CN111619557A - Dangerous road vehicle control method and device, electronic equipment and storage medium - Google Patents
Dangerous road vehicle control method and device, electronic equipment and storage medium Download PDFInfo
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- CN111619557A CN111619557A CN202010278948.9A CN202010278948A CN111619557A CN 111619557 A CN111619557 A CN 111619557A CN 202010278948 A CN202010278948 A CN 202010278948A CN 111619557 A CN111619557 A CN 111619557A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The application relates to a dangerous road vehicle control method, a dangerous road vehicle control device, an electronic device and a storage medium, wherein the dangerous road vehicle control method comprises the following steps: actively acquiring dangerous state information of a dangerous road section; if the dangerous road section has danger, position information between a dangerous object in the dangerous road section and the current vehicle, dangerous object attribute information in the dangerous road section, motion state information of the current vehicle and motion performance information of the current vehicle are acquired in time; and adjusting a vehicle control mode according to the position information between the dangerous object and the current vehicle, the attribute information of the dangerous object, the motion state information of the current vehicle and the motion performance information of the current vehicle so that the current vehicle runs according to the vehicle control mode.
Description
Technical Field
The present disclosure relates to the field of safe and intelligent driving, and in particular, to a method and an apparatus for controlling a vehicle in a dangerous road, an electronic device, and a storage medium.
Background
With the development of society, traffic is more and more important, the number and the types of vehicles are continuously increased, a large number of traffic accidents exist in China every year, and a large number of casualties and property losses are caused, so that the driving safety is a problem which has to be paid attention to.
Falling rocks or landslide are easily taken place the highway section and are meetting torrential rain or strong wind weather after, the structure of mountain is all unstable, can produce the rubble landing on the mountain, cause falling rocks very easily and block in road surface department, and serious meeting causes the mountain landslide for the car of traveling on highway meets the hindrance, when meetting falling rocks, if the driving just is in the falling rocks below, can cause the damage to the car.
In the prior art, a technical method for dealing with dangerous situations of a landslide and prone road section is not found, and a common method for dealing with falling rocks is to arrange a safety device on the falling rocks and prone road section, wherein an inclined conveyor belt is arranged on the falling rocks and prone road section, and falling rocks fall onto the conveyor belt to prevent vehicles and people from being injured by crashing. The technical scheme is equivalent to building a protective channel on the rockfall road section, which is troublesome and labor-consuming, has huge cost and is difficult to implement, and the rockfall falls from a mountain, has very large inertia, and is blocked by only depending on one conveyor belt, so that the rockfall is not in line with the actual situation; in addition, in the driving process, people mostly concentrate on the field of vision in the front with eyes and energy, potential dangers nearby the vehicle are difficult to observe at any time, the driving state of the vehicle is timely and actively adjusted to avoid obstacles, and the life and property safety of the people and the passing people is guaranteed.
Disclosure of Invention
The embodiment of the application aims to solve the technical problems that how to adjust the vehicle control mode when a dangerous road section meets danger, and timely and actively adjust the vehicle running state to avoid obstacles and ensure the life and property safety of self and passing personnel.
In order to solve the technical problem, in one aspect, an embodiment of the present application provides a method for controlling a vehicle in a dangerous road segment, where the method includes:
acquiring dangerous state information of a dangerous road section;
if the dangerous road section has danger, acquiring position information between a dangerous object in the dangerous road section and the current vehicle and dangerous object attribute information in the dangerous road section;
acquiring the motion state information of the current vehicle and the motion performance information of the current vehicle;
and determining a vehicle control mode according to the position information between the dangerous object and the current vehicle, the attribute information of the dangerous object, the motion state information of the current vehicle and the motion performance information of the current vehicle, so that the current vehicle runs according to the vehicle control mode.
Another aspect provides a dangerous road segment vehicle control apparatus, including:
the dangerous state information acquisition module is used for acquiring dangerous state information of a dangerous road section;
the position and attribute information acquisition module is used for acquiring position information between a dangerous object in the dangerous road section and the current vehicle and dangerous object attribute information in the dangerous road section if the dangerous road section has danger;
the vehicle state and performance information acquisition module is used for acquiring the motion state information of the current vehicle and the motion performance information of the current vehicle;
and the vehicle control mode determining module is used for determining a vehicle control mode according to the position information between the dangerous object and the current vehicle, the attribute information of the dangerous object, the motion state information of the current vehicle and the motion performance information of the current vehicle so as to enable the current vehicle to run according to the vehicle control mode.
Another aspect provides an electronic device, which includes a processor and a memory, where the memory stores at least one instruction, at least one program, a code set, or a set of instructions, and the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by the processor to implement the dangerous segment vehicle control method as described above.
Another aspect provides a computer-readable storage medium having at least one instruction, at least one program, a set of codes, or a set of instructions stored therein, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by a processor to implement the method for controlling a vehicle on a dangerous road segment as described above.
By adopting the technical scheme, the method, the device, the electronic equipment and the storage medium for controlling the vehicles on the dangerous road section have the following beneficial effects:
actively acquiring dangerous state information of a dangerous road section; if the dangerous road section has danger, position information between a dangerous object in the dangerous road section and the current vehicle, dangerous object attribute information in the dangerous road section, motion state information of the current vehicle and motion performance information of the current vehicle are acquired in time; and adjusting a vehicle control mode according to the position information between the dangerous object and the current vehicle, the attribute information of the dangerous object, the motion state information of the current vehicle and the motion performance information of the current vehicle so that the current vehicle runs according to the vehicle control mode.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method for controlling vehicles on a dangerous road section according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an application environment for determining a vehicle control manner according to an embodiment of the present application;
FIG. 4 is a schematic application environment diagram of a first vehicle control manner provided by the embodiment of the present application;
FIG. 5 is a schematic application environment diagram of a second vehicle control manner provided by the embodiment of the present application;
fig. 6 is a schematic structural diagram of a dangerous road segment vehicle control device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the present application. In the description of the present application, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
Referring to fig. 1, fig. 1 is a schematic diagram of an application environment according to an embodiment of the present application, including a vehicle host 101. The vehicle host 101 acquires dangerous state information of a dangerous road section; the vehicle host machine 101 judges whether the dangerous road section has a danger, if so, the vehicle host machine 101 acquires position information between a dangerous object in the dangerous road section and the current vehicle and dangerous object attribute information in the dangerous road section; the vehicle host 101 acquires the motion state information of the current vehicle and the motion performance information of the current vehicle; the vehicle host 101 determines a vehicle control mode according to the position information between the dangerous object and the current vehicle, the attribute information of the dangerous object, the motion state information of the current vehicle, and the motion performance information of the current vehicle, so that the current vehicle runs according to the vehicle control mode.
Alternatively, the vehicle host 101 may be an intelligent driving controller in the vehicle.
In addition to the vehicle host 101, the execution subject of the dangerous road segment vehicle control method may also be a server, and the server acquires dangerous state information of a dangerous road segment; the server judges whether the dangerous road section has danger or not, and if the dangerous road section has danger, the server acquires position information between a dangerous object in the dangerous road section and the current vehicle and dangerous object attribute information in the dangerous road section; the server acquires the motion state information of the current vehicle and the motion performance information of the current vehicle; the server determines a vehicle control mode according to the position information between the dangerous object and the current vehicle, the dangerous object attribute information, the motion state information of the current vehicle and the motion performance information of the current vehicle, and sends a vehicle control mode command to the vehicle host 101 so that the current vehicle runs according to the vehicle control mode. And a vehicle host machine 101.
The execution main body of the dangerous road vehicle control method can also be a computer terminal, a mobile phone terminal and the like.
In the driving process, most eyes and energy are concentrated in the front visual field, potential dangers nearby a vehicle are difficult to observe at any time, the driving state of the vehicle is timely and actively adjusted to avoid obstacles, and the life and property safety of the vehicle and passing personnel is guaranteed. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system or server product may be implemented in a sequential or parallel manner (e.g., parallel processor or multi-threaded environment) according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 2, the method may include:
s201, acquiring dangerous state information of a dangerous road section;
in an alternative embodiment, the dangerous state information of the dangerous road section is acquired through the detection equipment of the dangerous road section;
before entering a dangerous road section, a driver manually starts a dangerous road section avoiding system, authorizes the dangerous road section avoiding system to carry out vehicle control, simultaneously starts communication connection with detection equipment of the dangerous road section, loads an electronic map in the detection equipment of the dangerous road section, and accordingly obtains dangerous state information of the dangerous road section. Optionally, the electronic map may be a high-precision three-dimensional map; optionally, the electronic map includes attribute information of the dangerous objects, such as a falling speed of a falling rock, a volume of the falling rock, a falling rock influence range, a center position of a landslide, a landslide influence range, and a sliding speed of the landslide.
In an optional implementation manner, the dangerous state information of the dangerous road section is acquired through the cloud device;
the cloud equipment stores an electronic map of the dangerous road section; optionally, the cloud device may be a cloud server. Optionally, the electronic map of the dangerous road section may be a high-precision three-dimensional map; optionally, the electronic map includes information of a mountain, dangerous objects in the mountain, a road, a position and a shape of a road device, and the like.
In an alternative embodiment, the danger status information of the dangerous road section is acquired by radar.
Optionally, the vehicle is provided with a RADAR, which may be a laser RADAR (RADAR), which is an electronic device that detects objects using electromagnetic waves, and is also called "radio positioning". The device can emit electromagnetic waves to irradiate a target and receive the echo of the target, so that information such as the distance from the target to an electromagnetic wave emission point, the distance change rate (radial speed), the azimuth, the altitude and the like can be obtained. The working principle of the laser radar is very similar to that of the radar, the laser is used as a signal source, pulse laser emitted by a laser device is applied to trees, roads, bridges and buildings on the ground to cause scattering, a part of light waves can be reflected to a receiver of the laser radar, the distance from the laser radar to a target point is obtained according to calculation of a laser ranging principle, the pulse laser continuously scans a target object to obtain data of all the target points on the target object, and after the data is used for imaging processing, an accurate three-dimensional image can be obtained. The radar speed measurement mainly utilizes the Doppler effect (Doppler Effect) principle: when the target approaches the radar antenna, the reflected signal frequency will be higher than the transmitter frequency; conversely, when the target moves away from the antenna, the reflected signal frequency will be lower than the transmitter frequency. Therefore, the relative speed of the target and the radar can be calculated by the change value of the frequency. The device is widely used in industries such as police overspeed testing and the like. Therefore, the dangerous state information of the dangerous road section can be rapidly and timely acquired through the radar.
The radar is rotatable set up in on the current vehicle, it is specifically optional, install rotatable radar on the car, the radar is installed on runing rest, runing rest and the output shaft of motor, be provided with angle sensor in the runing rest, angle sensor passes through the wire and is connected with the treater, the car in-process of traveling, change the detection direction of radar at the uniform velocity in 360 degrees within ranges that are on a parallel with car four-wheel plane in succession, when detecting the barrier in the detection radius, the treater acquires current detection direction, the speed of hazardous articles, the distance between radar or vehicle and the hazardous articles.
Optionally, the quantity of radar can be two, the both sides of vehicle respectively set up one, two radars are installed respectively on two runing rest, two runing rest respectively with the output shaft of motor, be provided with angle sensor in two runing rest respectively, angle sensor passes through the wire and is connected with the treater, the car driving in-process, two radars are separately in 180 degrees within ranges that are on a parallel with car four-wheel plane at the uniform velocity change radar's detection direction in succession, when detecting the barrier in the detection radius, the treater acquires current detection direction, the speed of hazardous articles, the distance between radar or vehicle and the hazardous articles.
The processor can be a vehicle host, and can also send the acquired current detection direction, the speed of the dangerous object, the radar or the distance between the vehicle and the dangerous object to the vehicle host.
S202, judging whether the dangerous road section has danger or not, and if so, turning to S203;
s203, acquiring position information between a dangerous object in a dangerous road section and a current vehicle and dangerous object attribute information in the dangerous road section;
the dangerous objects comprise falling rocks, landslides and the like.
In an optional implementation manner, the electronic map includes location information of a dangerous object in the dangerous road segment, the vehicle is located through a satellite, a road end device, and the like to obtain location information of the current vehicle, and finally, the positions of the two in the electronic map are confirmed to obtain relative location information between the dangerous object in the dangerous road segment and the current vehicle.
In an alternative embodiment, the electronic map includes information of relative positions between the dangerous objects in the dangerous road segment and the current vehicle. And acquiring position information between the dangerous object in the dangerous road section and the current vehicle by acquiring the electronic map.
In an optional embodiment, the electronic map includes attribute information of the dangerous object, for example, a falling speed of a falling rock, a volume of the falling rock, an influence range of the falling rock, a center position of a landslide, an influence range of the landslide, and a falling speed of the landslide, and the attribute information of the dangerous object in the dangerous road segment is obtained by obtaining the electronic map.
In an alternative embodiment, the position information between the dangerous object in the dangerous road section and the current vehicle and the attribute information of the dangerous object in the dangerous road section are obtained by a radar rotatably arranged on the current vehicle.
S204, acquiring the motion state information of the current vehicle and the motion performance information of the current vehicle;
in the embodiment of the present application, the motion state information of the current vehicle includes motion speed information of the current vehicle, and the motion performance information of the current vehicle includes maximum operation speed information, maximum braking force information, maximum turning capability information, and the like of the vehicle.
In an alternative embodiment, the motion state information of the current vehicle is acquired by various sensors.
And S205, determining a vehicle control mode according to the position information between the dangerous object and the current vehicle, the attribute information of the dangerous object, the motion state information of the current vehicle and the motion performance information of the current vehicle, so that the current vehicle runs according to the vehicle control mode.
In an optional implementation manner, the method specifically includes:
if the dangerous object is in front of the current position of the vehicle and the vehicle is running, determining a side-approaching parking waiting mode;
if the dangerous object is behind the current position of the vehicle and the vehicle is running, determining a forward driving mode;
and if the dangerous object is in the lateral direction of the current position of the vehicle, determining an avoidance result according to the attribute information of the dangerous object, the motion state information of the current vehicle and the motion performance information of the current vehicle, and determining a vehicle control mode based on the avoidance result.
If the avoidance result indicates that avoidance cannot be successfully achieved, carrying out area division on the vehicle to obtain a plurality of areas, wherein the preset protection degrees of the plurality of areas are different;
sequentially determining a plurality of vehicle control modes and avoidance results of the plurality of areas according to the motion state information of the current vehicle and the motion performance information of the current vehicle;
and determining the avoidance result as a vehicle control mode corresponding to a region with higher preset protection degree, which can be successfully avoided, from a plurality of vehicle control modes based on the avoidance result.
In the embodiment of the present application, optionally, if the avoidance result is that avoidance cannot be successfully performed, that is, if the avoidance cannot be completely performed by using the maximum performance of the vehicle and various avoidance modes, the vehicle always encounters the current vehicle.
In this embodiment of the application, optionally, the plurality of regions includes a first region and a second region; the first region is a passenger position region, and the second region is a driver position region; the preset protection degree of the second area is higher than that of the first area. For example, the passenger compartment refers to the area except the head and tail of a vehicle, and the car refers to the space area of the front row and the rear row, for example, four seats are provided in total, and then four seats are the passenger compartment. Two passengers are seated in the cabin, the seats of the two passengers are the positions of the passengers, and the degree of protection of the driver position area is prior to the positions of the passengers. Optionally, two passengers sit in the vehicle rear floor space area, the vehicle rear floor space area is the first area, one of the two passengers sits in the front passenger area, and the other passenger sits in the rear floor space area, so that the front passenger area and the rear floor space area are the first area. The protection degree of each level of the first area and/or the protection degree of the first area and the second area can be set in advance according to the importance degree of people. For example, the front-row copilot area is a first-stage first area partition, the rear evacuation room area is a second-stage first area partition, the protection degree of the second-stage first area partition is greater than that of the first-stage first area partition, and the first front-row copilot area and the rear evacuation room area are also first areas if no person sits in the first front-row copilot area and the rear evacuation room area.
For example, the following steps: if the avoidance result of the first area is that avoidance can be successfully performed and the avoidance result of the second area is that avoidance cannot be successfully performed in the first vehicle control manner, if the avoidance result of the first area is that avoidance cannot be successfully performed and the avoidance result of the second area is that avoidance can be successfully performed in the second vehicle control manner, the vehicle is controlled in the second vehicle control manner.
For explanation by taking falling rocks as an example, please refer to fig. 3, and fig. 3 is a schematic diagram of an application environment for determining a vehicle control manner according to an embodiment of the present application; as shown in fig. 3:
if the vehicle can not be completely avoided by the maximum performance of the vehicle and various avoiding modes and always touches the current vehicle, carrying out regional division on the vehicle to obtain a plurality of regions, namely a first region 301 and a second region 302; the first area 301 is an occupant position area, and the second area 302 is a driver position area; the preset degree of protection of the second area 302 is higher than the preset degree of protection of the first area 301.
Referring to fig. 4, fig. 4 is a schematic application environment diagram of a first vehicle control method according to an embodiment of the present disclosure; as shown in fig. 4:
sequentially determining a first vehicle control mode according to the motion state information of the current vehicle and the motion performance information of the current vehicle, wherein the first vehicle control mode is that the vehicle runs forwards at the maximum running speed of the vehicle, the first region 301 is judged to be hit by the falling rocks 303 according to the speed and the direction of the falling rocks 303 and the maximum running speed of the current vehicle, the second region 302 is not hit, the avoidance result of the first region 301 is that the vehicle can be successfully avoided, and the avoidance result of the second region 302 is that the vehicle cannot be successfully avoided;
please refer to fig. 5, fig. 5 is a schematic application environment diagram of a second vehicle control method according to an embodiment of the present application; as shown in fig. 5:
determining a second vehicle control mode in sequence according to the motion state information of the current vehicle and the motion performance information of the current vehicle, wherein the second vehicle control mode is backward traveling at the maximum traveling speed of the vehicle, judging that the falling rocks 303 hit a second area 302 and do not hit the first area 301 according to the speed and the direction of the falling rocks 303 and the maximum traveling speed of the current vehicle, and if the second vehicle control mode is adopted, controlling the vehicle in the second vehicle control mode, wherein the avoidance result of the first area 301 is that the vehicle cannot be successfully avoided, and the avoidance result of the second area 302 is that the vehicle can be successfully avoided;
if the avoidance result of the first area 301 is that avoidance can be successfully performed and the avoidance result of the second area 302 is that avoidance cannot be successfully performed in the first vehicle control method, and if the avoidance result of the first area 301 is that avoidance cannot be successfully performed and the avoidance result of the second area 302 is that avoidance can be successfully performed in the second vehicle control method, the vehicle is controlled in the second vehicle control method.
The front-row copilot area is taken as a first-stage first area subarea, the rear-row cabin area is taken as a second-stage first area subarea, the protection degree of the second-stage first area subarea is greater than that of the first-stage first area subarea, and rockfall rolls towards the lateral direction of the vehicle at the mountain corresponding to the side of the vehicle copilot:
if a first vehicle control mode is determined in sequence according to the motion state information of the current vehicle and the motion performance information of the current vehicle, the first vehicle control mode is that the vehicle runs forwards at the maximum running speed of the vehicle, the falling rock is judged to be hit to a first-stage first area partition and not hit to a second-stage first area partition according to the speed and the direction of the falling rock and the maximum running speed of the current vehicle, the avoidance result of the first-stage first area partition is that the falling rock can be successfully avoided, and the avoidance result of the second-stage first area partition is that the falling rock cannot be successfully avoided;
and if the avoidance result of the first-level first area subarea is that the avoidance cannot be successfully carried out and the avoidance result of the second-level first area subarea is that the avoidance can be successfully carried out, the vehicle is controlled in the second vehicle control mode.
Although people mostly concentrate on the front visual field in the driving process and hardly observe potential dangers near the vehicle at any time, dangerous objects around the vehicle can be monitored through the dangerous road vehicle control method, the driving state of the vehicle can be actively adjusted in time to avoid obstacles, and the driving safety is improved to a certain extent. Moreover, the protection degree of each level of the first area and/or the protection degree of the first area and the second area are set in advance according to the importance degree of personnel, the will of the personnel is combined with the timely initiative, and the humanization and the flexibility of the driving safety are improved to a certain extent.
An embodiment of the present application further provides a dangerous road vehicle control device, fig. 6 is a schematic structural diagram of the dangerous road vehicle control device provided in the embodiment of the present application, and as shown in fig. 6, the device includes:
a dangerous state information obtaining module 601, configured to obtain dangerous state information of a dangerous road segment;
a location and attribute information obtaining module 602, configured to, if there is a danger in the dangerous road segment, obtain location information between a dangerous object in the dangerous road segment and a current vehicle and dangerous object attribute information in the dangerous road segment;
a vehicle state and performance information obtaining module 603, configured to obtain motion state information of a current vehicle and motion performance information of the current vehicle;
and a vehicle control mode determining module 604, configured to determine a vehicle control mode according to the position information between the dangerous object and the current vehicle, the attribute information of the dangerous object, the motion state information of the current vehicle, and the motion performance information of the current vehicle, so that the current vehicle runs according to the vehicle control mode.
The device and method embodiments in the embodiments of the present application are based on the same application concept.
The embodiment of the present application further provides an electronic device, where the electronic device includes a processor and a memory, where the memory stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the above-mentioned dangerous road segment vehicle control method.
The embodiment of the present application further provides a computer-readable storage medium, where at least one instruction, at least one program, a code set, or an instruction set is stored in the storage medium, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the above-mentioned dangerous road segment vehicle control method.
Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
As can be seen from the above embodiments of the method, the device, or the storage medium for controlling vehicles on dangerous road segments provided by the present application, in the present application, dangerous state information of dangerous road segments is actively acquired; if the dangerous road section has danger, position information between a dangerous object in the dangerous road section and the current vehicle, dangerous object attribute information in the dangerous road section, motion state information of the current vehicle and motion performance information of the current vehicle are acquired in time; and adjusting a vehicle control mode according to the position information between the dangerous object and the current vehicle, the attribute information of the dangerous object, the motion state information of the current vehicle and the motion performance information of the current vehicle so that the current vehicle runs according to the vehicle control mode.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A dangerous segment vehicle control method, characterized by comprising:
acquiring dangerous state information of a dangerous road section;
if the dangerous road section has danger, acquiring position information between a dangerous object in the dangerous road section and the current vehicle and dangerous object attribute information in the dangerous road section;
acquiring the motion state information of the current vehicle and the motion performance information of the current vehicle;
and determining a vehicle control mode according to the position information between the dangerous object and the current vehicle, the attribute information of the dangerous object, the motion state information of the current vehicle and the motion performance information of the current vehicle, so that the current vehicle runs according to the vehicle control mode.
2. The method for controlling a vehicle on a dangerous road segment according to claim 1, wherein the determining a vehicle control mode according to the position information between the dangerous object and the current vehicle, the attribute information of the dangerous object, the motion state information of the current vehicle, and the motion performance information of the current vehicle comprises:
if the dangerous object is in front of the current position of the vehicle and the vehicle is running, determining a side-approaching parking waiting mode;
if the dangerous object is behind the current position of the vehicle and the vehicle is running, determining a forward driving mode;
and if the dangerous object is in the lateral direction of the current position of the vehicle, determining an avoidance result according to the attribute information of the dangerous object, the motion state information of the current vehicle and the motion performance information of the current vehicle, and determining a vehicle control mode based on the avoidance result.
3. The method for controlling vehicles on dangerous road segments according to claim 2, wherein the determining an avoidance result according to the attribute information of the dangerous objects, the motion state information of the current vehicle and the motion performance information of the current vehicle, and the determining a vehicle control mode based on the avoidance result comprises:
if the avoidance result indicates that avoidance cannot be successfully achieved, carrying out area division on the vehicle to obtain a plurality of areas, wherein the preset protection degrees of the plurality of areas are different;
sequentially determining a plurality of vehicle control modes and avoidance results of the plurality of areas according to the motion state information of the current vehicle and the motion performance information of the current vehicle;
and determining the avoidance result as a vehicle control mode corresponding to a region with higher preset protection degree, which can be successfully avoided, from a plurality of vehicle control modes based on the avoidance result.
4. The dangerous segment vehicle control method according to claim 3, wherein the plurality of regions includes a first region and a second region;
the first region is a passenger position region, and the second region is a driver position region; the preset protection degree of the second area is higher than that of the first area.
5. The dangerous segment vehicle control method according to claim 1, wherein the acquiring position information between a dangerous object in the dangerous segment and the current vehicle and dangerous object attribute information in the dangerous segment comprises:
and acquiring position information between a dangerous object in a dangerous road section and the current vehicle and dangerous object attribute information in the dangerous road section through a radar, wherein the radar is rotatably arranged on the current vehicle.
6. The dangerous segment vehicle control method according to claim 1, wherein the dangerous object attribute information includes at least one of a falling speed of a falling rock, a volume of the falling rock, a falling rock influence range, a center position of a landslide, a landslide influence range, and a sliding speed of the landslide.
7. The dangerous segment vehicle control method according to claim 1, wherein the acquiring of the dangerous state information of the dangerous segment includes:
acquiring dangerous state information of the dangerous road section through detection equipment of the dangerous road section;
or;
acquiring dangerous state information of a dangerous road section through cloud equipment;
or;
and acquiring dangerous state information of a dangerous road section through a radar, wherein the radar is rotatably arranged on the current vehicle.
8. A dangerous segment vehicle control apparatus, characterized in that the apparatus comprises:
the dangerous state information acquisition module is used for acquiring dangerous state information of a dangerous road section;
the position and attribute information acquisition module is used for acquiring position information between a dangerous object in the dangerous road section and the current vehicle and dangerous object attribute information in the dangerous road section if the dangerous road section has danger;
the vehicle state and performance information acquisition module is used for acquiring the motion state information of the current vehicle and the motion performance information of the current vehicle;
and the vehicle control mode determining module is used for determining a vehicle control mode according to the position information between the dangerous object and the current vehicle, the attribute information of the dangerous object, the motion state information of the current vehicle and the motion performance information of the current vehicle so as to enable the current vehicle to run according to the vehicle control mode.
9. An electronic device, characterized in that the electronic device comprises a processor and a memory, wherein at least one instruction, at least one program, a set of codes or a set of instructions is stored in the memory, and the at least one instruction, the at least one program, the set of codes or the set of instructions is loaded and executed by the processor to realize the dangerous segment vehicle control method according to any one of claims 1 to 7.
10. A computer-readable storage medium, wherein at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the storage medium, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by a processor to implement the method for controlling a vehicle at a dangerous segment according to any one of claims 1 to 7.
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