CN111361638B - Control method and device of vehicle sensing device, readable storage medium and vehicle - Google Patents
Control method and device of vehicle sensing device, readable storage medium and vehicle Download PDFInfo
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- CN111361638B CN111361638B CN201910970106.7A CN201910970106A CN111361638B CN 111361638 B CN111361638 B CN 111361638B CN 201910970106 A CN201910970106 A CN 201910970106A CN 111361638 B CN111361638 B CN 111361638B
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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Abstract
The disclosure relates to a control method and device of a vehicle sensing device, a readable storage medium and a vehicle. The method comprises the following steps: determining the curvature radius of the current driving road of the vehicle; when the curvature radius is smaller than the curvature radius threshold value and the vehicle is not in the overtaking or lane changing driving state currently, determining the current driving information of the vehicle; determining a target swing angle corresponding to the curvature radius of the current driving road according to a first preset relation between the curvature radius and the swing angle, and determining a target swing speed corresponding to the current driving speed and the current curvature radius according to a second preset relation between the driving speed, the curvature radius and the swing speed; and controlling the vehicle sensing device to swing according to the direction consistent with the current rotation direction of the vehicle and the target swing speed until the vehicle sensing device swings to the target swing angle. Therefore, the vehicle sensing device can swing according to the rotation direction of the vehicle, and the driving safety is improved.
Description
Technical Field
The disclosure relates to the field of vehicles, in particular to a control method and device of a vehicle sensing device, a readable storage medium and a vehicle.
Background
With the development of automation technology, more and more vehicles have an automatic driving function and an auxiliary driving function, and in the driving process of the vehicles, collision caused by driving errors of drivers can be avoided to a great extent by utilizing automatic driving or auxiliary driving.
In order to improve the safety of automatic driving and driving assistance of a vehicle, a sensing device of the vehicle needs to detect whether an obstacle exists around the vehicle. At present, the detection of the vehicle on the obstacle is mainly completed through a laser radar, a millimeter wave radar and a camera, and prediction is carried out according to the detected dynamic state of the obstacle. Generally, the laser radar has a large detection range, and due to the characteristics of the millimeter wave radar and the camera, the detection range is limited within a certain range. Moreover, because the curvature radius is smaller when the vehicle turns, if the sensing device cannot be adjusted in the turning process, a dynamic blind area in a short time exists for the obstacle on the inner side of the right-angled bend. The dynamic blind area may affect the safe driving of the vehicle and even cause traffic accidents.
Disclosure of Invention
In order to overcome the technical problems in the related art, the present disclosure provides a control method and device for a vehicle sensing device, a readable storage medium and a vehicle.
In order to achieve the above object, according to a first aspect of embodiments of the present disclosure, there is provided a control method of a vehicle sensing device, the method including:
determining the curvature radius of the current driving road of the vehicle;
when the curvature radius is smaller than a curvature radius threshold value and the vehicle is not in a passing or lane changing driving state currently, determining current driving information of the vehicle, wherein the driving information comprises the current driving speed of the vehicle and the current rotating direction of the vehicle;
determining a target swing angle corresponding to the curvature radius of the current driving road according to a first preset relation between the curvature radius and the swing angle, and determining a target swing speed corresponding to the current driving speed and the curvature radius of the current driving road according to a second preset relation between the driving speed, the curvature radius and the swing speed;
and controlling the vehicle sensing device to swing according to the direction consistent with the current rotation direction of the vehicle and the target swing speed until the vehicle sensing device swings to the target swing angle.
Optionally, after the vehicle sensing device swings to the target swing angle, the method further includes:
and controlling the vehicle sensing device to swing back and forth between a preset angle and the target swing angle according to the target swing speed, wherein the preset angle is smaller than the target swing angle.
Optionally, the method further comprises:
when the curvature radius is increased from being smaller than the curvature radius threshold to being larger than or equal to the curvature radius threshold, controlling the vehicle sensing device to swing to the preset angle and then stopping swinging.
Optionally, the method further comprises:
and receiving the current angle of the vehicle sensing device fed back by the vehicle sensing device to determine whether the vehicle sensing device swings to the preset angle.
Optionally, when the vehicle is in the driving-assistance mode, the determining the curvature radius of the current driving road of the vehicle includes:
acquiring image data of a lane line on a current driving road of the vehicle;
determining the curvature radius of the current driving road of the vehicle according to the acquired image data;
determining a current turning direction of the vehicle, comprising:
determining a current turning direction of the vehicle based on a current turning angle of a steering wheel of the vehicle, and/or a current turning angle of wheels of the vehicle.
Optionally, when the vehicle is in an automatic driving mode, the determining the curvature radius of the current driving road of the vehicle includes:
determining the curvature radius of the current driving road of the vehicle according to the planned route information;
determining to take the current rotational direction of the vehicle, comprising:
and determining the current rotating direction of the vehicle according to the planned route information.
According to a second aspect of the embodiments of the present disclosure, there is provided a control device of a vehicle sensing device, the device including:
the first determination module is used for determining the curvature radius of the current running road of the vehicle;
the second determination module is used for determining current running information of the vehicle when the curvature radius is smaller than a curvature radius threshold value and the vehicle is not in a passing or lane changing running state currently, wherein the running information comprises the current running speed of the vehicle and the current rotating direction of the vehicle;
the third determining module is used for determining a target swing angle corresponding to the curvature radius of the current running road according to a first preset relation between the curvature radius and the swing angle, and determining a target swing speed corresponding to the current running speed and the curvature radius of the current running road according to a second preset relation between the running speed, the curvature radius and the swing speed;
and the first control module is used for controlling the vehicle sensing device to swing according to the direction consistent with the current rotation direction of the vehicle and the target swing speed until the vehicle sensing device swings to the target swing angle.
Optionally, the apparatus further comprises:
and the second control module is used for controlling the vehicle sensing device to swing back and forth between a preset angle and the target swing angle according to the target swing speed after the vehicle sensing device swings to the target swing angle, wherein the preset angle is smaller than the target swing angle.
Optionally, the apparatus further comprises:
and the third control module is used for controlling the vehicle sensing device to swing to the preset angle and then stop swinging when the curvature radius is increased from being smaller than the curvature radius threshold to being larger than or equal to the curvature radius threshold.
Optionally, the apparatus further comprises:
the receiving module is used for receiving the current angle of the vehicle sensing device fed back by the vehicle sensing device so as to determine whether the vehicle sensing device swings to the preset angle.
Optionally, when the vehicle is in a driving-assist mode, the first determining module includes:
the acquisition submodule is used for acquiring image data of a lane line on a current driving road of the vehicle;
the first determining submodule is used for determining the curvature radius of the current driving road of the vehicle according to the acquired image data;
the second determining module includes:
a second determining submodule, configured to determine a current turning direction of the vehicle according to a current turning angle of a steering wheel of the vehicle, and/or a current turning angle of wheels of the vehicle.
Optionally, when the vehicle is in an autonomous driving mode, the first determining module comprises:
the third determining submodule is used for determining the curvature radius of the current driving road of the vehicle according to the planned route information;
the second determining module includes:
and the fourth determining submodule is used for determining the current rotating direction of the vehicle according to the planned route information.
According to a third aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the control method of the vehicle sensing device provided by the first aspect of the present disclosure.
According to a fourth aspect of the embodiments of the present disclosure, there is provided a vehicle including: the vehicle body, the vehicle sensing device, and the control device of the vehicle sensing device provided by the second aspect of the embodiment of the present disclosure, wherein the vehicle sensing device is mounted on the vehicle body.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
by adopting the technical scheme, firstly, the curvature radius of the current driving road of the vehicle is determined, and then, when the curvature radius is smaller than the curvature radius threshold value and the vehicle is not in the overtaking or lane-changing driving state, determining current driving information of the vehicle, the driving information including a current driving speed of the vehicle and a current rotation direction of the vehicle, then, according to a first preset relationship between the curvature radius and the swing angle, a target swing angle corresponding to the curvature radius of the current driving road is determined, and, determining a target swing speed corresponding to the current running speed and the current curvature radius according to a second preset relation among the running speed, the curvature radius and the swing speed, and finally, and controlling the vehicle sensing device to swing according to the direction consistent with the current rotation direction of the vehicle and the target swing speed until the vehicle sensing device swings to a target swing angle. Therefore, the vehicle sensing device can swing according to the current rotation direction of the vehicle, the blind area formed when the vehicle turns is reduced or eliminated, the traffic accident caused by the fact that the obstacle in the curve cannot be detected is avoided, and the driving safety is improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1A is a schematic diagram illustrating a detection range of a vehicle sensing device according to an exemplary embodiment of the present disclosure.
FIG. 1B is a schematic diagram illustrating a detection range of a vehicle sensing device according to yet another exemplary embodiment of the present disclosure.
FIG. 2A is a schematic diagram illustrating a detection range of a vehicle sensing device according to yet another exemplary embodiment of the present disclosure.
FIG. 2B is a schematic diagram illustrating a detection range of a vehicle sensing device according to yet another exemplary embodiment of the present disclosure.
Fig. 3 is a flowchart illustrating a control method of a vehicle sensing device according to an exemplary embodiment of the present disclosure.
Fig. 4 is a flowchart illustrating a control method of a vehicle sensing device according to still another exemplary embodiment of the present disclosure.
Fig. 5 is a block diagram of a control device of a vehicle sensing device according to an exemplary embodiment of the present disclosure.
Fig. 6 is a block diagram of an electronic device shown in an exemplary embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In practical applications, when the vehicle is running in a straight line, obstacles around the vehicle can be detected by the vehicle sensing device, but when the vehicle is running in a right-angle turn or a large curve, the vehicle has a detection blind area for a short time for the obstacles on the inner side of the curve. For example, a sensing device installed in front of a vehicle is taken as an example. Referring to fig. 1A, when a vehicle turns at a right angle, fig. 1A is a schematic diagram of a detection range of a vehicle sensing device according to an exemplary embodiment of the disclosure. In fig. 1A, the area surrounded by the solid line is the detection range of the sensor in front of the vehicle, and is denoted as an area a, and the vehicle inside the quarter turn is denoted as a B. At this time, if the vehicle is in the automatic driving or the driving-assisted mode, since the vehicle sensing device does not detect the presence of the vehicle B, when the vehicle is controlled to turn through a quarter turn, a collision accident between the vehicle and the vehicle B may be caused.
For another example, please refer to fig. 2A when the vehicle is driving in a large curve, and fig. 2A is a schematic diagram of a detection range of a vehicle sensing device according to another exemplary embodiment of the disclosure. In fig. 2A, the area surrounded by the solid line is the detection range of the sensor in front of the vehicle, and is denoted as the area C, the vehicle in front of the vehicle in the same lane as the own vehicle is denoted as the vehicle D, and the vehicle in the adjacent lane is denoted as the vehicle E. At this time, if the vehicle is in the automatic driving or the driving-assisted mode, the vehicle sensing device does not detect the target vehicle D, so that the host vehicle cannot continuously track the target vehicle D. In addition, if the vehicle E of the adjacent lane is detected, additional judgment and processing of the vehicle may be added, for example, whether the vehicle of the adjacent lane has a lane change intention or not. If no vehicle in the adjacent lane is detected, the vehicle can run at an accelerated speed to shorten the distance from the original target vehicle D, so that the collision risk between the vehicle and the target vehicle D is increased.
In order to solve the above problems and avoid traffic accidents caused by the fact that obstacles on the inner side of a curve cannot be detected in the process of driving a vehicle in a right-angle turn or a large curve, the embodiments of the present disclosure provide a control method and device for a vehicle sensing device, a readable storage medium, and a vehicle.
Fig. 3 is a flowchart illustrating a control method of a vehicle sensing device according to an exemplary embodiment of the present disclosure. The method may be applied in an electronic device having processing capabilities, such as a processor, a vehicle control unit, a domain controller, etc. The following takes a domain controller as an example to describe the scheme in the present disclosure in detail. In the present disclosure, the vehicle sensing device may be mounted on a rotatable bracket, such that the bracket is controlled to swing by the domain controller, thereby driving the vehicle sensing device to swing.
As shown in fig. 3, the method may include the following steps.
In S301, the curvature radius of the road on which the vehicle is currently traveling is determined.
In the present disclosure, the domain controller may determine a curvature radius of a road on which the vehicle is currently traveling according to a current driving mode of the vehicle, wherein the driving mode of the vehicle includes an automatic driving mode and an auxiliary driving mode. The auxiliary driving is to use a sensor (such as a millimeter wave radar, a laser radar, a camera and the like) installed on a vehicle to sense the surrounding environment at any time in the driving process of the vehicle, collect data and identify and track static and dynamic objects, so that a driver can be aware of possible dangers in advance, and the comfort and the safety of automobile driving are effectively improved. The driving assistance mode may be an auto Cruise acc (adaptive Cruise control). One possible implementation is: when the vehicle is in the auxiliary driving mode, the domain controller of the vehicle acquires image data of a lane line on a current driving road of the vehicle, and then determines the curvature radius of the current driving road of the vehicle according to the acquired image data. Specifically, the image data of the lane line on the current driving road of the vehicle may be acquired by a vehicle-mounted camera, for example, an adas (advanced Driver Assistance system) camera. Then, according to the acquired image data and the image processing technology, the curvature radius of the current driving road of the vehicle is calculated. It should be noted that, the image processing technology used in the present scheme for calculating the curvature radius of the current driving road may refer to the prior art, and details thereof are not repeated here.
Another possible implementation is: and when the vehicle is in an automatic driving mode, determining the curvature radius of the current driving road of the vehicle according to the planned route information. Specifically, the planned route information is planned route information that has been selected by the vehicle in the automatic driving mode, that is, a route for the vehicle to reach the target position, which is selected according to the high-precision map. The high-precision map stores a large amount of driving assistance information (e.g., curvature information, heading information, etc.) as structured data, so that the domain controller can acquire the curvature of the road on which the vehicle is currently traveling from the structured data stored in the high-precision map, and further determine the radius of curvature of the road on which the vehicle is currently traveling.
In S302, when the curvature radius is smaller than the curvature radius threshold value and the vehicle is not currently in the overtaking or lane change driving state, the current driving information of the vehicle is determined.
In the present disclosure, the curvature radius threshold value may be stored in the domain controller in advance. One possible implementation is: when the vehicle is in the auxiliary driving mode, the steering-by-wire can give a corner signal when the vehicle turns, at the moment, the domain controller calculates the curvature radius of the current driving road of the vehicle according to the acquired image data of the lane line on the current driving road, and further determines whether the vehicle has an overtaking or lane changing decision at present when the curvature radius is smaller than the curvature radius threshold (namely the vehicle drives on the road with larger curvature), and when the vehicle does not have the overtaking or lane changing decision at present, the vehicle is indicated not to be in the overtaking or lane changing driving state at present, so that the current driving information of the vehicle is determined. It should be noted that, the decision of determining whether the vehicle has overtaking or lane changing belongs to the prior art, and is not described herein again.
The travel information may include a current travel speed of the vehicle and a current turning direction of the vehicle. The current driving speed of the vehicle may be detected by a vehicle speed sensor, and the current turning direction of the vehicle may be determined according to a current turning angle of a steering wheel of the vehicle and/or a current turning angle of wheels of the vehicle.
For example, the current turning direction of the vehicle may be determined by determining a current turning angle of a steering wheel of the vehicle, i.e., a turning direction of the steering wheel of the vehicle, through an angle sensor provided on the steering wheel. For example, the steering wheel is turned to the left, and the vehicle is also turned to the left. As another example, the current steering of the vehicle may be determined by determining a current steering angle of the front wheels of the vehicle, i.e., a turning direction of the front wheels of the vehicle, via an angle sensor provided on the front wheels of the vehicle. For example, the front wheels turn to the left, as does the vehicle. As another example, the rotation direction of the vehicle may be determined by an angle sensor provided on the steering wheel and an angle sensor provided on the front wheel of the vehicle together, thereby making the determined rotation direction of the vehicle more accurate. Wherein the direction of rotation of the steering wheel and/or the current direction of rotation of the front wheels of the vehicle is the same as the direction of rotation of the vehicle. It should be noted that, the current rotation angle of the rear wheel of the vehicle may also be determined by a rotation angle sensor disposed on the rear wheel of the vehicle, so as to determine the rotation direction of the vehicle, which is not described herein again.
Another possible implementation is: when the vehicle is in the automatic driving mode, the domain controller can determine the curvature radius of the vehicle driving road according to the planned route information, compare the curvature radius of the vehicle driving road with a pre-stored curvature radius threshold value, further determine whether the vehicle has a decision to overtake or change the lane when the vehicle drives to a node of a curve with the curvature radius smaller than the curvature radius threshold value, and when the vehicle does not overtake or change the lane, indicate that the vehicle is not in the overtake or change the lane driving state currently, thereby determining the current driving information of the vehicle.
As described above, the current traveling speed of the vehicle may be detected by the vehicle speed sensor, and the heading information of the vehicle, which coincides with the rotational direction of the vehicle, may be acquired from the structured data stored in the high-precision map, thereby determining the current rotational direction of the vehicle. For example, if the heading information of the vehicle indicates that the vehicle is traveling to the right, the current turning direction of the vehicle is determined to be turning to the right.
In S303, a target swing angle corresponding to the curvature radius of the current driving road is determined according to a first preset relationship between the curvature radius and the swing angle, and a target swing velocity corresponding to the current driving velocity and the current curvature radius is determined according to a second preset relationship between the driving velocity, the curvature radius, and the swing velocity.
In the present disclosure, a first preset relationship of the curvature radius and the swing angle, and a second preset relationship of the travel speed, the curvature radius and the swing speed may be stored in the domain controller in advance, and may be represented by means of a mapping relationship table, for example. The swing angle is the swing angle of the vehicle sensing device, and the swing speed is the swing speed of the vehicle sensing device. Specifically, the corresponding first preset relationship between the curvature radius and the swing angle may be calibrated according to different vehicle types, and the calibrated first preset relationship is stored in the domain controller, and the corresponding second preset relationship between the driving speed, the curvature radius, and the swing speed may be calibrated according to different vehicle types, and the calibrated second preset relationship is stored in the domain controller. Therefore, in the running process of the vehicle, the target swing angle corresponding to the curvature radius can be searched from the first preset relation according to the curvature radius of the current running road, and the target swing speed corresponding to the current running speed and the curvature radius can be searched from the second preset relation according to the current running speed of the vehicle and the curvature radius of the current running road. It should be noted that, during the running of the vehicle on a curve, the curvature radius of the current running road may be detected in real time, the running speed of the vehicle may be detected in real time, the target swing angle may be determined according to the curvature radius of the current running road detected in real time, and the target swing rate may be determined according to the curvature radius of the current running road detected in real time and the running speed of the vehicle.
In S304, the vehicle sensing device is controlled to swing according to the direction consistent with the current rotation direction of the vehicle and the target swing speed until the vehicle sensing device swings to the target swing angle.
After the swing angle and the swing speed of the vehicle sensing device are determined, the vehicle sensing device is controlled to swing according to the direction consistent with the current rotation direction of the vehicle and the target swing speed until the vehicle sensing device swings to the target swing angle.
For example, when the vehicle turns right-angle to the left, please refer to fig. 1B, and fig. 1B is a schematic diagram of a detection range of a vehicle sensing device according to still another exemplary embodiment of the disclosure. The area enclosed by the dotted line is the detection range of the sensing device in front of the vehicle after swinging to the target swinging angle, namely the area F. In this way, when the domain controller determines that the curvature radius is smaller than the curvature radius threshold, the target swing angle and the target swing speed of the vehicle sensing device are determined, and the vehicle sensing device is controlled to swing to the left to the target swing angle in combination with the rotation direction of the vehicle, so that the detection range of the vehicle sensing device is adjusted.
For another example, please refer to fig. 2B when the vehicle is driving in a large curve, and fig. 2B is a schematic diagram of a detection range of a vehicle sensing device according to another exemplary embodiment of the disclosure. In fig. 2B, the area enclosed by the dashed line is a detection range of the sensing device in front of the vehicle after swinging to the target swing angle, i.e., a G area. In this way, when the domain controller determines that the curvature radius is smaller than the curvature radius threshold, the target swing angle and the target swing speed of the vehicle sensing device are determined, and the vehicle sensing device is controlled to swing to the right to the target swing angle in combination with the rotation direction of the vehicle, so that the detection range of the vehicle sensing device is adjusted, and in combination with fig. 2B, the vehicle sensing device can detect the obstacle from the left boundary of the region C to the right boundary of the region G during the turning process of the vehicle, namely, the obstacle (for example, the vehicle E) in front of the vehicle can be detected, and the obstacle (for example, the vehicle D) in the curve can be detected, so that the driving safety of the vehicle is improved.
By adopting the technical scheme, when the curvature radius is smaller than the curvature radius threshold value and the vehicle is not in the overtaking or lane changing driving state at present, the domain controller determines the current driving information of the vehicle, then determines the target swing angle corresponding to the curvature radius of the current driving road according to the first preset relation between the curvature radius and the swing angle, determines the target swing speed corresponding to the current driving speed and the current curvature radius according to the second preset relation between the driving speed, the curvature radius and the swing speed, and finally controls the vehicle sensing device to swing according to the direction consistent with the current rotating direction of the vehicle and the target swing speed until the vehicle sensing device swings to the target swing angle. Therefore, the vehicle sensing device can swing according to the current rotation direction of the vehicle, the blind area formed when the vehicle turns is reduced or eliminated, the traffic accident caused by the fact that the obstacle in the curve cannot be detected is avoided, and the driving safety is improved.
Fig. 4 is a flowchart illustrating a control method of a vehicle sensing device according to still another exemplary embodiment of the present disclosure. As shown in fig. 4, the method may further include S401 in addition to the above-described S301 to S304.
In S401, the vehicle sensing device is controlled to swing back and forth between a preset angle and a target swing angle according to a target swing speed. Wherein the preset angle is smaller than the target swing angle.
The preset angle is an angle set when the vehicle sensing device is installed, and is usually 0 °. And after controlling the vehicle sensing device to swing to the target swing angle, the domain controller controls the vehicle sensing device to swing back and forth between a preset angle and the target swing angle according to the target swing speed. Illustratively, referring to fig. 1B, the domain controller controls the vehicle sensing device to swing leftwards to a target swing angle from a preset angle, and then swing rightwards to the preset angle from the target swing angle, so that the vehicle can continuously detect an obstacle within a range from a right boundary of the area a to a left boundary of the area F during a right-angle turn left, thereby preventing the vehicle from causing a traffic accident due to the fact that the vehicle does not detect the obstacle (e.g., the vehicle B) in the right-angle turn, and thus improving driving safety.
Further illustratively, in conjunction with fig. 2B, the domain controller controls the vehicle sensing device to swing from a preset angle to a target swing angle to the right and then from the target swing angle to the left to a preset angle, so that the vehicle travels on a large curve section, and during traveling to the right, an obstacle ranging from the left boundary of the C region to the right boundary of the G region can be continuously detected, so that the vehicle can detect an obstacle in the front left direction (e.g., vehicle E) and an obstacle inside the curve (e.g., vehicle D), thereby improving the driving safety.
Optionally, the method further comprises:
and when the curvature radius is increased from the value smaller than the curvature radius threshold value to the value larger than or equal to the curvature radius threshold value, controlling the vehicle sensing device to swing to a preset angle and then stopping swinging.
In the disclosure, during the running process of a vehicle on a curve, the curvature radius of the current running road of the vehicle is detected in real time, and when the curvature radius is increased from being smaller than the curvature radius threshold to being larger than or equal to the curvature radius threshold, the vehicle is indicated to run on a road section with a smaller curvature, at this time, the vehicle sensing device can meet the detection range requirement required during the running process of the vehicle without swinging, so that the vehicle sensing device is controlled to swing to the preset angle and then stops swinging.
In addition, after the vehicle sensing device is controlled to stop swinging, whether the vehicle sensing device swings to the preset angle can be further determined. Illustratively, the method may further comprise:
and receiving the current angle of the vehicle sensing device fed back by the vehicle sensing device to determine whether the vehicle sensing device swings to a preset angle.
In the present disclosure, the domain controller may receive the current angle of the vehicle sensing device fed back by the vehicle sensing device in real time, thereby implementing effective monitoring of the vehicle sensing device to determine whether the vehicle sensing device swings to a preset angle, i.e., whether the vehicle sensing device is restored to the angle set when the vehicle sensing device is installed.
Fig. 5 is a block diagram of a control device of a vehicle sensing device according to an exemplary embodiment of the present disclosure.
The apparatus 500 may include:
a first determining module 501, configured to determine a curvature radius of a current road on which the vehicle is traveling;
a second determining module 502, configured to determine current driving information of the vehicle when the curvature radius is smaller than a curvature radius threshold and the vehicle is not in a passing or lane changing driving state currently, where the driving information includes a current driving speed of the vehicle and a current rotation direction of the vehicle;
a third determining module 503, configured to determine a target swing angle corresponding to the curvature radius of the current driving road according to a first preset relationship between the curvature radius and the swing angle, and determine a target swing speed corresponding to the current driving speed and the curvature radius of the current driving road according to a second preset relationship between the driving speed, the curvature radius, and the swing speed;
the first control module 504 is configured to control the vehicle sensing device to swing according to a direction consistent with a current rotation direction of the vehicle and the target swing rate until the vehicle sensing device swings to the target swing angle.
By adopting the technical scheme, when the curvature radius is smaller than the curvature radius threshold value and the vehicle is not in the overtaking or lane changing driving state at present, the domain controller determines the current driving information of the vehicle, then determines the target swing angle corresponding to the curvature radius of the current driving road according to the first preset relation between the curvature radius and the swing angle, determines the target swing speed corresponding to the current driving speed and the current curvature radius according to the second preset relation between the driving speed, the curvature radius and the swing speed, and finally controls the vehicle sensing device to swing according to the direction consistent with the current rotating direction of the vehicle and the target swing speed until the vehicle sensing device swings to the target swing angle. Therefore, the vehicle sensing device can swing according to the current rotation direction of the vehicle, and the traffic accident caused by the fact that the obstacle in the curve cannot be detected when the vehicle turns at right angles or runs on a large curve is prevented, so that the driving safety is improved.
Optionally, the apparatus 500 further comprises:
and the second control module is used for controlling the vehicle sensing device to swing back and forth between a preset angle and the target swing angle according to the target swing speed after the vehicle sensing device swings to the target swing angle, wherein the preset angle is smaller than the target swing angle.
Optionally, the apparatus 500 further comprises:
and the third control module is used for controlling the vehicle sensing device to swing to the preset angle and then stop swinging when the curvature radius is increased from being smaller than the curvature radius threshold to being larger than or equal to the curvature radius threshold.
Optionally, the apparatus 500 further comprises:
the receiving module is used for receiving the current angle of the vehicle sensing device fed back by the vehicle sensing device so as to determine whether the vehicle sensing device swings to the preset angle.
Optionally, when the vehicle is in the driving-assistance mode, the first determining module 501 includes:
the acquisition submodule is used for acquiring image data of a lane line on a current driving road of the vehicle;
the first determining submodule is used for determining the curvature radius of the current driving road of the vehicle according to the acquired image data;
the second determining module 502 comprises:
a second determining submodule, configured to determine a current turning direction of the vehicle according to a current turning angle of a steering wheel of the vehicle, and/or a current turning angle of wheels of the vehicle.
Optionally, when the vehicle is in the automatic driving mode, the first determining module 501 includes:
the third determining submodule is used for determining the curvature radius of the current driving road of the vehicle according to the planned route information;
the second determining module 502 comprises:
and the fourth determining submodule is used for determining the current rotating direction of the vehicle according to the planned route information.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 6 is a block diagram illustrating an electronic device 600 according to an example embodiment, where the electronic device 600 may be a domain controller. As shown in fig. 6, the electronic device may include: a processor 601 and a memory 602. The electronic device 600 may also include one or more of a multimedia component 603, an input/output (I/O) interface 604, and a communications component 605.
The processor 601 is configured to control the overall operation of the electronic device 600, so as to complete all or part of the steps in the control method of the vehicle sensing apparatus. The memory 602 is used to store various types of data to support operation at the electronic device 600, such as instructions for any application or method operating on the electronic device 600 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and so forth. The Memory 602 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia components 603 may include a screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 602 or transmitted through the communication component 605. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 604 provides an interface between the processor 601 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 605 is used for wired or wireless communication between the electronic device 600 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 605 may therefore include: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 600 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for executing the above-mentioned control method of the vehicle sensing apparatus.
In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the control method of the vehicle sensing device described above is also provided. For example, the computer readable storage medium may be the memory 602 including the program instructions, which are executable by the processor 601 of the electronic device 600 to perform the control method of the vehicle sensing apparatus described above.
The disclosed embodiment also provides a vehicle, including: the vehicle comprises a vehicle body, a vehicle sensing device and a control device of the vehicle sensing device, wherein the vehicle sensing device is installed on the vehicle body.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A method of controlling a vehicle sensing device, the method comprising:
determining the curvature radius of the current driving road of the vehicle;
when the curvature radius is smaller than a curvature radius threshold value and the vehicle is not in a passing or lane changing driving state currently, determining current driving information of the vehicle, wherein the driving information comprises the current driving speed of the vehicle and the current rotating direction of the vehicle;
determining a target swing angle corresponding to the curvature radius of the current driving road according to a first preset relation between the curvature radius and the swing angle, and determining a target swing speed corresponding to the current driving speed and the curvature radius of the current driving road according to a second preset relation between the driving speed, the curvature radius and the swing speed;
and controlling the vehicle sensing device to swing according to the direction consistent with the current rotation direction of the vehicle and the target swing speed until the vehicle sensing device swings to the target swing angle.
2. The method of claim 1, wherein after the vehicle sensing device swings to the target swing angle, the method further comprises:
and controlling the vehicle sensing device to swing back and forth between a preset angle and the target swing angle according to the target swing speed, wherein the preset angle is smaller than the target swing angle.
3. The method of claim 1, further comprising:
when the curvature radius is increased from being smaller than the curvature radius threshold to being larger than or equal to the curvature radius threshold, controlling the vehicle sensing device to swing to a preset angle and then stopping swinging.
4. The method of claim 3, further comprising:
and receiving the current angle of the vehicle sensing device fed back by the vehicle sensing device to determine whether the vehicle sensing device swings to the preset angle.
5. The method of claim 1, wherein the determining a radius of curvature of a road on which the vehicle is currently traveling while the vehicle is in the assisted driving mode comprises:
acquiring image data of a lane line on a current driving road of the vehicle;
determining the curvature radius of the current driving road of the vehicle according to the acquired image data;
determining a current turning direction of the vehicle, comprising:
determining a current turning direction of the vehicle based on a current turning angle of a steering wheel of the vehicle, and/or a current turning angle of wheels of the vehicle.
6. The method of claim 1, wherein the determining a radius of curvature of a road on which the vehicle is currently traveling while the vehicle is in an autonomous driving mode comprises:
determining the curvature radius of the current driving road of the vehicle according to the planned route information;
determining to take the current rotational direction of the vehicle, comprising:
and determining the current rotating direction of the vehicle according to the planned route information.
7. A control apparatus for a vehicle sensing apparatus, the apparatus comprising:
the first determination module is used for determining the curvature radius of the current running road of the vehicle;
the second determination module is used for determining current running information of the vehicle when the curvature radius is smaller than a curvature radius threshold value and the vehicle is not in a passing or lane changing running state currently, wherein the running information comprises the current running speed of the vehicle and the current rotating direction of the vehicle;
the third determining module is used for determining a target swing angle corresponding to the curvature radius of the current running road according to a first preset relation between the curvature radius and the swing angle, and determining a target swing speed corresponding to the current running speed and the curvature radius of the current running road according to a second preset relation between the running speed, the curvature radius and the swing speed;
and the first control module is used for controlling the vehicle sensing device to swing according to the direction consistent with the current rotation direction of the vehicle and the target swing speed until the vehicle sensing device swings to the target swing angle.
8. The apparatus of claim 7, further comprising:
and the second control module is used for controlling the vehicle sensing device to swing back and forth between a preset angle and the target swing angle according to the target swing speed after the vehicle sensing device swings to the target swing angle, wherein the preset angle is smaller than the target swing angle.
9. 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 according to any one of claims 1 to 6.
10. A vehicle, characterized by comprising: a vehicle body, a vehicle sensing device, and the control device of the vehicle sensing device as claimed in any one of claims 7 to 8, wherein the vehicle sensing device is mounted on the vehicle body.
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| CN201910970106.7A CN111361638B (en) | 2019-10-12 | 2019-10-12 | Control method and device of vehicle sensing device, readable storage medium and vehicle |
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| CN201910970106.7A CN111361638B (en) | 2019-10-12 | 2019-10-12 | Control method and device of vehicle sensing device, readable storage medium and vehicle |
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| CN111789692B (en) * | 2020-09-10 | 2020-12-25 | 深圳市力博得科技有限公司 | Control method, device and medium for measuring swing angle and pressure through magnetic variables |
| CN113759903A (en) * | 2021-08-23 | 2021-12-07 | 东莞职业技术学院 | Unmanned vehicle, steering control method thereof, electronic device, and storage medium |
| CN114212104A (en) * | 2021-12-14 | 2022-03-22 | 京东鲲鹏(江苏)科技有限公司 | Vehicle control method, device, vehicle and storage medium |
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| KR102422933B1 (en) * | 2015-08-26 | 2022-07-21 | 주식회사 에이치엘클레무브 | Sensing apparatus for vehicle and sensing method for vehicle |
| US20170309181A1 (en) * | 2016-04-26 | 2017-10-26 | Hyundai Motor Company | Apparatus for recognizing following vehicle and method thereof |
| KR101955506B1 (en) * | 2016-12-12 | 2019-03-11 | 주식회사 피엘케이 테크놀로지 | Side safety assistant device and method for large vehicle by using two opposite cameras |
| CN109969194B (en) * | 2017-12-28 | 2021-12-10 | 奥迪股份公司 | Driving assistance system and method |
| KR102541561B1 (en) * | 2018-02-12 | 2023-06-08 | 삼성전자주식회사 | Method of providing information for driving vehicle and apparatus thereof |
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Application publication date: 20200703 Assignee: Beijing Zhike chelian Technology Co.,Ltd. Assignor: BEIQI FOTON MOTOR Co.,Ltd. Contract record no.: X2022980018253 Denomination of invention: Control method, device, readable storage medium and vehicle of vehicle sensing device Granted publication date: 20201208 License type: Common License Record date: 20221013 |
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