CN111381591B - Control method and device for automatic driving of vehicle and vehicle - Google Patents
Control method and device for automatic driving of vehicle and vehicle Download PDFInfo
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- CN111381591B CN111381591B CN201910760062.5A CN201910760062A CN111381591B CN 111381591 B CN111381591 B CN 111381591B CN 201910760062 A CN201910760062 A CN 201910760062A CN 111381591 B CN111381591 B CN 111381591B
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- 230000004888 barrier function Effects 0.000 description 12
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The utility model relates to a control method, device and vehicle of vehicle autopilot, relate to vehicle control technical field, this method is applied to the vehicle, and the first position of vehicle is provided with magnetic field emitter, and the second position of vehicle is provided with first sensor, and first position and second position are located the not equidistance of vehicle, and magnetic field emitter is used for sending the range finding magnetic field of predetermineeing magnetic field intensity, and first sensor is used for measuring the target magnetic flux of range finding magnetic field at the second position, and this method includes: acquiring running information of the vehicle and a target magnetic flux measured by a first sensor, wherein the running information comprises: and determining the target distance between the vehicle and the obstacle according to the target magnetic flux and the preset magnetic field intensity, and controlling the vehicle to run according to the running information and the target distance. The distance between the vehicle and the obstacle can be determined according to the magnetic flux of the ranging magnetic field at the second position, so that the vehicle is controlled to run, the implementation is simple, and the hardware cost and the power consumption are low.
Description
Technical Field
The disclosure relates to the technical field of vehicle control, in particular to a control method and device for automatic driving of a vehicle and the vehicle.
Background
With the increasing year by year of automobile holding capacity in China, the problems of traffic safety and traffic jam become more and more serious, and under the background, the automatic driving technology is widely concerned. A key issue in autopilot technology is how to perceive obstacles and control the running of the vehicle. In the prior art, a camera or a radar is usually adopted to sense a barrier, complex calculations such as image recognition and coordinate conversion are required, the design is complex, the hardware cost and the power consumption are high, and the sensing result is inaccurate due to the interference of the external environment (weather and air refraction), so that the reliability of the automatic driving control of the vehicle is influenced.
Disclosure of Invention
The invention aims to provide a control method and a control device for automatic driving of a vehicle and the vehicle, which are used for solving the problems of low reliability of automatic driving control, high hardware cost and high power consumption in the prior art.
In order to achieve the above object, according to a first aspect of an embodiment of the present disclosure, there is provided a control method for automatic driving of a vehicle, applied to a vehicle including: a magnetic field emitter disposed at a first location of the vehicle, and a first sensor disposed at a second location of the vehicle, the first location and the second location being on different sides of the vehicle;
the magnetic field emitter is used for emitting a ranging magnetic field with preset magnetic field intensity, and the first sensor is used for measuring target magnetic flux of the ranging magnetic field at the second position;
the method comprises the following steps:
acquiring running information of the vehicle and the target magnetic flux measured by the first sensor, the running information including: position information of the vehicle and speed information of the vehicle;
determining a target distance between the vehicle and an obstacle according to the target magnetic flux and a preset magnetic field intensity;
and controlling the vehicle to run according to the running information and the target distance.
Optionally, the determining a target distance between the vehicle and an obstacle according to the target magnetic flux and a preset magnetic field strength includes:
determining the difference value of the target magnetic flux and the magnetic flux corresponding to the preset magnetic field intensity;
and determining the target distance corresponding to the difference value according to the corresponding relation between the magnetic flux and the distance.
Optionally, the vehicle further comprises: a second sensor disposed at a third location of the vehicle; the second sensor is used for measuring the reference magnetic field intensity of the geomagnetic field at the position of the vehicle;
the controlling the vehicle to run according to the running information and the target distance comprises the following steps:
acquiring the reference magnetic field strength measured by the second sensor;
determining angle information of the vehicle according to the reference magnetic field strength;
determining a driving route of the vehicle according to the angle information and the position information, and determining a driving speed of the vehicle according to the speed information and the target distance;
and controlling the vehicle to run at the running speed according to the running route.
Optionally, the determining the angle information of the vehicle according to the reference magnetic field strength includes:
according to the position information, determining geomagnetic elements of the geomagnetic field at the position of the vehicle;
and determining the angle information according to the reference magnetic field strength and the geomagnetic element.
According to a second aspect of the embodiments of the present disclosure, there is provided a control apparatus for automatic driving of a vehicle, applied to a vehicle including: a magnetic field emitter disposed at a first location of the vehicle, and a first sensor disposed at a second location of the vehicle, the first location and the second location being on different sides of the vehicle;
the magnetic field emitter is used for emitting a ranging magnetic field with preset magnetic field intensity, and the first sensor is used for measuring target magnetic flux of the ranging magnetic field at the second position;
the device comprises:
an acquisition module configured to acquire travel information of the vehicle and the target magnetic flux measured by the first sensor, the travel information including: position information of the vehicle and speed information of the vehicle;
the determining module is used for determining the target distance between the vehicle and an obstacle according to the target magnetic flux and the preset magnetic field intensity;
and the control module is used for controlling the vehicle to run according to the running information and the target distance.
Optionally, the determining module includes:
the first determining submodule is used for determining the difference value of the target magnetic flux and the magnetic flux corresponding to the preset magnetic field intensity;
and the second determining submodule is used for determining the target distance corresponding to the difference value according to the corresponding relation between the magnetic flux and the distance.
Optionally, the vehicle further comprises: a second sensor disposed at a third location of the vehicle; the second sensor is used for measuring the reference magnetic field intensity of the geomagnetic field at the position of the vehicle;
the control module includes:
an acquisition submodule for acquiring the reference magnetic field strength measured by the second sensor;
a third determining submodule for determining angle information of the vehicle according to the reference magnetic field strength;
the fourth determining submodule is used for determining a driving route of the vehicle according to the angle information and the position information and determining the driving speed of the vehicle according to the speed information and the target distance;
and the control submodule is used for controlling the vehicle to run at the running speed according to the running route.
Optionally, the third determining sub-module is configured to:
according to the position information, determining geomagnetic elements of the geomagnetic field at the position of the vehicle;
and determining the angle information according to the reference magnetic field strength and the geomagnetic element.
According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle including: a controller, a magnetic field emitter disposed at a first location of the vehicle, and a first sensor disposed at a second location of the vehicle, the first location and the second location being on different sides of the vehicle;
the magnetic field emitter is used for emitting a ranging magnetic field with preset magnetic field intensity, and the first sensor is used for measuring target magnetic flux of the ranging magnetic field at the second position;
the controller is configured to perform the steps of the method of the first aspect of the embodiments of the present disclosure.
Optionally, the vehicle further comprises: a second sensor disposed at a third location of the vehicle;
the second sensor is used for measuring the reference magnetic field intensity of the geomagnetic field at the position of the vehicle.
Optionally, the vehicle further comprises: a shield disposed around the second sensor, the shield for shielding the ranging magnetic field.
Through the technical scheme, this disclosure is applied to the vehicle, the first position of vehicle is provided with the magnetic field transmitter, the second position is provided with first sensor, first position and second position are located the different sides of vehicle, wherein the magnetic field transmitter is used for sending the range finding magnetic field of predetermineeing magnetic field intensity, first sensor is used for measuring the target magnetic flux of range finding magnetic field at the second position, the information of traveling including position information and speed information is obtained at first, and the target magnetic flux of first sensor measurement, later according to target magnetic flux and predetermine magnetic field intensity, confirm the target distance of vehicle and barrier, according to information of traveling and target distance at last, control the vehicle and travel. In this disclosure, when the distance measuring magnetic field is sheltered from to the barrier, the magnetic flux of distance measuring magnetic field at the second position can change to come the distance of confirming between vehicle and the barrier, go with control vehicle, can resist the interference that external environment brought, improve the reliable degree of vehicle control, and realize simply, can reduce hardware cost and consumption.
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 illustration of a vehicle according to an exemplary embodiment;
FIG. 1b is a schematic diagram illustrating a ranging magnetic field according to an exemplary embodiment;
FIG. 1c is a schematic diagram illustrating another ranging magnetic field in accordance with an exemplary embodiment;
FIG. 2 is a flow chart illustrating a control method for vehicle autopilot according to an exemplary embodiment;
FIG. 3 is a flow chart illustrating another control method for vehicle autonomous driving according to an exemplary embodiment;
FIG. 4 is a flow chart illustrating another control method for vehicle autonomous driving according to an exemplary embodiment;
FIG. 5 is a block diagram illustrating a control apparatus for vehicle autopilot according to an exemplary embodiment;
FIG. 6 is a block diagram illustrating another control arrangement for vehicle autopilot according to one exemplary embodiment;
FIG. 7 is a block diagram illustrating another control arrangement for vehicle autopilot according to one exemplary embodiment;
FIG. 8 is a schematic diagram of a vehicle according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Fig. 1a is a schematic structural diagram illustrating a vehicle 100, as shown in fig. 1a, according to an exemplary embodiment, including: a magnetic field emitter 101 arranged at a first location of the vehicle 100, and a first sensor 102 arranged at a second location of the vehicle, the first location and the second location being located at different sides of the vehicle 100.
The magnetic field emitter 101 is used for emitting a ranging magnetic field with a preset magnetic field intensity, and the first sensor 102 is used for measuring a target magnetic flux of the ranging magnetic field at a second position.
For example, with reference to the direction from the tail to the head of the vehicle 100, the vehicle may be divided into a left side, a right side, a front side (the side where the head is located) and a rear side (the side where the tail is located), the magnetic field emitter 101 and the first sensor 102 are disposed on different sides of the vehicle 100, that is, after the magnetic field emitter 101 emits the ranging magnetic field, the ranging magnetic field can cover the environment where the vehicle 100 is located, and propagate to the first sensor 102 through a medium (air or an obstacle) in the environment where the vehicle 100 is located. The magnetic field emitter 101 may be disposed on the right side of the vehicle and the first sensor 102 may be disposed on the left side of the vehicle 100. The magnetic field emitter 101 may also be arranged on the front side and the first sensor 102 on the left, right or rear side, or the magnetic field emitter 101 may also be arranged on the rear side and the first sensor 102 on the left, right or front side. The positional relationship as shown in fig. 1a is for illustration only, and the present disclosure does not specifically limit the positional relationship of the magnetic field emitter 101 and the first sensor 102.
Specifically, the ranging magnetic field emitted by the magnetic field emitter 101 propagates through the medium (air or obstacles) in the environment in which the vehicle 100 is located to the first sensor 102, and the first sensor 102 is capable of measuring the target magnetic flux of the ranging magnetic field at the second location. When no obstacle exists in the environment of the vehicle, as shown in fig. 1b, the number of magnetic lines of force received by the first sensor 102 is fixed, i.e. the target magnetic flux is the product of the preset magnetic field strength and the measurement area of the first sensor 102, and since the measurement area of the first sensor 102 is fixed and the preset magnetic field strength is also known, the target magnetic flux is a fixed value phi when no obstacle exists in the environment of the vehicle0I.e. the magnetic flux corresponding to the preset magnetic field strength. When an obstacle exists in the environment where the vehicle is located, as shown in fig. 1c, since the obstacle blocks the ranging magnetic field, the number of magnetic lines of force received by the first sensor 102 changes, and the corresponding target magnetic flux also changes.
It should be noted that the magnetic field transmitter 101 may be a magnetic induction coil, and the first sensor 102 may be a magnetic induction coil, or may be another sensor capable of measuring magnetic flux. The magnetic induction coil has simple structure and low cost, the power consumption for continuously sending the distance measuring magnetic field is also very low, and the sent distance measuring magnetic field is stable and reliable and is not interfered by the external environment.
Further, the vehicle can also comprise: a second sensor 103 arranged at a third location of the vehicle 100, the second sensor 103 being arranged to measure a reference magnetic field strength of the earth's magnetic field at the location of the vehicle 100. The second sensor 103 may be a magnetometer, for example: proton precession magnetometer, Overhauser magnetometer, alkali metal optical pump magnetometer, fluxgate magnetometer, magnetoresistive magnetometer.
Wherein the third position may be any position on the vehicle, and in order to reduce the influence of the ranging magnetic field on the reference magnetic field strength measured by the second sensor 103, the third position may be a position away from the first position and the second position, for example, the second sensor 103 may be disposed in the vehicle head, in the vehicle, or on the B-pillar of the vehicle. In order to further avoid the influence of the ranging magnetic field on the strength of the reference magnetic field measured by the second sensor 103, a shielding device 104 may be arranged around the second sensor 103 to shield the ranging magnetic field. The shielding device 104 may be selected from magnetic shielding materials, such as: Ultra-Low carbon steel (English: Ultra Low carbon Steel, abbreviation: ULCS).
Fig. 2 is a flowchart illustrating a control method of automatic driving of a vehicle, as shown in fig. 2, applied to the vehicle shown in fig. 1, according to an exemplary embodiment, including the steps of:
For example, during the running of the vehicle, the magnetic field emitter 101 always emits the ranging magnetic field with the preset magnetic field intensity, and firstly, the running information of the vehicle and the target magnetic flux measured by the first sensor are acquired. The driving information may include position information of the vehicle and speed information of the vehicle, and may further include information such as acceleration of the vehicle, an automatic driving switch state, an opening degree of a brake pedal, and an opening degree of an accelerator pedal. Specifically, the position information may be obtained by performing Navigation and positioning through a GNSS (Global Navigation Satellite System) provided in the vehicle, and the GNSS may include but is not limited to: a GPS (Global Positioning System), a beidou satellite navigation System, a GLONASS navigation System, a galileo satellite navigation System, and the like. In environments without satellite signals, such as tunnels, position information may also be determined by means of inertial navigation (accelerometers and gyroscopes). The speed information may be measured by a wheel speed sensor or the like provided on the vehicle, or may be determined based on the amount of change in the position information within a preset time period.
And step 202, determining a target distance between the vehicle and the obstacle according to the target magnetic flux and the preset magnetic field intensity.
For example, the ranging magnetic field emitted by the magnetic field emitter 101 propagates through the medium (air or obstacle) in the environment to the first sensor 102, and if there is no obstacle in the environment (i.e. the scenario shown in fig. 1 b), the target magnetic flux Φ measured by the first sensor 102 is the product of the preset magnetic field strength and the measurement area of the first sensor 102, i.e. the magnetic flux Φ corresponding to the preset magnetic field strength0. If an obstacle exists in the environment where the vehicle is located (i.e., the scene shown in fig. 1 c), the number of magnetic lines received by the first sensor 102 changes due to the obstacle blocking the distance-measuring magnetic field, and the corresponding target magnetic flux Φ also changes. The closer the obstacle is to the vehicle 100, the greater the number of shielded magnetic lines, the smaller the number of magnetic lines received by the first sensor 102, and the smaller the corresponding target magnetic flux phi. Therefore, the relationship between the change amount of the target magnetic flux phi and the distance can be calibrated in advance in the research, development and test stages, and then the magnetic flux phi corresponding to the target magnetic flux phi and the preset magnetic field intensity can be obtained0To determine the target distance of the vehicle 100 from the obstacle. The obstacle may be another vehicle in front of the vehicle 100, or another type of obstacle such as a pedestrian, a green belt, or a building.
It should be noted that the measurement area of the first sensor 102 is fixed, so the magnetic flux Φ corresponding to the preset magnetic field strength is set0And is also fixed, and the magnitude of the target magnetic flux phi is only related to how much magnetic lines are received by the first sensor 102, i.e. only to how much magnetic lines are blocked by the obstacle, regardless of the size and material of the obstacle itself. If the magnetic field of the vehicle 100 is used to calibrate the distance to the obstacle, the size, mass and material of the vehicle 100 and the obstacle will affectThe distance measurement is inaccurate, so the target distance is determined according to the distance measurement magnetic field emitted by the magnetic field emitter 101 and the target magnetic flux phi measured by the first sensor 102, and the accuracy is higher.
And step 203, controlling the vehicle to run according to the running information and the target distance.
Finally, the engine torque, the brake torque, the pre-charge pressure, the steering angle, and the like of the vehicle 100 are controlled so that the vehicle 100 does not collide with an obstacle during traveling, according to the traveling information and the target distance. For example, based on the target distance and speed information, deceleration of the vehicle 100 may be determined to control reduction of the engine torque or increase of the brake torque, and further, based on the target distance, position information, and a preset running path, a running direction of the vehicle 100 may be determined to control the steering angle. For example, the speed of the obstacle may be further determined according to the amount of change in the target distance within the preset time period and the speed information of the vehicle 100, so that the obstacle is divided into a fixed obstacle and a moving obstacle, and if the obstacle is a fixed obstacle, the driving direction of the vehicle 100 may be adjusted, so that the steering angle is controlled, and the vehicle 100 bypasses the obstacle.
In summary, the present disclosure is applied to a vehicle, a magnetic field emitter is disposed at a first position of the vehicle, a first sensor is disposed at a second position of the vehicle, the first position and the second position are located at different sides of the vehicle, wherein the magnetic field emitter is configured to emit a ranging magnetic field with a preset magnetic field strength, the first sensor is configured to measure a target magnetic flux of the ranging magnetic field at the second position, first, driving information including position information and speed information and the target magnetic flux measured by the first sensor are obtained, then, a target distance between the vehicle and an obstacle is determined according to the target magnetic flux and the preset magnetic field strength, and finally, the vehicle is controlled to drive according to the driving information and the target distance. In this disclosure, when the distance measuring magnetic field is sheltered from to the barrier, the magnetic flux of distance measuring magnetic field at the second position can change to come the distance of confirming between vehicle and the barrier, go with control vehicle, can resist the interference that external environment brought, improve the reliable degree of vehicle control, and realize simply, can reduce hardware cost and consumption.
FIG. 3 is a flow chart illustrating another control method for vehicle autonomous driving, according to an exemplary embodiment, as shown in FIG. 3, step 202 may include:
Specifically, the target magnetic flux phi and the magnetic flux phi corresponding to the preset magnetic field strength can be determined first0Is equal to0-phi. And determining the target distance corresponding to the delta phi according to the corresponding relation between the delta phi and the distance. Where the correspondence relationship between the magnetic flux and the distance may be a table of the correspondence relationship between the magnetic flux and the distance stored in advance in the vehicle 100, the target distance corresponding to the difference is determined by table lookup. Or a relationship function or a relationship model of magnetic flux and distance may be obtained in advance according to a large amount of measured data, and the output target distance may be obtained by using the difference value as an input of the relationship function (or the relationship model).
Fig. 4 is a flowchart illustrating another control method for automatic driving of a vehicle according to an exemplary embodiment, where, as shown in fig. 4, when a second sensor 103 for measuring the reference magnetic field strength of the geomagnetic field at the position of the vehicle is further provided on the vehicle, step 203 can be implemented by:
For example, the second sensor 103 can measure a reference magnetic field strength of the geomagnetic field at the vehicle position, wherein the reference magnetic field strength may be a vector and may include three-axis magnetic components of the geomagnetic field in the vehicle 100 coordinate system at the vehicle position. The magnetic declination of the geomagnetic field at the position of the vehicle can be obtained according to the corresponding relationship between the geomagnetic field at the position of the vehicle and the reference magnetic field strength measured by the second sensor 103, and the angle information of the vehicle, that is, the current driving direction of the vehicle 100, can be determined according to the magnetic declination. Further, the traveling route of the vehicle 100, that is, the traveling route without colliding with an obstacle, may be determined based on the angle information and the position information. Meanwhile, the running speed of the vehicle is determined according to the speed information and the target distance. And finally, controlling the vehicle to run at the running speed according to the running route.
Specifically, the implementation manner of step 2032 may be:
first, the geomagnetic element of the geomagnetic field at the vehicle location is determined based on the location information.
Next, angle information is determined based on the reference magnetic field strength and the geomagnetic element.
For example, The position information may be longitude, latitude, and altitude of The position of The vehicle 100, and according to The longitude, latitude, and altitude, The time of The current time, and a geomagnetic field Model (WMM), a geomagnetic element (a physical quantity representing The direction and magnitude of The geomagnetic field at The position of The vehicle 100) may be obtained. For example, longitude, latitude, and altitude and the time of the current time may be input into the geomag7.0 software, i.e., the geomagnetic element may be obtained. The geomagnetic element is an earth coordinate system as a reference system, the reference magnetic field strength is a reference system which is the placement position of the second sensor 103, and the position of the second sensor 103 on the vehicle 100 is fixed, that is, the reference magnetic field strength can also be understood as a reference system which is the vehicle 100, so that the conversion relationship between the earth coordinate system and the vehicle 100 coordinate system can be determined according to the conversion relationship between the geomagnetic element and the reference magnetic field strength, and the angle information, that is, the angle of the vehicle 100 in the earth coordinate system can be determined.
Specifically, the conversion relationship between the geomagnetic element and the reference magnetic field strength may be:
wherein M isX、MY、MZRepresenting the three-axis magnetic component of the earth's magnetic field in the coordinate system of the vehicle 100, i.e. the reference field strength, HX、HY、HZRepresents the three-axis magnetic components of the earth magnetic field in the earth coordinate system (east-north-sky coordinate system), i.e. the geomagnetic elements,
γ, θ, ψ represent the pitch angle, roll angle, and heading angle of the vehicle 100 for the transformation matrix from the terrestrial coordinate system to the coordinate system of the vehicle 100. To obtain
Then, the heading angle of the vehicle 100 may be taken as the angle information.
The execution main Body of the Control method for automatic vehicle driving disclosed in the present disclosure may be any controller, for example, an independent MCU (micro controller Unit, chinese) or a Control Module configured in the vehicle itself, such as an ECU (Electronic Control Unit, chinese) or a BCM (Body Control Module, chinese) or an upper computer. The controller may be connected to the magnetic field emitter 101, the first sensor 102, and the second sensor 103, respectively, to enable the controller to interact with the magnetic field emitter 101, the first sensor 102, and the second sensor 103. The connection mode may be a connection through a physical connection line, for example: a CAN (Controller Area Network, chinese) bus, a LIN (Local Interconnect Network, chinese) bus, or the like, and may also be wirelessly connected according to a preset wireless communication protocol, for example: bluetooth (english), Wi-Fi (chinese: Wireless Fidelity), internet, WLAN (english: Wireless Local Area Networks, chinese: vehicle information services), Telematics (chinese: vehicle information services), and the like, which are not limited in this disclosure.
In summary, the present disclosure is applied to a vehicle, a magnetic field emitter is disposed at a first position of the vehicle, a first sensor is disposed at a second position of the vehicle, the first position and the second position are located at different sides of the vehicle, wherein the magnetic field emitter is configured to emit a ranging magnetic field with a preset magnetic field strength, the first sensor is configured to measure a target magnetic flux of the ranging magnetic field at the second position, first, driving information including position information and speed information and the target magnetic flux measured by the first sensor are obtained, then, a target distance between the vehicle and an obstacle is determined according to the target magnetic flux and the preset magnetic field strength, and finally, the vehicle is controlled to drive according to the driving information and the target distance. In this disclosure, when the distance measuring magnetic field is sheltered from to the barrier, the magnetic flux of distance measuring magnetic field at the second position can change to come the distance of confirming between vehicle and the barrier, go with control vehicle, can resist the interference that external environment brought, improve the reliable degree of vehicle control, and realize simply, can reduce hardware cost and consumption.
Fig. 5 is a block diagram illustrating a control apparatus for vehicle autonomous driving according to an exemplary embodiment, and as shown in fig. 5, the apparatus 300 is applied to the vehicle shown in fig. 1, and includes:
an obtaining module 301, configured to obtain running information of the vehicle and a target magnetic flux measured by the first sensor, where the running information includes: position information of the vehicle and speed information of the vehicle.
The determining module 302 is configured to determine a target distance between the vehicle and the obstacle according to the target magnetic flux and a preset magnetic field strength.
And the control module 303 is used for controlling the vehicle to run according to the running information and the target distance.
FIG. 6 is a block diagram illustrating another control apparatus for vehicle autopilot according to an exemplary embodiment, as shown in FIG. 6, the determination module 302 includes:
the first determining submodule 3021 is configured to determine a difference between the target magnetic flux and a magnetic flux corresponding to the preset magnetic field strength.
A second determining submodule 3022 configured to determine a target distance corresponding to the difference value according to the correspondence between the magnetic flux and the distance.
Fig. 7 is a block diagram of another control apparatus for automatic driving of a vehicle according to an exemplary embodiment, where, as shown in fig. 7, the vehicle is further provided with a second sensor for measuring a reference magnetic field strength of a geomagnetic field at a position of the vehicle, and the control module 303 includes:
an obtaining submodule 3031 is configured to obtain a reference magnetic field strength measured by the second sensor.
A third determining submodule 3032, configured to determine angle information of the vehicle according to the reference magnetic field strength.
The fourth determining submodule 3033 is configured to determine a driving route of the vehicle according to the angle information and the position information, and determine a driving speed of the vehicle according to the speed information and the target distance.
The control submodule 3034 is configured to control the vehicle to travel at the travel speed according to the travel route.
Further, the third determining submodule 3032 may be configured to perform the following steps:
first, the geomagnetic element of the geomagnetic field at the vehicle location is determined based on the location information.
Next, angle information is determined based on the reference magnetic field strength and the geomagnetic element.
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.
In summary, the present disclosure is applied to a vehicle, a magnetic field emitter is disposed at a first position of the vehicle, a first sensor is disposed at a second position of the vehicle, the first position and the second position are located at different sides of the vehicle, wherein the magnetic field emitter is configured to emit a ranging magnetic field with a preset magnetic field strength, the first sensor is configured to measure a target magnetic flux of the ranging magnetic field at the second position, first, driving information including position information and speed information and the target magnetic flux measured by the first sensor are obtained, then, a target distance between the vehicle and an obstacle is determined according to the target magnetic flux and the preset magnetic field strength, and finally, the vehicle is controlled to drive according to the driving information and the target distance. In this disclosure, when the distance measuring magnetic field is sheltered from to the barrier, the magnetic flux of distance measuring magnetic field at the second position can change to come the distance of confirming between vehicle and the barrier, go with control vehicle, can resist the interference that external environment brought, improve the reliable degree of vehicle control, and realize simply, can reduce hardware cost and consumption.
Fig. 8 is a schematic structural diagram illustrating a vehicle according to an exemplary embodiment, and as shown in fig. 8, a vehicle 400 includes: a controller 401, a magnetic field emitter 402 disposed at a first location, and a first sensor 403 disposed at a second location, the first location and the second location being on different sides of the vehicle 400.
The magnetic field emitter 402 is used to emit a ranging magnetic field of a predetermined magnetic field strength, and the first sensor 403 is used to measure a target magnetic flux of the ranging magnetic field at the second location.
The controller 401 is used to execute the steps of the control method for automatic driving of a vehicle as shown in fig. 2-4.
Further, the vehicle 400 further includes: a second sensor 404 disposed at a third location.
The second sensor 404 is used to measure the reference magnetic field strength of the earth's magnetic field at the location of the vehicle 400.
In order to avoid the influence of the ranging magnetic field on the second sensor 404, a shielding device 405 may be further disposed around the second sensor 404 to shield the ranging magnetic field.
The controller 401 may be, for example, an independent MCU, or may be a control module such as an ECU or a BCM of the vehicle 400 itself, or an upper computer. The controller 401 may be connected to the magnetic field emitter 402, the first sensor 403, and the second sensor 404, respectively, to enable the controller to interact with the magnetic field emitter 402, the first sensor 403, and the second sensor 404. The connection mode may be a connection through a physical connection line, for example: CAN bus, LIN bus, etc., may also be wirelessly connected according to a predetermined wireless communication protocol, such as: bluetooth, Wi-Fi, Internet, WLAN, Telematics, etc., as the present disclosure does not limit.
With regard to the vehicle in the above-described embodiment, the specific manner in which the respective portions perform the operations has been described in detail in the embodiment related to the method, and will not be elaborated upon here.
In summary, in the vehicle of the present disclosure, a magnetic field emitter is disposed at a first position, a first sensor is disposed at a second position, the first position and the second position are located at different sides of the vehicle, wherein the magnetic field emitter is configured to emit a ranging magnetic field with a preset magnetic field strength, the first sensor is configured to measure a target magnetic flux of the ranging magnetic field at the second position, first, driving information including position information and speed information and the target magnetic flux measured by the first sensor are obtained, then, a target distance between the vehicle and an obstacle is determined according to the target magnetic flux and the preset magnetic field strength, and finally, the vehicle is controlled to drive according to the driving information and the target distance. In this disclosure, when the distance measuring magnetic field is sheltered from to the barrier, the magnetic flux of distance measuring magnetic field at the second position can change to come the distance of confirming between vehicle and the barrier, go with control vehicle, can resist the interference that external environment brought, improve the reliable degree of vehicle control, and realize simply, can reduce hardware cost and consumption.
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 (6)
1. A control method for automatic driving of a vehicle, characterized by being applied to a vehicle including: the vehicle comprises a magnetic field emitter arranged at a first position of the vehicle and a first sensor arranged at a second position of the vehicle, wherein the first position and the second position are positioned on different sides of the vehicle, the magnetic field emitter is a magnetic induction coil, and the first sensor is a magnetic induction coil or a magnetic flux sensor;
the magnetic field emitter is used for emitting a ranging magnetic field with preset magnetic field intensity, and the first sensor is used for measuring target magnetic flux of the ranging magnetic field at the second position;
the method comprises the following steps:
acquiring running information of the vehicle and the target magnetic flux measured by the first sensor, the running information including: position information of the vehicle and speed information of the vehicle;
determining a target distance between the vehicle and an obstacle according to the target magnetic flux and a preset magnetic field intensity;
controlling the vehicle to run according to the running information and the target distance;
the vehicle further includes: a second sensor disposed at a third location of the vehicle; the second sensor is used for measuring the reference magnetic field intensity of the geomagnetic field at the position of the vehicle;
the controlling the vehicle to run according to the running information and the target distance comprises the following steps:
acquiring the reference magnetic field strength measured by the second sensor;
according to the position information, determining geomagnetic elements of the geomagnetic field at the position of the vehicle;
determining a declination of the position of the vehicle according to the reference magnetic field strength and the geomagnetic element, thereby determining the angle information of the vehicle;
determining a driving route of the vehicle according to the angle information and the position information, and determining a driving speed of the vehicle according to the speed information and the target distance;
and controlling the vehicle to run at the running speed according to the running route.
2. The method of claim 1, wherein determining a target distance of the vehicle from an obstacle based on the target magnetic flux and a preset magnetic field strength comprises:
determining the difference value of the target magnetic flux and the magnetic flux corresponding to the preset magnetic field intensity;
and determining the target distance corresponding to the difference value according to the corresponding relation between the magnetic flux and the distance.
3. A control device for automatic driving of a vehicle, characterized by being applied to a vehicle including: the magnetic field transmitter of setting in the first position of vehicle, and set up and be in the first sensor of the second position of vehicle, first position with the second position is located the different sides of vehicle, the magnetic field transmitter is magnetic induction coil, first sensor is magnetic induction coil or magnetic flux sensor, the vehicle still includes: a second sensor disposed at a third location of the vehicle; the second sensor is used for measuring the reference magnetic field intensity of the geomagnetic field at the position of the vehicle;
the magnetic field emitter is used for emitting a ranging magnetic field with preset magnetic field intensity, and the first sensor is used for measuring target magnetic flux of the ranging magnetic field at the second position;
the device comprises:
an acquisition module configured to acquire travel information of the vehicle and the target magnetic flux measured by the first sensor, the travel information including: position information of the vehicle and speed information of the vehicle;
the determining module is used for determining the target distance between the vehicle and an obstacle according to the target magnetic flux and the preset magnetic field intensity;
the control module is used for controlling the vehicle to run according to the running information and the target distance;
the control module includes:
an acquisition submodule for acquiring the reference magnetic field strength measured by the second sensor;
the third determining submodule is used for determining the geomagnetic element of the geomagnetic field at the position of the vehicle according to the position information; determining a declination of the position of the vehicle according to the reference magnetic field strength and the geomagnetic element, thereby determining the angle information of the vehicle;
the fourth determining submodule is used for determining a driving route of the vehicle according to the angle information and the position information and determining the driving speed of the vehicle according to the speed information and the target distance;
and the control submodule is used for controlling the vehicle to run at the running speed according to the running route.
4. The apparatus of claim 3, wherein the determining module comprises:
the first determining submodule is used for determining the difference value of the target magnetic flux and the magnetic flux corresponding to the preset magnetic field intensity;
and the second determining submodule is used for determining the target distance corresponding to the difference value according to the corresponding relation between the magnetic flux and the distance.
5. A vehicle, characterized in that the vehicle comprises: a controller, a magnetic field transmitter disposed at a first location of the vehicle, and a first sensor disposed at a second location of the vehicle, the first location and the second location being located on different sides of the vehicle, the magnetic field transmitter being a magnetic induction coil, the first sensor being a magnetic induction coil or a magnetic flux sensor, the vehicle further comprising: a second sensor disposed at a third location of the vehicle; the second sensor is used for measuring the reference magnetic field intensity of the geomagnetic field at the position of the vehicle;
the magnetic field emitter is used for emitting a ranging magnetic field with preset magnetic field intensity, and the first sensor is used for measuring target magnetic flux of the ranging magnetic field at the second position;
the controller is configured to perform the steps of the method of any one of claims 1 or 2.
6. The vehicle of claim 5, further comprising: a shield disposed around the second sensor, the shield for shielding the ranging magnetic field.
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