CN111645676B - Vehicle avoidance method, device, equipment and automobile - Google Patents
Vehicle avoidance method, device, equipment and automobile Download PDFInfo
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- CN111645676B CN111645676B CN202010061282.1A CN202010061282A CN111645676B CN 111645676 B CN111645676 B CN 111645676B CN 202010061282 A CN202010061282 A CN 202010061282A CN 111645676 B CN111645676 B CN 111645676B
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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
- 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
- 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
- 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
- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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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
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Abstract
The invention provides a vehicle avoidance method, a vehicle avoidance device, equipment and an automobile, wherein the method comprises the steps of obtaining current running state information of the vehicle, wherein the current running state information comprises the current position, the steering direction and the running speed of the vehicle; acquiring current running state information of other vehicles around the vehicle, wherein the current running state information of the other vehicles comprises current positions, overtaking information and running speeds of the other vehicles; judging whether the distance between the vehicle and other vehicles in the next preset time is smaller than a preset distance threshold value or not according to the current running state information of the vehicle and other vehicles; and if so, sending an avoidance running scheme to the vehicle, and controlling the vehicle to run according to the avoidance running scheme by using a vehicle control system of the vehicle. The scheme can effectively reduce the speed of the vehicle or change the running path of the vehicle, and can effectively avoid the problem that the vehicle is easy to have rear-end collision accidents when overtaking or running at an excessively high speed to influence the road safety.
Description
Technical Field
The invention relates to the field of automobile driving, in particular to a vehicle avoiding method, device and equipment and an automobile.
Background
At present, the proportion of rear-end accidents of automobiles in traffic accidents is very high. Rear-end collisions are mainly caused by following distances smaller than the minimum safe distance and slow driver response or poor performance of the braking system. After a rear-end collision happens, the damage to the front and rear vehicles and drivers is quite large.
According to the investigation result, the rear-end collision is frequently caused under the conditions that the automobile overtakes or the driving speed is too high in the driving process. In order to avoid the above problems, it is necessary to provide a scheme for enabling the rear vehicle to avoid the front vehicle, so as to reduce the occurrence rate of rear-end collision.
Disclosure of Invention
The invention aims to solve the problem that in the prior art, rear-end collision accidents are easy to happen when vehicles overtake or run at an excessively high speed, and the road safety is affected. Therefore, the invention provides a vehicle avoidance method, a device, equipment and an automobile, which can avoid the problem that the road safety is affected because rear-end collision accidents are easy to happen when overtaking or the driving speed is too fast.
In order to solve the above problem, an embodiment of the present invention discloses a vehicle avoidance method, where when a vehicle-mounted control system of a vehicle is in communication connection with a cloud server, the vehicle avoidance method includes:
acquiring current running state information of the vehicle, wherein the current running state information comprises a current position, a steering direction and a running speed of the vehicle;
acquiring current running state information of other vehicles around the vehicle, wherein the current running state information of the other vehicles comprises current positions, overtaking information and running speeds of the other vehicles;
judging whether the distance between the vehicle and the other vehicles in the next preset time is smaller than a preset distance threshold value or not according to the current running state information of the vehicle and the other vehicles;
if yes, sending an avoidance running scheme to the vehicle, and controlling the vehicle to run according to the avoidance running scheme by using a vehicle control system of the vehicle.
According to another specific implementation manner of the vehicle avoidance method, when the vehicle and the other vehicle travel in the current travel state, the vehicle is located behind the other vehicle.
According to another specific implementation manner of the invention, in the vehicle avoidance method disclosed by the embodiment of the invention, the preset time is 2-5 seconds, and the preset distance threshold is 15-30 centimeters.
According to another specific implementation manner of the present invention, in the vehicle avoidance method disclosed in the embodiment of the present invention, the current driving state information of the vehicle further includes accelerator pedal information, active safety system information, and driver fatigue driving information of the vehicle; and is provided with
The current running state of the other vehicle further includes steering system information of the other vehicle, and accelerator pedal information.
According to another specific implementation manner of the present invention, the vehicle avoidance method, which is disclosed in an embodiment of the present invention, the controlling, by a vehicle control system of the vehicle, the vehicle to travel according to the avoidance travel scheme includes:
and controlling the vehicle to run by the avoidance running scheme by utilizing the vehicle-mounted controller, the automatic braking system and the vehicle-mounted advanced driving auxiliary system of the vehicle.
According to another specific implementation manner of the present invention, the vehicle avoidance method disclosed in the embodiment of the present invention, the avoidance driving scheme includes: and controlling the running direction and the running speed of the vehicle and the other vehicles, and controlling the vehicle to run in a manner of increasing the distance between the vehicle and the other vehicles after the preset time.
According to another specific implementation manner of the present invention, the vehicle avoidance method disclosed in the embodiment of the present invention includes: controlling the vehicle to decelerate so that the distance between the vehicle and the other vehicle in the preset time is larger than the preset distance threshold value; and/or
And controlling the vehicle to turn towards a direction far away from the other vehicles according to the surrounding road condition information so as to enable the distance between the vehicle and the other vehicles to be greater than the preset distance threshold value in the preset time.
The embodiment of the invention also discloses a vehicle avoiding device, a vehicle-mounted control system of a vehicle can be in communication connection with the cloud server, and the vehicle avoiding device comprises:
the first acquisition module acquires current running state information of the vehicle, wherein the current running state information comprises a current position, a steering direction and a running speed of the vehicle;
the second acquisition module acquires current running state information of other vehicles around the vehicle, wherein the current running state information of the other vehicles comprises current positions, overtaking information and running speeds of the other vehicles;
the judging module judges whether the distance between the vehicle and the other vehicles in the next preset time is smaller than a preset distance threshold value or not according to the current running state information of the vehicle and the other vehicles, and if so, the vehicle enters the data processing module;
the data processing module sends an avoidance running scheme to the vehicle;
and the control module controls the vehicle to run according to the avoidance running scheme by utilizing a vehicle control system of the vehicle.
The embodiment of the invention also discloses a vehicle avoidance device, which comprises:
a memory in which an avoidance program is stored;
a processor which, when executing an avoidance program, implements the steps of the vehicle avoidance method as recited in any one of the above.
The embodiment of the invention also discloses an automobile which comprises the vehicle-mounted control system, wherein the automobile is in communication connection with the cloud server through the vehicle-mounted control system, and the vehicle avoidance method is realized.
The invention has the beneficial effects that:
according to the vehicle avoidance method, the current running state information of the vehicle and the current running state information of other vehicles around the vehicle are obtained, whether the distance between the vehicle and the other vehicles is smaller than a preset distance threshold value within preset time is judged according to the current running state information of the vehicle and the other vehicles, and then an avoidance running scheme is sent to the vehicle according to a judgment result, so that the vehicle speed can be effectively reduced or the running path of the vehicle can be changed, and the problem that the rear-end collision accident is easily caused when the vehicle overtakes or runs at an excessively high speed to influence the road safety can be effectively avoided. In addition, the vehicle avoiding device, the vehicle avoiding equipment and the automobile provided by the embodiment can not cause rear-end accidents due to overtaking or too fast running speed, so that the road safety is not influenced.
Drawings
Fig. 1 is a schematic flow chart of a vehicle avoidance method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a vehicle avoidance apparatus according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle avoidance apparatus according to an embodiment of the present invention.
Description of reference numerals:
1. a first acquisition module; 2. a second acquisition module; 3. a judgment module; 4. a data processing module; 5. a control module; 6. a memory; 7. a processor.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.
In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the product of the present invention is usually placed in when used, and are only used for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and operate, and therefore, should not be construed as limiting the present invention.
The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present embodiment can be understood in specific cases by those of ordinary skill in the art.
To make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The invention provides a vehicle avoidance method, aiming at solving the problem that in the prior art, rear-end collision accidents are easy to happen when a vehicle overtakes or runs at an excessively high speed, and the road safety is influenced. The following describes a vehicle avoidance method according to an embodiment of the present invention in detail with reference to fig. 1. Fig. 1 is a schematic flow chart of a vehicle avoidance method according to an embodiment of the present invention.
Referring to fig. 1, in the vehicle avoidance method provided in this embodiment, when a vehicle-mounted control system of a vehicle is in communication connection with a cloud server, the vehicle avoidance method includes:
step S1: and acquiring current running state information of the vehicle, wherein the current running state information comprises the current position, the steering direction and the running speed of the vehicle.
Specifically, the current running state refers to the running state of the vehicle at the time of acquiring the information. The method specifically comprises the current position, the steering direction and the running speed of the vehicle.
The current position of the vehicle refers to the position coordinates of the vehicle on the road at the moment. The signal can be obtained by a GPS (global positioning system), a radar, a high-precision radar or other devices; the steering direction of the vehicle is the moving direction of the vehicle and can be obtained by mounting a sensor on a steering wheel and the like; the running speed of the vehicle is the current running speed of the vehicle, and data displayed on an instrument panel can be directly adopted, or a rotating speed sensor arranged on a wheel or a speed sensor arranged on other parts of a vehicle body can be directly adopted.
After the current driving state information of the vehicle is acquired, the driving state information is transmitted to a cloud server through an on-board control system of the vehicle.
Step S2: the method comprises the steps of obtaining current running state information of other vehicles around the vehicle, wherein the current running state information of the other vehicles comprises current positions, overtaking information and running speeds of the other vehicles.
Specifically, the current traveling state of the other vehicle means a traveling state of the other vehicle at the time of acquiring the information. Specifically, the current position, the passing information and the driving speed of other vehicles are included.
The current position and the traveling speed of the other vehicle are not substantially different from those of the vehicle in step S1, and will not be described again.
It should be noted that the obtaining of the current position of the other vehicle is mainly for obtaining a distance between the other vehicle and the vehicle. This distance may be achieved by a distance measuring device such as a radar. That is, there are two methods for obtaining the distance between two vehicles, the first is to directly obtain the distance between the vehicle and other vehicles through a distance measuring device such as a radar installed on the vehicle body, and to display the distance on a central control display device or other display devices of the vehicle and other vehicles in real time; the second is to acquire the current positions of the vehicle and other vehicles, transmit the position information to the cloud server, calculate by the cloud server to obtain the distance between the vehicle and other vehicles, and finally transmit the distance information to the vehicle and other vehicles through the cloud.
The overtaking information of the other vehicle refers to information such as an overtaking object and an overtaking route of the other vehicle.
It should be noted that the vehicles in this embodiment are the acting objects of the vehicle avoidance method, and the number of the vehicles is not specifically limited in this embodiment, and may be one, two or more. The other vehicles are vehicles located around the vehicle, and the number of the vehicles is not specifically limited in this embodiment. The specific relationship between the two is that the vehicle is targeted to other vehicles and wants to pass other vehicles.
It should be noted that, in this embodiment, only the driving state information of the vehicle and other vehicles that needs to be acquired is schematically listed, but of course, the driving state information may also include other information, such as a license plate number, and the acquiring of the license plate number information is to prevent the cloud from generating a misoperation when receiving and sending data, and receiving or sending related information of other surrounding vehicles. The cloud side firstly confirms the license plate number when receiving and sending data, and therefore the error can be prevented. The information of the acquired license plate number can be acquired through devices such as a camera.
Step S3: and judging whether the distance between the vehicle and the other vehicles in the next preset time is smaller than a preset distance threshold value or not according to the current running state information of the vehicle and the other vehicles.
Specifically, this step is to determine whether the vehicle will collide with another vehicle when passing by targeting another vehicle. Since the state of the vehicle running on the road at every moment is changed, the present embodiment only needs to determine whether the vehicle will collide with other vehicles within a predetermined time.
Further, in order to ensure the safety of the vehicle and other vehicles and avoid unnecessary friction of the vehicle due to forward sliding caused by inertia after braking or other inaccurate measurement problems, the distance between the vehicle and other vehicles is required to be not less than a preset distance value, namely a preset distance threshold value.
Step S4: and if so, sending an avoidance running scheme to the vehicle, and controlling the vehicle to run according to the avoidance running scheme by using a vehicle control system of the vehicle.
Specifically, when the result of the determination is that the distance between the vehicle and another vehicle in the next predetermined time is smaller than the preset distance threshold, an avoidance driving scheme needs to be sent to the vehicle. Thereby, collision of the vehicle with other vehicles can be avoided.
In the present embodiment, when the vehicle and the other vehicle travel in the current travel state, the vehicle is located behind the other vehicle. That is, the other vehicle is a passing target of the vehicle, and any vehicle may be set as the other vehicle as long as the vehicle passes the passing target.
It should be noted that, the cloud server in this embodiment has a main function of matching the vehicle that sends the avoidance driving scheme. That is, the cloud server is configured to identify the vehicle that needs to travel in the avoidance scheme, and other vehicles around the vehicle that may collide with the vehicle. The operation of executing the matching process may be performed automatically through AL technology or other technologies, which are all technical means commonly used by those skilled in the art, and this embodiment is not particularly limited thereto.
Preferably, in the embodiment, the predetermined time may be 2 to 5 seconds, and the preset distance threshold may be 15 to 30 centimeters.
Specifically, the predetermined time may be 2 seconds, 2.5 seconds, 3 seconds, 3.5 seconds, 4 seconds, 4.5 seconds, 5 seconds, but may be other values. This embodiment is not limited to this. It should be noted that the predetermined time may not be too long, otherwise the determination result may be affected after the vehicle or other vehicle makes the adjustment of the direction or the vehicle speed in the time period.
More specifically, the preset distance threshold may be 15 cm, 20 cm, 25 cm, 30 cm, but may be other values within this range. This embodiment is not particularly limited thereto. It should be noted that, in order to ensure safety as much as possible, the preset distance threshold may be set to a relatively long value.
It should be noted that, in this embodiment, the current driving state information of the vehicle further includes accelerator pedal information, active safety system information, and driver fatigue driving information of the vehicle.
Specifically, the accelerator pedal information of the vehicle is instantaneous acceleration information of the vehicle, which can be acquired by sensors provided on an accelerator pedal and a brake pedal. It should be understood that the accelerator pedal information is not limited to only the acceleration information of the vehicle, but also includes deceleration information.
The active safety system information refers to information related to a series of reactions that a safety system of a vehicle makes to ensure safe driving of the vehicle.
The driver fatigue driving information refers to the driving state of the driver, in particular to the fatigue degree of the driver. It can be comprehensively judged by detecting the continuous driving time of a driver, the age, the driving age, the drinking condition and the like of the driver. This embodiment is not particularly limited thereto.
Further, the current running state of the other vehicle also includes steering system information of the other vehicle, and accelerator pedal information.
The steering system information of the other vehicle refers to the steering direction of the other vehicle at the current time, the steered target vehicle, and even whether the other vehicle is steered or overtaken by taking the other vehicle as the target vehicle.
The accelerator pedal information of the other vehicle is instantaneous acceleration information of the other vehicle, which can be acquired by sensors provided on an accelerator pedal and a brake pedal. It should be understood that the accelerator pedal information is not limited to only acceleration information of other vehicles, but also includes deceleration information.
Further, in step S4, the controlling the vehicle to travel in the avoidance travel pattern using the vehicle control system for the vehicle includes:
and controlling the vehicle to run in an avoidance running scheme by utilizing a vehicle-mounted controller, an automatic braking system and a vehicle-mounted advanced driving auxiliary system of the vehicle.
That is to say, after each device gathered the current travel state information of vehicle and other vehicles, can transmit to vehicle control system, vehicle control system sends the high in the clouds server after handling data. And then the cloud server can send the current running state information transmitted by the vehicle and other vehicles to the relevant vehicle and other vehicles. The vehicle control systems of the vehicle and other vehicles receiving the data can adjust the running state of the vehicle in time according to the running state information of other vehicles around.
It should be noted that, this embodiment only schematically lists the current driving state information of the vehicle and other vehicles, and may further include information such as road conditions and vehicle distances of surrounding areas detected by using the radar and the camera, which is not specifically limited in this embodiment.
Specifically, the avoidance driving scheme in this embodiment includes: the running direction and the running speed of the vehicle and other vehicles are controlled, and the vehicle is controlled to run in a mode of increasing the distance between the two vehicles after a preset time.
That is, the main control principle of the present embodiment is to increase the distance between the vehicle and another vehicle to avoid rear-end collision between the vehicle and the other vehicle.
Further, the avoidance driving scheme comprises: controlling the vehicle to decelerate so that the distance between the vehicle and other vehicles in a preset time is larger than a preset distance threshold value; and/or
And controlling the vehicle to turn towards a direction far away from other vehicles according to the surrounding road condition information so that the distance between the vehicle and other vehicles in a preset time is larger than a preset distance threshold value.
That is, the avoidance driving scheme may include three types:
first, controlling the vehicle to decelerate; second, changing the traveling direction of the vehicle; third, the vehicle is controlled to decelerate while changing the traveling direction of the vehicle.
Preferably, the avoidance driving scheme in the embodiment preferably controls the vehicle to decelerate, and if the braking range of deceleration cannot meet the requirement, performs steering, that is, an operation of changing the driving direction of the vehicle.
By adopting the scheme, the current running state information of the vehicle and the current running state information of other vehicles around the vehicle are obtained, whether the vehicle and other vehicles are smaller than the preset distance threshold value within the preset time is judged according to the current running state information of the vehicle and other vehicles, and then the avoidance running scheme is sent to the vehicle according to the judgment result, so that the vehicle speed can be effectively reduced or the running path of the vehicle can be changed, and the problem that the rear-end collision accident is easily caused when the vehicle overtakes or the running vehicle speed is too fast and the road safety is influenced can be effectively avoided.
The embodiment of the invention also discloses a vehicle avoidance device, and particularly relates to a vehicle avoidance device shown in figure 2. Fig. 2 is a schematic structural diagram of a vehicle avoidance apparatus according to an embodiment of the present invention. Wherein, the on-vehicle control system of vehicle can with high in the clouds server communication connection, and the vehicle dodges the device and includes:
the first obtaining module 1 obtains current driving state information of the vehicle, wherein the current driving state information comprises a current position, a steering direction and a driving speed of the vehicle.
The first acquiring module 1 in this embodiment is a device for acquiring the current driving state information of the vehicle, and may specifically be a distance sensor, a speed sensor, a camera, an ultrasonic detecting device, etc. mounted on the vehicle, or may be another device capable of detecting vehicle information, which is not specifically limited in this embodiment.
Specifically, the first obtaining module 1 may be specifically configured according to information that needs to be obtained, and a radar is used for collecting distance information, a camera is used for collecting license plate information, and a speed sensor or an instrument panel is used for collecting vehicle speed information, that is, the first obtaining module 1 in this embodiment is not an integrated module, but is formed by a plurality of devices that can collect corresponding information. This embodiment is not particularly limited thereto.
And the second acquisition module 2 acquires the current running state information of other vehicles around the vehicle, wherein the current running state information of the other vehicles comprises the current positions, the overtaking information and the running speeds of the other vehicles.
The second obtaining module 2 in this embodiment is a device for obtaining the current driving state information of other vehicles, and is not substantially different from the first obtaining module, and is not described herein again.
And the judging module 3 judges whether the distance between the vehicle and other vehicles in the next preset time is less than a preset distance threshold value or not according to the current running state information of the vehicle and other vehicles, and if so, the vehicle enters the data processing module.
It should be noted that the operation determined in this embodiment is performed by the cloud server. Specifically, the determination operation may be implemented by a processor disposed in the cloud server or other devices capable of implementing the determination operation, which is not specifically limited in this embodiment.
And the data processing module 4 is used for sending an avoidance driving scheme to the vehicle.
The data processing module 4 mainly functions to transmit data. It CAN be a CAN bus, or a network connecting a cloud server with an onboard controller of a vehicle, etc.
And the control module 5 controls the vehicle to run according to the avoidance running scheme by using a vehicle control system of the vehicle.
The control module 5 is a control device of the vehicle itself, and may be an onboard controller, or other control device.
By adopting the scheme, the current running state information of the vehicle is acquired by the first acquisition module, the current running state information of other vehicles around the vehicle is acquired by the second acquisition module, then the judgment module judges whether the vehicle and other vehicles are smaller than the preset distance threshold value within the preset time according to the current running state information of the vehicle and other vehicles, then the data processing module sends an avoidance running scheme to the vehicle according to the judgment result, and finally the control module controls the vehicle to run according to the avoidance running scheme, so that the vehicle speed can be effectively reduced or the running path of the vehicle can be changed, and the problem that the rear-end collision accident is easily caused when the vehicle overtakes or the running speed is too fast and the road safety is influenced can be effectively avoided.
Based on the vehicle avoidance method, the embodiment further provides a vehicle avoidance device, which is specifically shown in fig. 3. Fig. 3 is a schematic structural diagram of a vehicle avoidance apparatus according to an embodiment of the present invention. According to fig. 3, the vehicle avoidance apparatus provided by the present embodiment includes:
the memory 6, the memory 6 stores a back-off program.
The processor 7 implements the steps of the vehicle avoidance method according to the above embodiment when the processor 7 executes the avoidance program.
The memory 6 and the processor 7 in this embodiment are both data storage devices and data processing devices commonly found in the prior art, and may be a single chip, a PLC, or other devices, which is not specifically limited in this embodiment.
In addition, the embodiment further provides an automobile which comprises the vehicle-mounted control system, the automobile is in communication connection with the cloud server through the vehicle-mounted control system, and the vehicle avoidance method in the above embodiment is implemented.
By adopting the scheme, the vehicle avoiding equipment and the vehicle can effectively avoid the problem that the vehicle is easy to have rear-end collision accidents when overtaking or running speed is too fast, and the road safety is influenced.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a more detailed description of the invention, taken in conjunction with the specific embodiments thereof, and that no limitation of the invention is intended thereby. Various changes in form and detail, including simple deductions or substitutions, may be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (8)
1. A vehicle avoidance method is characterized in that when an on-vehicle control system of a vehicle is in communication connection with a cloud server, the vehicle avoidance method comprises the following steps:
acquiring current running state information of the vehicle, wherein the current running state information comprises a current position, a steering direction, a running speed and a license plate number of the vehicle;
acquiring current running state information of other vehicles around the vehicle, wherein the current running state information of the other vehicles comprises current positions, overtaking information, running speeds and license plate numbers of the other vehicles;
judging whether the distance between the vehicle and the other vehicles in the next preset time is smaller than a preset distance threshold value or not according to the current running state information of the vehicle and the other vehicles;
if so, confirming the license plate number of the vehicle and the license plate numbers of other vehicles, sending an avoidance running scheme to the vehicle when the license plate number of the vehicle is matched with the vehicle and the license plate numbers of other vehicles are matched with other vehicles, and controlling the vehicle to run in the avoidance running scheme by using a vehicle-mounted control system of the vehicle; wherein
The avoidance driving scheme comprises the following steps:
firstly, controlling the vehicle to decelerate;
judging whether the braking range of the vehicle deceleration meets the requirement or not;
if so, stopping decelerating;
if not, steering is performed.
2. The vehicle avoidance method according to claim 1, characterized in that the vehicle is located behind the other vehicle when the vehicle and the other vehicle are traveling in the current traveling state.
3. The vehicle avoidance method according to claim 2, wherein the predetermined time is 2 to 5 seconds, and the preset distance threshold is 15 to 30 cm.
4. The vehicle avoidance method according to claim 3, wherein the current driving state information of the vehicle further includes accelerator pedal information, active safety system information, and driver fatigue driving information of the vehicle; and is provided with
The current running state of the other vehicle further includes steering system information of the other vehicle, and accelerator pedal information.
5. The vehicle avoidance method according to claim 4, wherein the controlling, with the vehicle control system of the vehicle, the vehicle to travel in the avoidance travel scheme includes:
and controlling the vehicle to run by the avoidance running scheme by utilizing the vehicle-mounted controller, the automatic braking system and the vehicle-mounted advanced driving auxiliary system of the vehicle.
6. The utility model provides a vehicle dodges device, its characterized in that, the on-vehicle control system of vehicle can with high in the clouds server communication connection, the vehicle dodges the device and includes:
the vehicle driving control system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module acquires current driving state information of the vehicle, and the current driving state information comprises a current position, a steering direction, a driving speed and a license plate number of the vehicle;
the second acquisition module acquires current running state information of other vehicles around the vehicle, wherein the current running state information of the other vehicles comprises current positions, overtaking information, running speeds and license plate numbers of the other vehicles;
the judging module judges whether the license plate number of the vehicle is matched with the vehicle, whether the license plate number of the other vehicle is matched with the other vehicle and whether the distance between the vehicle and the other vehicle in the next preset time is smaller than a preset distance threshold value or not according to the current running state information of the vehicle and the other vehicle, and if so, the data processing module is started;
the data processing module sends an avoidance running scheme to the vehicle;
the control module controls the vehicle to run according to the avoidance running scheme by utilizing an on-board control system of the vehicle; wherein
The avoidance driving scheme comprises the following steps:
firstly, controlling the vehicle to decelerate;
judging whether the braking range of the vehicle deceleration meets the requirement or not;
if so, stopping decelerating;
if not, steering is performed.
7. A vehicle avoidance apparatus, characterized by comprising:
a memory in which an avoidance program is stored;
a processor which, when executing an avoidance program, implements the steps of the vehicle avoidance method of any of claims 1-5.
8. An automobile comprising an on-board control system, wherein the automobile is in communication connection with a cloud server through the on-board control system, and the vehicle avoidance method according to any one of claims 1 to 5 is implemented.
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| CN113879322A (en) * | 2021-09-30 | 2022-01-04 | 国唐汽车有限公司 | Overtaking early warning method, system and device based on V2V and vehicle |
| CN114407879B (en) * | 2022-01-17 | 2023-06-02 | 常州信息职业技术学院 | Emergency steering control system and control method suitable for automatic driving |
| CN114980432B (en) * | 2022-06-10 | 2023-03-24 | 中国第一汽车股份有限公司 | Multi-vehicle atmosphere lamp interaction method and vehicle interaction method |
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