CN111439258A - Control method and device for tire burst vehicle, computer equipment and storage medium - Google Patents
Control method and device for tire burst vehicle, computer equipment and storage medium Download PDFInfo
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- CN111439258A CN111439258A CN202010124649.XA CN202010124649A CN111439258A CN 111439258 A CN111439258 A CN 111439258A CN 202010124649 A CN202010124649 A CN 202010124649A CN 111439258 A CN111439258 A CN 111439258A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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Abstract
The application relates to a control method and device for a flat tire vehicle, computer equipment and a storage medium. The method comprises the following steps: when the vehicle is detected to have a tire burst, acquiring a road image of a running road of the vehicle through image acquisition equipment; identifying whether the vehicle is in a middle lane according to the road image; when the vehicle is identified to be in the middle lane, detecting whether other vehicles exist in the adjacent lane of the vehicle or not through radar detection equipment; and when no other vehicle is detected in the adjacent lane of the vehicle, controlling the vehicle to turn to the adjacent lane and controlling the vehicle to stop on the adjacent lane. By adopting the method, the surrounding environment can be accurately judged, and lane changing and side parking after the tire burst of the vehicle are further realized according to the judgment result.
Description
Technical Field
The present application relates to the field of vehicle protection technologies, and in particular, to a method and an apparatus for controlling a vehicle with a burst tire, a computer device, and a storage medium.
Background
In every year of highway accidents, a considerable proportion is due to a burst of tires. After a tire is burst, the vehicle is usually manually braked and steered, but due to the fact that the vehicle speed is high, people often cannot timely respond, control operation is adopted under the condition that judgment of surrounding conditions is inaccurate, and a certain side effect is achieved, so that a significant traffic accident is caused. In the prior art, an in-vehicle electronic mechanical system is adopted to control after tire burst, so that the problem of improper vehicle control after tire burst can be solved.
However, most of the current tire burst control methods are to control the vehicle to decelerate and stop in the current lane after the vehicle has a tire burst, and the method has the following technical defects: the surrounding environment of the vehicle is not identified or is not identified enough, so that the vehicle is braked and stopped in the road, and new traffic accidents are easily caused.
Therefore, the current tire burst control method has the problems that the surrounding environment of the vehicle is not identified and judged sufficiently, the vehicle is braked and stopped in the lane, and new traffic accidents are easily caused.
Disclosure of Invention
In view of the above, it is necessary to provide a control method, device, computer device and storage medium for a vehicle with a punctured tire, in order to solve the technical problems that the vehicle is braked and stopped in the own lane after the vehicle is punctured and a new traffic accident is easily caused.
A method of controlling a flat-tire vehicle, the method comprising:
when the vehicle is detected to have a tire burst, acquiring a road image of a running road of the vehicle through image acquisition equipment;
identifying whether the vehicle is in a middle lane according to the road image;
when the vehicle is identified to be in the middle lane, detecting whether other vehicles exist in the adjacent lane of the vehicle or not through radar detection equipment;
and when no other vehicle is detected in the adjacent lane of the vehicle, controlling the vehicle to turn to the adjacent lane and controlling the vehicle to stop on the adjacent lane.
In one embodiment, the identifying whether the vehicle is in a middle lane according to the road image includes:
determining a lane edge region of the road image; the lane edge area is an area where the most marginal lane line is located;
judging whether a lane line exists in the edge area of the lane;
and determining whether the vehicle is in the middle lane or not according to the judgment result.
In one embodiment, before the step of detecting whether there is a vehicle in the lane adjacent to the vehicle by the radar detection device, the method further includes:
detecting whether other vehicles exist in a lane where the vehicle is located currently through radar detection equipment;
when other vehicles exist in the current lane of the vehicle, acquiring the distance of the other vehicles relative to the vehicle as a detection distance;
judging whether the detection distance is within a set safe distance range;
and when the detection distance is not within the safe distance range, detecting whether other vehicles exist in the adjacent lanes of the vehicle or not through the radar detection equipment.
In one embodiment, the lane edge regions include a left lane edge region and a right lane edge region; the determining whether the vehicle is in a middle lane according to the judgment result includes:
when the lane lines exist in both the left lane edge area and the right lane edge area, the vehicle is judged to be in a middle lane;
when no lane line exists in the left lane edge region or the right lane edge region, it is determined that the vehicle is not in a middle lane.
In one embodiment, the identifying whether the vehicle is in front of a middle lane according to the road image further includes:
identifying whether the current lane of the vehicle is a curve or not;
when it is recognized that the vehicle is in a curve, the vehicle is controlled to remain in the curve.
In one embodiment, the method further comprises:
preprocessing the road image to obtain a preprocessed road image;
extracting a lane line of a lane where the vehicle is located currently from the preprocessed road image to serve as a current lane line;
determining a lane line model of the current lane line, and matching the lane line model with a preset straight lane model;
and when the lane line model is not matched with a preset straight road model, judging that the vehicle is in a curve.
In one embodiment, the determining that the vehicle is in a curve further includes:
determining the curvature radius of the curve according to the lane line model;
and steering control is carried out on the vehicle by adopting the curvature radius.
A control apparatus for a tire burst vehicle, the apparatus comprising:
the image acquisition module is used for acquiring a road image of a vehicle running road through image acquisition equipment when a vehicle is detected to have a tire burst;
the lane recognition module is used for recognizing whether the vehicle is in a middle lane or not according to the road image;
the vehicle detection module is used for detecting whether other vehicles exist in the adjacent lanes of the vehicle or not through radar detection equipment when the vehicle is identified to be in the middle lane;
and the vehicle control module is used for controlling the vehicle to turn to the adjacent lane and controlling the vehicle to stop on the adjacent lane when no other vehicle is detected in the adjacent lane of the vehicle.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
when the vehicle is detected to have a tire burst, acquiring a road image of a running road of the vehicle through image acquisition equipment;
identifying whether the vehicle is in a middle lane according to the road image;
when the vehicle is identified to be in the middle lane, detecting whether other vehicles exist in the adjacent lane of the vehicle or not through radar detection equipment;
and when no other vehicle is detected in the adjacent lane of the vehicle, controlling the vehicle to turn to the adjacent lane and controlling the vehicle to stop on the adjacent lane.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
when the vehicle is detected to have a tire burst, acquiring a road image of a running road of the vehicle through image acquisition equipment;
identifying whether the vehicle is in a middle lane according to the road image;
when the vehicle is identified to be in the middle lane, detecting whether other vehicles exist in the adjacent lane of the vehicle or not through radar detection equipment;
and when no other vehicle is detected in the adjacent lane of the vehicle, controlling the vehicle to turn to the adjacent lane and controlling the vehicle to stop on the adjacent lane.
According to the control method, the control device, the computer equipment and the storage medium for the flat tire vehicle, when the flat tire of the vehicle is detected, the image acquisition equipment is used for acquiring the road images of the left side and the right side of the flat tire vehicle, and judging whether the flat tire vehicle is positioned in a middle lane or not, so that whether the flat tire vehicle is parked in the current lane or not is determined. If the vehicle with the flat tire is identified to be located in the middle lane, whether other vehicles exist in the adjacent lane of the vehicle with the flat tire or not is detected through radar detection equipment, and if no other vehicles exist in the adjacent lane, the vehicle with the flat tire is controlled to turn to the adjacent lane, and the vehicle is parked on the adjacent lane. According to the method, the image acquisition equipment and the radar detection equipment are combined for use, the surrounding environment is accurately judged, and lane changing and side parking after tire burst of the vehicle are further realized according to the judgment result, so that the technical problems that traffic jam is easily caused and even traffic accidents are caused when the vehicle is parked in the lane after tire burst in the traditional method are solved.
Drawings
FIG. 1 is a schematic flow chart of a control method for a flat tire vehicle according to an embodiment;
FIG. 2 is a schematic diagram of a road image in a control method for a flat tire vehicle according to an embodiment;
FIG. 3a is a schematic view of a road image in a control method for a punctured vehicle according to another embodiment;
FIG. 3b is a schematic view of a road image in a control method for a flat tire vehicle according to another embodiment;
FIG. 4 is a flowchart illustrating a control method for a flat tire vehicle according to another embodiment;
FIG. 5 is a block diagram showing the construction of a control apparatus for a flat tire vehicle in one embodiment;
FIG. 6 is a block diagram of a control system for a flat tire vehicle according to one embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a flat tire vehicle control method in which an image pickup device, a flat tire detection device, a radar detection device, and a controller are mounted on a vehicle. The radar detection device may be a millimeter wave radar and/or a laser radar, among others. Wherein, image acquisition equipment can be the camera, and the camera can be a plurality of. In this embodiment, the method includes the steps of:
and S102, when the vehicle is detected to be punctured, acquiring a road image of a running road of the vehicle through image acquisition equipment.
In the specific implementation, when the tire burst detection device detects that the vehicle has a tire burst, the tire burst detection device sends tire burst information to the controller, and after the controller receives the tire burst information, an image acquisition instruction is generated and sent to the image acquisition device, and a road image of a road on which the tire burst vehicle runs is acquired through the image acquisition device.
And step S104, identifying whether the vehicle is in the middle lane or not according to the road image.
In the specific implementation, after the image acquisition device acquires the road image of the driving road of the tire burst vehicle, the image recognition device performs image processing on the road image to recognize whether a lane line exists in a set area of the road image, and judges whether the tire burst vehicle is in a middle lane by judging whether the lane line exists in the set area. Further, the set region may be a region where the most peripheral lane line is located, and is denoted as a lane edge region, and as shown in fig. 2, the set region is a road image when the vehicle is in a 2-lane, and the regions 202 and 204 in the figure may represent lane edge regions.
And step S106, when the vehicle is identified to be in the middle lane, detecting whether other vehicles exist in the adjacent lane of the vehicle or not through the radar detection device.
In the concrete implementation, when the image recognition device recognizes that the vehicle with the burst tire is located in the middle lane according to the road image, in order to avoid traffic jam caused by the fact that the vehicle with the burst tire stops in the middle lane, the vehicle can be turned to the side lane to stop, and therefore whether the vehicle exists in the adjacent lane of the vehicle with the burst tire is detected through the radar detection device. More specifically, the image recognition device sends a recognition result that the vehicle is in the middle lane to the controller, the controller generates a detection instruction according to the recognition result and sends the detection instruction to the radar detection device, so that the radar detection device detects whether the vehicle exists in the adjacent lane or not, and the detection result is returned to the controller.
And S108, when no other vehicle is detected in the adjacent lane of the vehicle, controlling the vehicle to turn to the adjacent lane and controlling the vehicle to stop on the adjacent lane.
In the specific implementation, after the radar detection device sends the detection result that no other vehicle exists in the adjacent lane to the controller, the controller generates a control instruction according to the detection result and sends the control instruction to the controller, so that the controller can turn to the adjacent lane and control the flat tire vehicle to stop on the adjacent lane while controlling the flat tire vehicle to decelerate.
More specifically, when the detection result is that no other vehicle exists in the left lane of the flat tire vehicle and a vehicle exists in the right lane, the flat tire vehicle is controlled to turn to the left lane; when the detection result shows that no other vehicle exists in the right lane of the vehicle with the tire burst and a vehicle exists in the left lane, controlling the vehicle with the tire burst to turn to the right lane; when the detection result is that no vehicle exists in the left lane and the right lane of the vehicle with the flat tires, the following steps can be set: and controlling the flat-tire vehicle to turn to the right lane. It is understood that when the detection result is that no vehicle exists in the left lane and the right lane of the flat tire vehicle, the flat tire vehicle can be controlled to turn to the left lane.
According to the control method of the tire burst vehicle, when the tire burst of the vehicle is detected, the image acquisition equipment is used for acquiring the road images of the left side and the right side of the tire burst vehicle, and whether the tire burst vehicle is located in a middle lane is judged so as to determine whether the vehicle is parked in the current lane. If the vehicle with the flat tire is identified to be located in the middle lane, whether other vehicles exist in the adjacent lane of the vehicle with the flat tire or not is detected through radar detection equipment, if no vehicle exists in the adjacent lane, the vehicle with the flat tire is controlled to turn to the adjacent lane, and the vehicle is parked on the adjacent lane. According to the method, the image acquisition equipment and the radar detection equipment are combined for use, the surrounding environment is accurately judged, and lane changing and side parking after tire burst of the vehicle are further realized according to the judgment result, so that the technical problems that traffic jam is easily caused and even traffic accidents are caused when the vehicle is parked in the lane after tire burst in the traditional method are solved.
In one embodiment, the step S104 includes: determining a lane edge area of the road image; the lane edge area is the area where the most marginal lane line is located; judging whether a lane line exists in the edge area of the lane; and determining whether the vehicle is in the middle lane according to the judgment result.
In a specific implementation, after a road image is obtained by an image acquisition device, lane edge regions of the road image are determined first, as shown by regions 202 and 204 in fig. 2, and a region where the most edge lane line is located is taken as the lane edge region. After the lane edge area is determined, whether a lane line exists in the lane edge area is identified by the image identification equipment, and whether a vehicle with a tire burst is in a middle lane is further determined according to an identification result.
In this embodiment, whether the vehicle with the flat tire is located in the middle lane is determined by determining whether a lane line exists in the edge area of the lane, so that the vehicle with the flat tire can be parked by the side when the vehicle with the flat tire is determined to be located in the middle lane, and the problems of congestion and even traffic accidents caused by the fact that the vehicle with the flat tire is parked in the middle lane are avoided.
In one embodiment, the lane edge regions include a left lane edge region and a right lane edge region; the step of determining whether the vehicle is in the middle lane according to the determination result includes: when the lane lines exist in both the left lane edge area and the right lane edge area, the vehicle is judged to be in the middle lane; and when no lane line exists in the left lane edge area or the right lane edge area, judging that the vehicle is not in the middle lane.
The left lane edge area is an area that can identify whether the left lane is a traffic lane.
The right lane edge area is an area that can identify whether the right lane is a traffic lane.
In a specific implementation, the area 202 in fig. 2 may be referred to as a left lane area, and the area 204 may be referred to as a right lane area. When the lane line exists in the edge area of the left lane, the left lane of the vehicle with the tire burst is indicated as a traffic lane, and similarly, when the lane line exists in the edge area of the right lane, the left lane of the vehicle with the tire burst is indicated as a traffic lane. Therefore, if the recognition result of the image recognition device on the road image is that the lane lines exist in both the left lane edge area and the right lane edge area, which indicates that the left lane and the right lane of the flat tire vehicle are both traffic lanes, i.e. as shown in fig. 2, the lane lines exist in both the 202 area and the 204 area, it can be determined that the flat tire vehicle is in the middle lane, for example, the 2 lane in the figure is the middle lane. On the contrary, if the recognition result of the image recognition device on the road image is that no lane line exists in the edge region of the left lane or the edge region of the right lane, that is, as shown in fig. 3a and 3b, one lane is not a traffic lane, it can be determined that the vehicle with the flat tire is not located in the middle lane, that is, the vehicle with the flat tire is located in the side-by lane.
In this embodiment, the lane edge area is divided into the left lane edge area and the right lane edge area, so as to identify whether the road corresponding to the two lane edge areas is a traffic lane, and further determine whether the flat tire vehicle is in the middle lane according to the identification result of the two lane edge areas, so that whether the lane needs to be switched can be determined, and the parking by the side can be realized.
In one embodiment, as shown in fig. 4, before the step of detecting whether there is another vehicle in the adjacent lane of the vehicle by the radar detection device, the method further includes:
step S402, detecting whether other vehicles exist in a lane where the tire burst vehicle is located currently through radar detection equipment;
step S404, when other vehicles exist in the current lane of the tire burst vehicle, the distance between the other vehicles and the tire burst vehicle is obtained and used as the detection distance;
step S406, judging whether the detection distance is within a set safe distance range;
and step S408, when the detection distance is not within the safe distance range, detecting whether other vehicles exist in the adjacent lane of the vehicle with the flat tire through the radar detection device.
In the specific implementation, when the tire burst detection device detects that the vehicle has a tire burst, the radar detection device also detects whether other vehicles exist in the lane where the tire burst vehicle is located at present. And when other vehicles are detected in the current lane of the flat tire vehicle, judging whether the distance between the other vehicles relative to the flat tire vehicle is within the safe distance range. Further, if the judgment result shows that the distance between the other vehicle and the tire burst vehicle is not within the safe distance range, the radar detection device continues to detect whether the other vehicle exists in the adjacent lane of the tire burst vehicle, and the controller controls the tire burst vehicle to turn to the adjacent lane to stop when the other vehicle does not exist in the adjacent lane.
In contrast, in the embodiment, when the detection result indicates that no other vehicle exists in the current lane of the flat-tire vehicle or the distance between the other vehicle and the flat-tire vehicle is within the safe distance range, the flat-tire vehicle can be controlled to stop after being decelerated in the current lane.
In the embodiment, whether other vehicles exist in the lane where the tire burst vehicle is located at present is judged firstly, when the judgment result shows that other vehicles exist in the current lane of the tire burst vehicle, the distance between the other vehicles and the tire burst vehicle is acquired, and judging whether the distance is within the safe distance range, further judging whether other vehicles exist in the adjacent lanes of the flat-tire vehicle when the distance is not within the safe range, so that when the adjacent vehicle has no other vehicle, the vehicle with the burst tire is turned to the adjacent lane to avoid the problem that the vehicle with the burst tire is too close to the other vehicle to cause the collision accident, through multiple judgments, the vehicle with the burst tyre can be safely parked, the occurrence of traffic accidents is reduced, therefore, the technical problems that in the traditional method, the vehicle with the flat tire stops on the current lane, the surrounding driving conditions are not identified, and traffic accidents are easy to happen are solved.
In one embodiment, before step S104, the method further includes: identifying whether a lane where the vehicle is located at present is a curve or not; when it is recognized that the vehicle is in a curve, the vehicle is controlled to remain in the curve.
In the concrete implementation, after the tire burst detection device detects that the vehicle has a tire burst and the image acquisition device acquires the road image of the vehicle with the tire burst, whether the current lane where the tire burst vehicle is located is a curve or not needs to be identified, when the image identification device identifies that the tire burst vehicle is located in the curve, the result can be sent to the controller, and the controller controls the tire burst vehicle to steer, so that the tire burst vehicle is kept in the curve and is decelerated. If the flat tire vehicle is not in the curve, namely the flat tire vehicle is in the straight road, whether the flat tire vehicle is in the middle lane or not can be determined, and whether the lane needs to be changed or not can be further determined.
In the embodiment, after the vehicle is blown out, the road image of the vehicle is collected, whether the vehicle is in a curve is identified, if the vehicle is in the curve, the vehicle is controlled to be kept in the curve, when the vehicle is blown out in the process of turning, the vehicle can be controlled to decelerate, and meanwhile, the vehicle is continuously controlled in the curve, so that the problem of traffic accidents caused by the fact that the tire deviates, the vehicle is greatly separated from the curve is avoided, and the problem that in the traditional method, after the vehicle is blown out, the steering is set to be in a straight-line driving mode through software control, and the problem of steering control of the blown-out tire in the curve cannot be solved.
In one embodiment, the method further comprises: preprocessing the road image to obtain a preprocessed road image; extracting a lane line of a lane where the vehicle is currently located from the preprocessed road image to be used as a current lane line; determining a lane line model of a current lane line, and matching the lane line model with a preset straight lane model; and when the lane line model is not matched with the preset straight road model, judging that the vehicle is in the curve.
In the specific implementation, the step of identifying whether the current lane of the vehicle is a curve or not comprises the following steps: firstly, preprocessing a road image through image recognition equipment, such as gray processing, so as to highlight the area where a lane line is located, and taking the preprocessed image as the preprocessed road image; and then, the image recognition equipment determines a lane area of a current lane of the tire burst vehicle, extracts the characteristic points of the current lane of the tire burst vehicle from the lane area according to a lane line detection method, and fits the characteristic points to obtain a lane line of the current lane of the tire burst vehicle as the current lane line. Further, a lane line model of the current lane line can be determined, and the lane line model is matched with a preset straight lane model. When the lane line model is not matched with the preset straight road model, the lane where the flat tire vehicle is located at present can be judged to be a curve.
In this embodiment, the lane line model of the current lane of the flat tire vehicle is matched with the preset straight line model to determine whether the current lane of the flat tire vehicle is a curve, so that the curve can be quickly identified, and the flat tire vehicle can be controlled in the curve when the flat tire vehicle is identified to be in the curve.
In one embodiment, after the step of determining that the vehicle is in a curve, the method further includes: determining the curvature radius of the curve according to the lane line model; and steering control is carried out on the vehicle by adopting the curvature radius.
In a concrete implementation, after the vehicle is judged to be in the curve, the curvature radius of the curve can be calculated according to the lane line model of the curve in which the flat tire vehicle is positioned, and the rotation angle of the flat tire vehicle is controlled according to the curvature radius so as to control the flat tire vehicle in the curve.
In the embodiment, the curvature radius of the curve is determined, so that steering control of the flat tire vehicle is facilitated according to the curvature radius, the flat tire vehicle is controlled in the curve, control of the vehicle during tire burst of the curve is achieved, and the problem that in a traditional method, the vehicle is controlled to run linearly after tire burst, speed is reduced, and tire burst of the curve cannot be solved is solved.
In one embodiment, after the step of detecting whether there is a vehicle in the adjacent lane of the vehicle by the radar detection device, the method further includes: and when the vehicles are detected in the adjacent lanes of the vehicles, controlling the vehicles to keep on the current lane.
In the concrete implementation, when the tire burst vehicle is located in the middle lane and the radar detection device detects that other vehicles exist in the adjacent lanes of the tire burst vehicle, the tire burst vehicle is controlled on the current lane and is decelerated, and lane change is not needed temporarily. And whether vehicles exist on the adjacent lanes or not is continuously detected, and the lanes are switched again until no vehicles exist in the adjacent lanes.
In the embodiment, when the vehicle with the burst tire is located in the middle lane and the adjacent lanes are provided with vehicles, the vehicle with the burst tire is controlled to be kept on the current lane, the lanes are switched again when the adjacent lanes are not driven, the vehicles around are detected in real time, lane changing is carried out under the condition of ensuring safety, parking near the side is achieved, the situation that the left vehicle and the right vehicle are not detected, and the lane changing is carried out to cause safety accidents can be avoided.
It should be understood that although the steps in the flowcharts of fig. 1 and 4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1 and 4 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 5, there is provided a control device for a tire burst vehicle, including: an image acquisition module 502, a lane recognition module 505, a vehicle detection module 506, and a vehicle control module 508, wherein:
the image acquisition module 502 is used for acquiring a road image of a vehicle running road through image acquisition equipment when a tire burst of the vehicle is detected;
a lane recognition module 505 for recognizing whether the vehicle is in a middle lane according to the road image;
a vehicle detection module 506, configured to detect whether there are other vehicles in the adjacent lanes of the vehicle through a radar detection device when the vehicle is identified as being in the middle lane;
and a vehicle control module 508 for controlling the vehicle to turn to the adjacent lane and controlling the vehicle to stop in the adjacent lane when it is detected that there is no other vehicle in the adjacent lane of the vehicle.
In one embodiment, the lane recognition module 505 is specifically configured to: determining a lane edge area of the road image; the lane edge area is the area where the most marginal lane line is located; judging whether a lane line exists in the edge area of the lane; and determining whether the vehicle is in the middle lane according to the judgment result.
In one embodiment, the lane edge regions include a left lane edge region and a right lane edge region; the lane recognition module 505 is further configured to: when the lane lines exist in both the left lane edge area and the right lane edge area, the vehicle is judged to be in the middle lane; and when no lane line exists in the left lane edge area or the right lane edge area, judging that the vehicle is not in the middle lane.
In one embodiment, the above apparatus further comprises:
the radar detection module is used for detecting whether other vehicles exist in a lane where the vehicle is located currently through radar detection equipment;
the distance acquisition module is used for acquiring the distance between the other vehicles and the vehicle as a detection distance when the other vehicles exist in the current lane of the vehicle;
the distance judgment module is used for judging whether the detection distance is within a set safe distance range;
and the vehicle detection module is used for detecting whether other vehicles exist in the adjacent lanes of the vehicle or not through the radar detection equipment when the detection distance is not within the safe distance range.
In one embodiment, the above apparatus further comprises:
the curve identification module is used for identifying whether a current lane of the vehicle is a curve or not;
and the curve vehicle control module is used for controlling the vehicle to be kept in the curve when the vehicle is identified to be in the curve.
In one embodiment, the above apparatus further comprises:
the image preprocessing module is used for preprocessing the road image to obtain a preprocessed road image;
the lane line extraction module is used for extracting a lane line of a lane where the vehicle is located currently from the preprocessed road image to serve as the current lane line;
the lane line model determining module is used for determining a lane line model of the current lane line and matching the lane line model with a preset straight road model;
and the curve judgment module is used for judging that the vehicle is in a curve when the lane line model is not matched with the preset straight lane model.
In one embodiment, the above apparatus further comprises:
the curvature radius determining module is used for determining the curvature radius of the curve according to the lane line model;
and the steering control module is used for steering control of the vehicle by adopting the curvature radius.
In one embodiment, the vehicle control module 508 is further configured to: and when the vehicles are detected in the adjacent lanes of the vehicles, controlling the vehicles to keep parking on the current lane.
It should be noted that the control device for a flat tire vehicle of the present application corresponds to the control method for a flat tire vehicle of the present application one to one, and the technical features and the beneficial effects described in the embodiments of the control method for a flat tire vehicle are all applicable to the embodiments of the control device for a flat tire vehicle.
Further, each module in the flat tire vehicle control device described above may be entirely or partially realized by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, as shown in fig. 6, there is provided a flat tire vehicle control system including: a flat tire detection device 602, an image acquisition device 604, an image recognition device 606, a radar detection device 608, and a vehicle control device 610, wherein,
a tire burst detection device 602 for detecting whether a tire burst occurs in the vehicle;
the image acquisition device 602 is used for acquiring a road image of a driving road of the vehicle when the vehicle is detected to have a tire burst;
an image recognition device 606 for recognizing whether the vehicle is in a middle lane from the road image;
and a radar detection device 608 for detecting whether there is another vehicle in an adjacent lane of the vehicle when the vehicle is identified to be in the middle lane.
And a vehicle control device 610 for controlling the vehicle to turn to an adjacent lane and to stop the vehicle in the adjacent lane when it is detected that there is no other vehicle in the adjacent lane of the vehicle.
The control system for the flat tire vehicle can be used for executing the control method for the flat tire vehicle provided by any embodiment, and has corresponding functions and beneficial effects.
For specific limitations of the elevator brake control system, reference may be made to the above limitations on the control method of the flat tire vehicle, and details are not repeated here.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store data generated during control of a flat-tire vehicle. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of controlling a flat-tire vehicle.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided a computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
when the vehicle is detected to have a tire burst, acquiring a road image of a running road of the vehicle through image acquisition equipment;
identifying whether the vehicle is in a middle lane or not according to the road image;
when the vehicle is identified to be in the middle lane, detecting whether other vehicles exist in the adjacent lanes of the vehicle or not through radar detection equipment;
and when no other vehicle is detected in the adjacent lane of the vehicle, controlling the vehicle to turn to the adjacent lane and controlling the vehicle to stop on the adjacent lane.
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining a lane edge area of the road image; the lane edge area is the area where the most marginal lane line is located; judging whether a lane line exists in the edge area of the lane; and determining whether the vehicle is in the middle lane according to the judgment result.
In one embodiment, the processor, when executing the computer program, further performs the steps of: detecting whether other vehicles exist in a lane where the vehicle is located currently through radar detection equipment; when other vehicles exist in the current lane of the vehicle, the distance between the other vehicles and the vehicle is acquired and used as the detection distance; judging whether the detection distance is within a set safe distance range; and when the detection distance is not within the safe distance range, detecting whether other vehicles exist in the adjacent lanes of the vehicle or not by the radar detection device.
In one embodiment, the processor, when executing the computer program, further performs the steps of: the lane edge regions comprise a left lane edge region and a right lane edge region; when the lane lines exist in both the left lane edge area and the right lane edge area, the vehicle is judged to be in the middle lane; and when no lane line exists in the left lane edge area or the right lane edge area, judging that the vehicle is not in the middle lane.
In one embodiment, the processor, when executing the computer program, further performs the steps of: identifying whether a lane where the vehicle is located at present is a curve or not; when it is recognized that the vehicle is in a curve, the vehicle is controlled to remain in the curve.
In one embodiment, the processor, when executing the computer program, further performs the steps of: preprocessing the road image to obtain a preprocessed road image; extracting a lane line of a lane where the vehicle is currently located from the preprocessed road image to be used as a current lane line; determining a lane line model of a current lane line, and matching the lane line model with a preset straight lane model; and when the lane line model is not matched with the preset straight road model, judging that the vehicle is in the curve.
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining the curvature radius of the curve according to the lane line model; and steering control is carried out on the vehicle by adopting the curvature radius.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
when the vehicle is detected to have a tire burst, acquiring a road image of a running road of the vehicle through image acquisition equipment;
identifying whether the vehicle is in a middle lane or not according to the road image;
when the vehicle is identified to be in the middle lane, detecting whether other vehicles exist in the adjacent lanes of the vehicle or not through radar detection equipment;
and when no other vehicle is detected in the adjacent lane of the vehicle, controlling the vehicle to turn to the adjacent lane and controlling the vehicle to stop on the adjacent lane.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining a lane edge area of the road image; the lane edge area is the area where the most marginal lane line is located; judging whether a lane line exists in the edge area of the lane; and determining whether the vehicle is in the middle lane according to the judgment result.
In one embodiment, the computer program when executed by the processor further performs the steps of: detecting whether other vehicles exist in a lane where the vehicle is located currently through radar detection equipment; when other vehicles exist in the current lane of the vehicle, the distance between the other vehicles and the vehicle is acquired and used as the detection distance; judging whether the detection distance is within a set safe distance range; and when the detection distance is not within the safe distance range, detecting whether other vehicles exist in the adjacent lanes of the vehicle or not by the radar detection device.
In one embodiment, the computer program when executed by the processor further performs the steps of: the lane edge regions comprise a left lane edge region and a right lane edge region; when the lane lines exist in both the left lane edge area and the right lane edge area, the vehicle is judged to be in the middle lane; and when no lane line exists in the left lane edge area or the right lane edge area, judging that the vehicle is not in the middle lane.
In one embodiment, the computer program when executed by the processor further performs the steps of: identifying whether a lane where the vehicle is located at present is a curve or not; when it is recognized that the vehicle is in a curve, the vehicle is controlled to remain in the curve.
In one embodiment, the computer program when executed by the processor further performs the steps of: preprocessing the road image to obtain a preprocessed road image; extracting a lane line of a lane where the vehicle is currently located from the preprocessed road image to be used as a current lane line; determining a lane line model of a current lane line, and matching the lane line model with a preset straight lane model; and when the lane line model is not matched with the preset straight road model, judging that the vehicle is in the curve.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining the curvature radius of the curve according to the lane line model; and steering control is carried out on the vehicle by adopting the curvature radius.
It will be understood by those of ordinary skill in the art that all or a portion of the processes of the methods of the embodiments described above may be implemented by a computer program that may be stored on a non-volatile computer-readable storage medium, which when executed, may include the processes of the embodiments of the methods described above, wherein any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of controlling a punctured vehicle, the method comprising:
when the vehicle is detected to have a tire burst, acquiring a road image of a running road of the vehicle through image acquisition equipment;
identifying whether the vehicle is in a middle lane according to the road image;
when the vehicle is identified to be in the middle lane, detecting whether other vehicles exist in the adjacent lane of the vehicle or not through radar detection equipment;
and when no other vehicle is detected in the adjacent lane of the vehicle, controlling the vehicle to turn to the adjacent lane and controlling the vehicle to stop on the adjacent lane.
2. The method of claim 1, wherein said identifying from the road image whether the vehicle is in a center lane comprises:
determining a lane edge region of the road image; the lane edge area is an area where the most marginal lane line is located;
judging whether a lane line exists in the edge area of the lane;
and determining whether the vehicle is in the middle lane or not according to the judgment result.
3. The method of claim 1, wherein prior to the step of detecting by a radar-detecting device whether there is a vehicle in the lane adjacent to the vehicle, further comprising:
detecting whether other vehicles exist in a lane where the vehicle is located currently through radar detection equipment;
when other vehicles exist in the current lane of the vehicle, acquiring the distance of the other vehicles relative to the vehicle as a detection distance;
judging whether the detection distance is within a set safe distance range;
and when the detection distance is not within the safe distance range, detecting whether other vehicles exist in the adjacent lanes of the vehicle or not through the radar detection equipment.
4. The method of claim 2, wherein the lane edge regions include a left lane edge region and a right lane edge region; the determining whether the vehicle is in a middle lane according to the judgment result includes:
when the lane lines exist in both the left lane edge area and the right lane edge area, the vehicle is judged to be in a middle lane;
when no lane line exists in the left lane edge region or the right lane edge region, it is determined that the vehicle is not in a middle lane.
5. The method of claim 1, wherein said identifying from the road image whether the vehicle is in front of a center lane further comprises:
identifying whether the current lane of the vehicle is a curve or not;
when it is recognized that the vehicle is in a curve, the vehicle is controlled to remain in the curve.
6. The method of claim 5, further comprising:
preprocessing the road image to obtain a preprocessed road image;
extracting a lane line of a lane where the vehicle is located currently from the preprocessed road image to serve as a current lane line;
determining a lane line model of the current lane line, and matching the lane line model with a preset straight lane model;
and when the lane line model is not matched with a preset straight road model, judging that the vehicle is in a curve.
7. The method of claim 6, wherein the determining that the vehicle is after the curve further comprises:
determining the curvature radius of the curve according to the lane line model;
and steering control is carried out on the vehicle by adopting the curvature radius.
8. A control device for a tire burst vehicle, the device comprising:
the image acquisition module is used for acquiring a road image of a vehicle running road through image acquisition equipment when a vehicle is detected to have a tire burst;
the lane recognition module is used for recognizing whether the vehicle is in a middle lane or not according to the road image;
the vehicle detection module is used for detecting whether other vehicles exist in the adjacent lanes of the vehicle or not through radar detection equipment when the vehicle is identified to be in the middle lane;
and the vehicle control module is used for controlling the vehicle to turn to the adjacent lane and controlling the vehicle to stop on the adjacent lane when no other vehicle is detected in the adjacent lane of the vehicle.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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Address after: 511458 room 1201, No. 37, Jinlong, Nansha street, Xiangjiang financial and business center, Nansha District, Guangzhou City, Guangdong Province (office only) Applicant after: Hechuang Smart Technology Co.,Ltd. Address before: Room 1201, No. 37, Jinsha street, Nansha street, Xiangjiang financial and business center, Nansha District, Guangzhou City, Guangdong Province Applicant before: Guangzhou Auto Weilai New Energy Automotive Technology Co.,Ltd. Address after: 511458 room 1201, No. 37, Jinlong, Nansha street, Xiangjiang financial and business center, Nansha District, Guangzhou City, Guangdong Province (office only) Applicant after: Hechuang Automotive Technology Co.,Ltd. Address before: 511458 room 1201, No. 37, Jinlong, Nansha street, Xiangjiang financial and business center, Nansha District, Guangzhou City, Guangdong Province (office only) Applicant before: Hechuang Smart Technology Co.,Ltd. |
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Application publication date: 20200724 |