vehicle, so that the safety control of the target vehicle is realized, and the safety of the vehicle control method is greatly improved.
In an embodiment of the application, the measuring assembly comprises an angle sensor, which is connected to a steering motor of the target vehicle. Referring to fig. 5, there is provided still another vehicle control method including:
The steering motor is an important component for realizing direction change on a target vehicle, and the power generated by the motor is mainly used for assisting the target vehicle in power steering. The change of direction of the target vehicle during driving is very important, so that it is necessary to monitor whether the steering function of the target vehicle is out of order.
In practical applications, an angle sensor connected to the steering motor is often provided to monitor whether the steering function of the target vehicle is normal.
And 502, in the target duration range, when the angle value detected by the angle sensor cannot reach the target angle value, controlling the target vehicle to stop running.
In this step, when an operator issues a steering command to the vehicle-mounted device on the target vehicle through the control terminal, the steering command may instruct the target vehicle to rotate by a specified angle in a specified direction. After the vehicle-mounted equipment receives the steering instruction of the control terminal, the target vehicle can be controlled to steer according to the steering instruction, and meanwhile, an angle value measured by an angle sensor of a steering motor can be obtained, so that whether the steering function of the target vehicle is normal or not is judged.
For example, the steering instruction indicates that the target vehicle turns 15 degrees to the left, and when the vehicle-mounted device acquires that the angle sensor is within three minutes and the measured angle still does not reach 15 degrees, it can be determined that the steering motor of the target vehicle has a fault, and then the target vehicle is controlled to stop operating to ensure safety.
Optionally, the angle value measured by the angle sensor is greater than the preset angle threshold within the preset time period, and the judgment basis of the fault of the steering motor can be used. For example, when the vehicle-mounted device does not receive any steering instruction, and the vehicle-mounted device acquires that the angle value detected by the angle sensor for three minutes is greater than 10 degrees, which is obviously not in accordance with the normal operation condition, the steering motor of the target vehicle can be determined to be in fault.
In the embodiment of the application, whether the steering function of the target vehicle breaks down or not is judged by acquiring the angle value measured by the angle sensor, so that the target vehicle is safely controlled to stop running, and the accuracy of the vehicle control method is improved.
In an embodiment of the application, the measurement component of the target vehicle comprises a radar. As shown in fig. 6, there is provided still another vehicle control method including:
In this step, the radar is used to measure a first distance value between the target vehicle and the obstacle. The radar can be installed on the vehicle body of the target vehicle, and the radar can measure the distance between the target vehicle and the obstacle by sending laser and receiving laser echo and combining the duration between the laser emission and the laser echo receiving. The vehicle-mounted equipment can determine the position of the obstacle and the distance from the obstacle within a certain range to the vehicle body through radar detection, so that the operation of obstacle avoidance or alarm is realized.
And step 602, when the first distance value is smaller than a preset distance threshold, the vehicle-mounted equipment controls the target vehicle to stop running.
When the radar of the target vehicle detects that an obstacle exists in the safety range of the target vehicle, the target vehicle controls the target vehicle to stop running.
Specifically, a distance threshold may be preset, and when the radar measures that the distance between the target vehicle and the obstacle is less than the distance threshold, it is verified that the target vehicle and the obstacle are very close to each other, and if the target vehicle and the obstacle continue to travel, there is a collision risk. At this time, the target vehicle controls itself to stop operating.
In addition, a plurality of radars can exist on the target vehicle, and can be respectively used for measuring whether obstacles exist in different directions of the target vehicle and the distance between the target vehicle and the obstacles in all directions, and the control of the vehicle-mounted equipment on the target vehicle can be more accurate by adopting the radars. For example, there are radars in front, rear, left, and right of the target vehicle, respectively, and these four radars are used to detect obstacles in four directions in front, rear, left, and right of the target vehicle, respectively. When the target vehicle runs forwards, the rear radar detects that an obstacle exists behind the target vehicle, obstacle information is sent to the vehicle-mounted equipment, and the vehicle-mounted equipment can further judge whether the target vehicle needs to be controlled to stop running or not according to the running direction of the target vehicle and the direction and distance of the obstacle. At this time, the target vehicle travels forward while the obstacle is behind the target vehicle, causing no danger to the target vehicle, and therefore, the in-vehicle device does not control the target vehicle to stop operating.
Further, the distance threshold may vary with the current running speed of the target vehicle, and may become larger as the running speed of the target vehicle becomes larger. The distance threshold value becomes smaller as the speed of the target vehicle becomes smaller. Because the vehicle needs a certain buffer distance if the vehicle needs to stop running in the process of fast running, the target vehicle needs to make a braking reaction when the target vehicle is far away from an obstacle, so that enough time and distance are ensured to control the vehicle to stop running in the process of high-speed running.
In the embodiment of the application, the distance between the target vehicle and the obstacle is measured through the radar, so that the target vehicle is controlled to stop running. The target vehicle can be controlled to stop running in advance before colliding with the obstacle, so that collision accidents are avoided, and the safety of the target vehicle in a manual driving mode is further improved.
In an embodiment of the application, the measurement assembly of the target vehicle comprises an ultrasonic sensor. As shown in fig. 7, there is provided still another vehicle control method including:
And step 702, when the second distance value is smaller than a preset distance threshold value, controlling the target vehicle to stop running.
In the embodiment of the application, the ultrasonic sensor determines the distance between the target vehicle and the obstacle and the direction of the obstacle relative to the target vehicle by sending the ultrasonic waves and receiving the ultrasonic waves reflected by the object and combining the time lengths of the sent ultrasonic waves and the received reflected ultrasonic waves. The technical principle and technical effect are similar to those of the radar ranging described in the above steps 601 and 602.
In the embodiment of the present application, the measurement component of the target vehicle includes a radio receiver, and the on-board device in the embodiment of the present application may include the radio receiver. As shown in fig. 8, there is provided still another vehicle control method including:
in step 801, the vehicle-mounted device acquires a remote controller signal received by the radio receiver.
In this step, the radio receiver is used for receiving the remote controller signal, and the target vehicle can receive the remote controller signal through the infrared sensor in addition to receiving the remote controller signal through the radio receiver. As described above, the control terminal in the embodiment of the present application may be a remote controller, a personal computer, a notebook computer, a smartphone, a tablet computer, and a portable wearable device.
Further, when the target vehicle belongs to the remote control mode in the manual driving mode, the in-vehicle apparatus may also detect the network connection condition with the control terminal at that time.
Since the target vehicle travels in the manual driving mode depending on the remote controller or the control terminal, it is necessary to monitor communication between the in-vehicle apparatus and the remote controller or communication between the in-vehicle apparatus and the control terminal. As described above, the signal of the control terminal may be measured by the radio receiver or the infrared sensor to determine the communication connection status of the in-vehicle device and the control terminal.
After the remote controller signal is detected in the above steps, if the remote controller signal cannot be detected or the network connection with the control terminal is disconnected, it is proved that all instructions triggered by the operator on the remote controller or the control terminal cannot be sent to the target vehicle to guide the target vehicle to run. The target vehicle is in an uncontrollable state at this time, which is dangerous. Therefore, the in-vehicle device immediately controls the target vehicle to stop operating as soon as the remote controller signal is not detected or the network connection with the control terminal is disconnected during traveling.
Further, a situation that the connection between the vehicle-mounted device and the control terminal is disconnected briefly due to network jitter or magnetic field interference may occur, but the situation can be automatically recovered to be normal in a short time and the normal operation of the target vehicle is not affected. Therefore, in the case where the control terminal signal is not temporarily received due to the occurrence of network jitter or magnetic field disturbance, it is not necessary to immediately control the control operation of the target vehicle. In order to stop the target vehicle only when the target vehicle is actually out of the control terminal, a detection time can be set, and when the radio receiver cannot detect the signal of the control terminal within the preset detection time, the vehicle-mounted device can determine that the current target vehicle is actually out of the control terminal, so as to control the target vehicle to stop the operation. For example, the preset number of times of detection is three, when the radio receiver detects that the signal of the control terminal cannot be received, the radio receiver checks again at a preset frequency, for example, every two seconds, to check whether the signal of the control terminal cannot be received for three times, until the signal of the control terminal cannot be detected for three consecutive times, the vehicle-mounted device will determine that the target vehicle is indeed out of control of the control terminal, and then the vehicle-mounted device will control the target vehicle to stop operating.
In the embodiment of the application, the safety of the target vehicle can be ensured under the condition that the target vehicle is disconnected by detecting the communication connection condition of the vehicle-mounted equipment and the control terminal, and further, the judgment on whether the target vehicle is truly disconnected is more accurate by setting the detection times, so that the operation of carrying out invalid control stop operation on the target vehicle by the vehicle-mounted equipment is avoided.
It should be understood that, although the steps in the flowcharts of fig. 2 to 8 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2 to 8 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the other steps or stages.
In an embodiment of the present application, as shown in fig. 9, there is provided a vehicle control apparatus 900 including: an obtaining module 901, a judging module 902 and a control module 903, wherein:
an obtaining module 901, configured to obtain an operating parameter measured by each measurement component when the target vehicle is in a manual driving mode;
a judging module 902, configured to judge whether the target vehicle meets a preset shutdown condition according to the operation parameter;
and the control module 903 is configured to control the target vehicle to stop operating and send alarm information to an operation terminal corresponding to the target vehicle when the target vehicle meets a preset operation stop condition.
In an embodiment of the present application, the measurement assembly includes a pressure sensor, the pressure sensor is connected to the anti-collision strip of the target vehicle, and the pressure sensor is configured to measure a pressure value on the anti-collision strip; the control module 903 is specifically configured to control the target vehicle to stop operating when the pressure value on the anti-collision strip is greater than a preset pressure threshold.
In the embodiment of the application, the measuring assembly comprises a plurality of current-voltage sensors which are respectively connected with a motor, a steering gear, a brake pad and an electronic hand brake of the target vehicle; the control module 903 is specifically configured to control the target vehicle to stop operating when a current value measured by the current-voltage sensor exceeds a preset current threshold; or when the voltage value measured by the current-voltage sensor exceeds a preset voltage threshold value, controlling the target vehicle to stop running.
In an embodiment of the application, the measuring component includes an angle sensor, the angle sensor is connected to a steering motor of the target vehicle, and the control module 903 is specifically configured to control the target vehicle to stop operating when the angle value detected by the angle sensor cannot reach the target angle value within the target duration range.
In this embodiment, the measuring component includes a radar configured to measure a first distance value between the target vehicle and the obstacle, and the control module 903 is specifically configured to control the target vehicle to stop operating when the first distance value is smaller than a preset distance threshold.
In an embodiment of the application, the measuring component includes an ultrasonic sensor, the ultrasonic sensor is configured to measure a second distance value between the target vehicle and the obstacle, and the control module 903 is specifically configured to control the target vehicle to stop operating when the second distance value is smaller than a preset distance threshold.
In the embodiment of the present application, the measuring component comprises a radio receiver for receiving a remote control signal, and the control module 903 is specifically configured to control the target vehicle to stop operating when the radio receiver does not receive the remote control signal.
For specific limitations of the vehicle control device, reference may be made to the above limitations of the vehicle control method, which are not described herein again. The respective modules in the vehicle control apparatus described above may be realized in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In the embodiment of the present application, a computer device is provided, and the computer device may be a terminal, and its internal structure diagram may be as shown in fig. 10. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a vehicle control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In an embodiment of the present application, there is provided a computer device including a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:
when the target vehicle is in a manual driving mode, acquiring the operation parameters measured by each measuring component;
judging whether the target vehicle meets a preset operation stopping condition or not according to the operation parameters;
and when the target vehicle meets the preset operation stopping condition, controlling the target vehicle to stop operating, and sending alarm information to an operation terminal corresponding to the target vehicle.
In an embodiment of the present application, the measurement assembly includes a pressure sensor, the pressure sensor is connected to the anti-collision strip of the target vehicle, and the pressure sensor is configured to measure a pressure value on the anti-collision strip; the processor, when executing the computer program, further performs the steps of:
and when the pressure value on the anti-collision strip is greater than a preset pressure threshold value, controlling the target vehicle to stop running.
In the embodiment of the application, the measuring assembly comprises a plurality of current-voltage sensors which are respectively connected with a motor, a steering gear, a brake pad and an electronic hand brake of the target vehicle; the processor, when executing the computer program, further performs the steps of:
when the current value measured by the current-voltage sensor exceeds a preset current threshold value, controlling the target vehicle to stop running; or when the voltage value measured by the current-voltage sensor exceeds a preset voltage threshold value, controlling the target vehicle to stop running.
In an embodiment of the application, the measuring assembly comprises an angle sensor, the angle sensor is connected with a steering motor of the target vehicle, and the processor executes the computer program to further realize the following steps:
and in the target duration range, when the angle value detected by the angle sensor cannot reach the target angle value, controlling the target vehicle to stop running.
In an embodiment of the application, the measuring component comprises a radar for measuring a first distance value of the target vehicle from an obstacle, the processor when executing the computer program further realizes the following steps:
and when the first distance value is smaller than a preset distance threshold value, controlling the target vehicle to stop running.
In an embodiment of the application, the measuring assembly comprises an ultrasonic sensor for measuring a second distance value of the target vehicle from an obstacle, the processor when executing the computer program further realizes the following steps:
when the second distance value is smaller than the preset distance threshold value, controlling the target vehicle to stop running
In an embodiment of the application, the measuring assembly comprises a radio receiver for receiving a remote control signal, the processor when executing the computer program further realizes the steps of:
and when the radio receiver does not receive the remote controller signal, controlling the target vehicle to stop running.
In an embodiment of the application, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of:
when the target vehicle is in a manual driving mode, acquiring the operation parameters measured by each measuring component;
judging whether the target vehicle meets a preset operation stopping condition or not according to the operation parameters;
and when the target vehicle meets the preset operation stopping condition, controlling the target vehicle to stop operating, and sending alarm information to an operation terminal corresponding to the target vehicle.
In an embodiment of the present application, the measurement assembly includes a pressure sensor, the pressure sensor is connected to the anti-collision strip of the target vehicle, and the pressure sensor is configured to measure a pressure value on the anti-collision strip; the computer program when executed by the processor further realizes the steps of:
and when the pressure value on the anti-collision strip is greater than a preset pressure threshold value, controlling the target vehicle to stop running.
In the embodiment of the application, the measuring assembly comprises a plurality of current-voltage sensors which are respectively connected with a motor, a steering gear, a brake pad and an electronic hand brake of the target vehicle; the computer program when executed by the processor further realizes the steps of:
when the current value measured by the current-voltage sensor exceeds a preset current threshold value, controlling the target vehicle to stop running; or when the voltage value measured by the current-voltage sensor exceeds a preset voltage threshold value, controlling the target vehicle to stop running.
In an embodiment of the application, the measuring assembly comprises an angle sensor connected to a steering motor of the target vehicle, the computer program when executed by the processor further realizing the steps of:
and in the target duration range, when the angle value detected by the angle sensor cannot reach the target angle value, controlling the target vehicle to stop running.
In an embodiment of the application, the measuring component comprises a radar for measuring a first distance value of the target vehicle from an obstacle, the computer program, when being executed by the processor, further realizing the steps of:
and when the first distance value is smaller than a preset distance threshold value, controlling the target vehicle to stop running.
In an embodiment of the application, the measuring assembly comprises an ultrasonic sensor for measuring a second distance value of the target vehicle from an obstacle, the computer program when executed by the processor further realizing the steps of:
and when the second distance value is smaller than a preset distance threshold value, controlling the target vehicle to stop running.
In an embodiment of the application, the measuring assembly comprises a radio receiver for receiving a remote control signal, the computer program when executed by the processor further realizing the steps of:
and when the radio receiver does not receive the remote controller signal, controlling the target vehicle to stop running.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A vehicle control method for use in an automatically drivable target vehicle provided with a plurality of measurement assemblies each for measuring an operating parameter of the target vehicle, the method comprising:
when the target vehicle is in a manual driving mode, acquiring the operation parameters measured by each measuring component;
judging whether the target vehicle meets a preset operation stopping condition or not according to the operation parameters;
and when the target vehicle meets a preset operation stopping condition, controlling the target vehicle to stop operating, and sending alarm information to an operation terminal corresponding to the target vehicle.
2. The method of claim 1, wherein the measurement assembly comprises a pressure sensor coupled to a collision bar of the target vehicle, the pressure sensor for measuring a pressure value on the collision bar; when the target vehicle meets a preset operation stop condition, controlling the target vehicle to stop operating comprises the following steps:
and when the pressure value on the anti-collision strip is greater than a preset pressure threshold value, controlling the target vehicle to stop running.
3. The method of claim 1, wherein the measurement assembly comprises a plurality of current-voltage sensors respectively connected to a motor, a steering gear, a brake pad, and an electronic handbrake of the target vehicle; when the target vehicle meets a preset operation stop condition, controlling the target vehicle to stop operating comprises the following steps:
when the current value measured by the current-voltage sensor exceeds a preset current threshold value, controlling the target vehicle to stop running; or,
and when the voltage value measured by the current-voltage sensor exceeds a preset voltage threshold value, controlling the target vehicle to stop running.
4. The method of claim 1, wherein the measurement assembly includes an angle sensor coupled to a steering motor of the target vehicle, and wherein controlling the target vehicle to stop when the target vehicle meets a preset stop condition comprises:
and in the target duration range, when the angle value detected by the angle sensor cannot reach the target angle value, controlling the target vehicle to stop running.
5. The method of claim 1, wherein the measurement component comprises a radar for measuring a first distance value of the target vehicle from an obstacle, and wherein controlling the target vehicle to stop when the target vehicle meets a preset stop condition comprises:
and when the first distance value is smaller than a preset distance threshold value, controlling the target vehicle to stop running.
6. The method of claim 1, wherein the measurement assembly includes an ultrasonic sensor for measuring a second distance value of the target vehicle from an obstacle, and wherein controlling the target vehicle to stop when the target vehicle meets a preset stop condition comprises:
and when the second distance value is smaller than a preset distance threshold value, controlling the target vehicle to stop running.
7. The method of claim 1, wherein the measurement component comprises a radio receiver for receiving a remote control signal, the controlling the target vehicle to stop when the target vehicle meets a preset stop condition comprises:
and when the radio receiver does not receive a remote controller signal, controlling the target vehicle to stop running.
8. A vehicle control apparatus for use in an automatically drivable target vehicle provided with a plurality of measurement modules each for measuring an operating parameter of the target vehicle, the apparatus comprising:
the acquisition module is used for acquiring the operation parameters measured by each measuring component when the target vehicle is in a manual driving mode;
the judging module is used for judging whether the target vehicle meets a preset operation stopping condition or not according to the operation parameters;
and the control module is used for controlling the target vehicle to stop running and sending alarm information to an operation terminal corresponding to the target vehicle when the target vehicle meets a preset running stop condition.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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Application publication date: 20200623 |