CN112109703A - Vehicle control method, vehicle control system, vehicle, and storage medium - Google Patents
Vehicle control method, vehicle control system, vehicle, and storage medium Download PDFInfo
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- 230000001133 acceleration Effects 0.000 claims description 4
- 206010039203 Road traffic accident Diseases 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 4
- 238000004891 communication Methods 0.000 description 6
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- 230000002159 abnormal effect Effects 0.000 description 2
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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
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- B60W2520/12—Lateral 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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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
Abstract
The invention discloses a vehicle control method, which comprises the following steps: acquiring shooting data and vehicle driving data; determining the position of the vehicle body and the road track of the vehicle according to the shooting data; determining a predicted vehicle running track according to the vehicle body position and the vehicle running data; and comparing the road track with the predicted vehicle running track, and executing auxiliary driving operation according to the comparison result. The invention also discloses a vehicle control system, a vehicle and a computer readable storage medium, which achieve the effect of reducing the probability of traffic accidents in the process of driving at a curve.
Description
Technical Field
The present invention relates to the field of virtual reality technologies, and in particular, to a vehicle control method, a vehicle control system, a vehicle, and a computer-readable storage medium.
Background
With the rapid development of the production process, automobiles become common transportation means in people's lives. In the existing automobiles, in order to reduce the occurrence rate of traffic accidents, many automobiles are provided with a camera, so that the actual environment data shot by the camera and the position of the automobile in the actual environment can be displayed on a central control display screen or other display devices of the automobile. The driver can determine the space position of the automobile in the cab, so that the automobile can be controlled to turn or merge.
During the driving of the automobile, the driving experience of the driver is greatly depended on. For a driver with insufficient driving experience, in the turning area, even if the driver determines the spatial position of the vehicle, the steering wheel rotation angle during the current turning cannot be accurately determined. This causes the phenomenon that the novice driver often turns to the short-term or turns to the angle too big etc. in the course of turning, and above-mentioned phenomenon can lead to the car to drive in-process, and the probability that the traffic accident takes place rises.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle control method, a vehicle control system and a vehicle computer readable storage medium, aiming at achieving the purpose of reducing the probability of traffic accidents in the process of curve driving.
To achieve the above object, the present invention provides a vehicle control method including the steps of:
acquiring shooting data and vehicle driving data;
determining the position of the vehicle body and the road track of the vehicle according to the shooting data;
determining a predicted vehicle running track according to the vehicle body position and the vehicle running data;
and comparing the road track with the predicted vehicle running track, and executing auxiliary driving operation according to the comparison result.
Optionally, the driving data includes steering wheel state information, current vehicle speed, vehicle acceleration; the vehicle body position includes the relative position of the vehicle and the road in the space and the vehicle traveling direction.
Optionally, the driving assistance operation includes outputting prompt information and/or adjusting a vehicle driving state, the comparing the road track with the predicted vehicle driving track, and the performing the driving assistance operation according to the comparison result includes:
comparing the road track with the predicted vehicle travel track;
outputting the prompt information according to the comparison result; and/or
And adjusting the running state of the vehicle according to the comparison result.
Optionally, the step of adjusting the vehicle driving state according to the comparison result includes at least one of the following steps:
adjusting the rotation angle of the steering wheel according to the comparison result;
adjusting the output power of the vehicle according to the comparison result;
and adjusting the braking force of the vehicle according to the comparison result.
Optionally, after the step of acquiring the shot data and the vehicle driving data, the vehicle control method further includes:
determining the type of the current road according to the shooting data;
when the road type is a curve, acquiring vehicle and road cooperation information;
and adjusting the running state of the vehicle according to the vehicle-road coordination information.
Optionally, the vehicle-road coordination information includes vehicle positioning information, and a vehicle-coming state and a vehicle-coming position corresponding to the vehicle positioning information.
Optionally, after the step of determining the current road type according to the shot data, the method further includes:
and when the road type is a curve, executing the step of determining the position of the vehicle body and the road track according to the shooting data.
In addition, to achieve the above object, the present invention also provides a vehicle control system including an image pickup device, a memory, a processor, and a vehicle control program stored on the memory and operable on the processor, the vehicle control program implementing the steps of the vehicle control method as described above when executed by the processor.
In addition, to achieve the above object, the present invention also provides a vehicle including a vehicle control system including an image pickup device, a memory, a processor, and a vehicle control program stored on the memory and executable on the processor, the vehicle control program implementing the steps of the vehicle control method as described above when executed by the processor.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a vehicle control program that, when executed by a processor, implements the steps of the vehicle control method as described above.
According to the vehicle control method, the vehicle control system, the vehicle and the computer-readable storage medium provided by the embodiment of the invention, the shooting data and the vehicle running data are firstly obtained, then the vehicle body position and the road track of the vehicle are determined according to the shooting data, the predicted vehicle running track is determined according to the vehicle body position and the vehicle running data, the road track and the predicted vehicle running track are compared, and the auxiliary driving operation is executed according to the comparison result.
Drawings
Fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram illustrating one embodiment of a vehicle control method of the present invention;
FIG. 3 is a schematic view of a vehicle in a cornering situation according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart diagram illustrating another embodiment of a vehicle control method of the present invention;
FIG. 5 is a schematic flow chart diagram of another embodiment of a vehicle control method of the present invention;
fig. 6 is a schematic view of a passing turn of an oncoming vehicle according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
During the driving of the automobile, the driving experience of the driver is greatly depended on. For a driver with insufficient driving experience, in the turning area, even if the driver determines the spatial position of the vehicle, the steering wheel rotation angle during the current turning cannot be accurately determined. This causes the phenomenon that the novice driver often turns to the short-term or turns to the angle too big etc. in the course of turning, and above-mentioned phenomenon can lead to the car to drive in-process, and the probability that the traffic accident takes place rises.
In order to reduce the probability of traffic accidents, the embodiment of the invention provides a vehicle control method, and the main solution of the method comprises the following steps:
acquiring shooting data and vehicle driving data;
determining the position of the vehicle body and the road track of the vehicle according to the shooting data;
determining a predicted vehicle running track according to the vehicle body position and the vehicle running data;
and comparing the road track with the predicted vehicle running track, and executing auxiliary driving operation according to the comparison result.
Since the auxiliary driving operation can be performed according to the execution result, an effect of reducing the probability of occurrence of a traffic accident during the curve driving is achieved.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention can be terminal equipment such as an automobile.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), a mouse, etc., and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is one type of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a vehicle control program.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the processor 1001 may be configured to invoke a vehicle control program stored in the memory 1005 and perform the following operations:
acquiring shooting data and vehicle driving data;
determining the position of the vehicle body and the road track of the vehicle according to the shooting data;
determining a predicted vehicle running track according to the vehicle body position and the vehicle running data;
and comparing the road track with the predicted vehicle running track, and executing auxiliary driving operation according to the comparison result.
Further, the processor 1001 may call the vehicle control program stored in the memory 1005, and also perform the following operations:
comparing the road track with the predicted vehicle travel track;
outputting the prompt information according to the comparison result; and/or
And adjusting the running state of the vehicle according to the comparison result.
Further, the processor 1001 may call the vehicle control program stored in the memory 1005, and also perform the following operations:
adjusting the rotation angle of the steering wheel according to the comparison result;
adjusting the output power of the vehicle according to the comparison result;
and adjusting the braking force of the vehicle according to the comparison result.
Further, the processor 1001 may call the vehicle control program stored in the memory 1005, and also perform the following operations:
determining the type of the current road according to the shooting data;
when the road type is a curve, acquiring vehicle and road cooperation information;
and adjusting the running state of the vehicle according to the vehicle-road coordination information.
Further, the processor 1001 may call the vehicle control program stored in the memory 1005, and also perform the following operations:
and when the road type is a curve, executing the step of determining the position of the vehicle body and the road track according to the shooting data.
Referring to fig. 2, in an embodiment of the vehicle control method of the invention, the vehicle control method includes the steps of:
step S10, acquiring shooting data and vehicle driving data;
step S20, determining the position of the vehicle body and the road track according to the shooting data;
step S30, determining a predicted vehicle running track according to the vehicle body position and the vehicle running data;
and step S40, comparing the road track with the predicted vehicle running track, and executing auxiliary driving operation according to the comparison result.
During the driving of the automobile, the driving experience of the driver is greatly depended on. For a driver with insufficient driving experience, in the turning area, even if the driver determines the spatial position of the vehicle, the steering wheel rotation angle during the current turning cannot be accurately determined. This causes the phenomenon that the novice driver often turns to the short-term or turns to the angle too big etc. in the course of turning, and above-mentioned phenomenon can lead to the car to drive in-process, and the probability that the traffic accident takes place rises.
In order to reduce the probability of traffic accidents in the driving process of automobiles, the vehicle control method is provided.
In the present embodiment, it may be a vehicle control system that executes the measurement control method of the present invention. The vehicle control system can be arranged on a vehicle. The vehicle may be any one of a fuel-powered vehicle, an electric vehicle, and a hybrid vehicle.
The vehicle control system may include a camera device, wherein the camera device may be used to photograph a space in which the vehicle is located.
For example, an automobile provided with the vehicle control system may be provided with a first camera in front of the automobile, a second camera and a third camera on two sides of the automobile respectively, and a fourth camera on the rear of the automobile. And the measurement control system can acquire the panoramic image corresponding to the space where the automobile is located.
It is understood that, in the implementation of the present invention, it is limited to acquire a panoramic image of the space where the vehicle is located, and an image in the traveling direction of the vehicle may be acquired only by the target camera provided in front of the vehicle.
Further, after the shooting data is obtained, vehicle driving data may also be obtained, wherein the vehicle driving data may include steering wheel state information, a current vehicle speed, and a vehicle acceleration.
Specifically, the vehicle is also provided with a sensor for detecting a state of the steering wheel, by which a rotation angle of the steering wheel of the vehicle can be acquired as the above-described steering wheel state information. In addition, the vehicle is also provided with a vehicle speed detection assembly, so that the current vehicle speed of the vehicle can be acquired through the vehicle speed detection assembly. The vehicle can be provided with a gyroscope, so that the vehicle can determine vehicle body posture related information such as vehicle acceleration, course angle and the like according to the detection value of the gyroscope.
Further, after the shot data are acquired, the position of the vehicle body and the road track can be determined based on the shot data according to a preset image recognition algorithm.
Referring to fig. 3, the vehicle body position may include a relative position of the vehicle to a road in a space where the vehicle is located and a traveling direction F of the vehicle, wherein the vehicle body position may be determined according to distances L1 and L2 of the vehicle body from both side lane lines and a distance L3 of the vehicle from the lane line in the traveling direction F of the vehicle.
When the lane line is not drawn on the current road or the lane line cannot be recognized due to dirt coverage or wear, the vehicle control data may perform object recognition based on the captured data. And then automatically drawing a virtual lane line according to the object recognition result. To obtain the above-mentioned distances L1, L2, and L3. In addition, the distance between the vehicle and the target object can be obtained by a vehicle-mounted radar or directly based on the shooting ratio of the image data. Here, no further description is given.
Further, a road track may be determined based on the captured data, wherein the road track may be set as a road between the lane lines. It can be understood that, when the lane line is a virtual lane line drawn by the system, the above-mentioned road track is a corresponding road between the virtual lane lines on both sides of the vehicle.
After the vehicle body position and the road track are determined, a predicted vehicle travel track (e.g., g1, g2, or g3 shown in fig. 3) may be determined based on the vehicle body position and the vehicle travel data. It is understood that the predicted vehicle traveling track is a virtual traveling track calculated by the processing processor according to the vehicle body position and the vehicle traveling data.
Specifically, a trajectory prediction algorithm may be preset in the processor, and the vehicle body position and the vehicle travel data may be used as input parameters of a pre-stored algorithm to obtain the predicted vehicle travel trajectory.
Further, after the predicted vehicle travel track and the road track are determined, the predicted vehicle travel track and the road track may be compared, and an auxiliary driving operation may be performed according to the comparison result.
Further, when comparing the predicted vehicle travel track with the road track, referring to fig. 3, if the predicted vehicle travel track is g1, it indicates that the current steering angle of the user is too small or the vehicle speed is too high. Resulting in understeer. When the predicted vehicle running track is shown as g2, the current steering angle of the user is over normal, and the steering operation is reasonable. When the predicted vehicle driving track is shown as g3, it indicates that the current steering angle of the user is too large, or the vehicle speed is too fast. Resulting in excessive steering. Therefore, different comparison results can be obtained after comparing the predicted vehicle running track with the road track.
When the comparison result is determined, the vehicle does not respond when the comparison result is normal, and when the comparison result is abnormal (i.e., the steering is too large or too small, and an accident may occur), the driving assistance operation may be performed according to the comparison result.
Specifically, the prompt information may be output according to the comparison result, and/or the driving state of the vehicle may be adjusted according to the comparison result.
For example, referring to fig. 3, when the steering is too large, a message indicating that the vehicle is about to deviate to the left may be output, and when the steering is too small, a message indicating that the vehicle is about to deviate to the right may be output. The prompt message can be displayed on a display device, such as a central control display screen. And/or the prompt voice can be output in a mode of outputting the prompt voice.
As one implementation, the difference between the current vehicle running state and the preset safe vehicle running state may also be measured when the comparison result is abnormal. The vehicle running state comprises a steering wheel rotation angle, vehicle output power and/or vehicle braking force. And further executing at least one step of the following steps according to the difference quantity so as to keep the vehicle safe:
adjusting the rotation angle of the steering wheel according to the comparison result;
adjusting the output power of the vehicle according to the comparison result;
and adjusting the braking force of the vehicle according to the comparison result.
In the technical scheme disclosed in the embodiment, the shooting data and the vehicle driving data are acquired, the vehicle body position and the road track of the vehicle are determined according to the shooting data, the predicted vehicle driving track is determined according to the vehicle body position and the vehicle driving data, the road track and the predicted vehicle driving track are compared, and the auxiliary driving operation is executed according to the comparison result.
Referring to fig. 4, based on the foregoing embodiment, in another embodiment, after the step S10, the method further includes:
step S50, determining the current road type according to the shooting data;
and step S60, judging whether the current road type is a curve.
In this embodiment, after the shot data is obtained, a road track may be determined, and then track parameters such as a curvature, a curvature radius, and/or a width of the road track are obtained, and when the track parameters of the road track are within a preset interval, it is determined that the road type is a curved road, otherwise, it is determined that the road type is a straight road. The preset parameters can be determined by a producer according to actual test data or experience. This embodiment is not particularly limited thereto.
Alternatively, when the road type is a curve, the above steps S20 to S40 are performed. Otherwise, no response is made.
Alternatively, referring to fig. 5, the vehicle control method in the present invention further includes:
in step S70, obtaining vehicle-road cooperation information;
and step S80, adjusting the vehicle running state according to the vehicle road coordination information.
Specifically, in the present embodiment, the vehicle is provided with the vehicle-road cooperation interface so that the vehicle can receive the vehicle-road cooperation information based on the vehicle-road cooperation information. The vehicle positioning information, and the coming state and the coming position corresponding to the vehicle positioning information.
For example, the vehicle is provided with a positioning function so that the vehicle can determine the current position of the vehicle and synchronize the position of the vehicle to the server so that the server can determine the vehicle at the same position. When the vehicle is in a curve, the server may transmit the vehicle-road coordination information of the vehicle that is also in the curve to the vehicle at the position. Referring to fig. 6, the a and B vehicles may transmit their own location information to the server so that the server may determine the locations of the a and B vehicles. Further, when the server determines that the a vehicle and the B vehicle are traveling in opposite directions, the state and the position of the B vehicle may be transmitted to the a vehicle and the state and the position of the a vehicle may be transmitted to the B vehicle. So that the A can come with the B parking space to determine the coming state and the coming position. The driving state of the vehicle is automatically corrected according to the positioning information of the vehicle, the coming state and the coming position of the vehicle, so that the collision accident caused by the blind zone of the curve is avoided. Alternatively, the vehicle may automatically detect a vehicle within the inspection range from the vehicle, and then at a curve, the vehicle directly performs data communication to determine the above-described vehicle-coming state and vehicle-coming position.
In the technical solution disclosed in the present embodiment, it may be determined whether the vehicle is in a curve, and the above steps S20 to S30 are performed when the vehicle is in a curve. Thus, the effect of reducing the system operation overhead is achieved. And/or when the vehicle is in a curve, the driving state of the vehicle is adjusted according to the state and the position of the coming vehicle, so that the effect of reducing the occurrence rate of traffic accidents is achieved.
Furthermore, an embodiment of the present invention further provides a vehicle control system, where the vehicle control system includes an image capturing device, a memory, a processor, and a vehicle control program stored in the memory and executable on the processor, and the vehicle control program, when executed by the processor, implements the steps of the vehicle control method according to each of the above embodiments.
In addition, the embodiment of the invention also provides a vehicle, and the vehicle is provided with a vehicle control system. The vehicle control system comprises a camera device, a memory, a processor and a vehicle control program stored on the memory and operable on the processor, wherein the vehicle control program, when executed by the processor, implements the steps of the vehicle control method according to the various embodiments described above.
Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, on which a vehicle control program is stored, which, when executed by a processor, implements the steps of the vehicle control method according to each of the above embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g. vehicle, etc.) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle control method characterized by comprising:
acquiring shooting data and vehicle driving data;
determining the position of the vehicle body and the road track of the vehicle according to the shooting data;
determining a predicted vehicle running track according to the vehicle body position and the vehicle running data;
and comparing the road track with the predicted vehicle running track, and executing auxiliary driving operation according to the comparison result.
2. The vehicle control method according to claim 1, characterized in that the running data includes steering wheel state information, current vehicle speed, vehicle acceleration; the vehicle body position includes the relative position of the vehicle and the road in the space and the vehicle traveling direction.
3. The vehicle control method according to claim 1, wherein the driving assistance operation includes outputting a prompt message and/or adjusting a vehicle running state, and the comparing the road track with the predicted vehicle running track and performing the driving assistance operation based on the comparison result includes:
comparing the road track with the predicted vehicle travel track;
outputting the prompt information according to the comparison result; and/or
And adjusting the running state of the vehicle according to the comparison result.
4. The vehicle control method according to claim 3, wherein the step of adjusting the vehicle running state according to the comparison result includes at least one of:
adjusting the rotation angle of the steering wheel according to the comparison result;
adjusting the output power of the vehicle according to the comparison result;
and adjusting the braking force of the vehicle according to the comparison result.
5. The vehicle control method according to claim 1, wherein after the step of acquiring the shot data and the vehicle travel data, the vehicle control method further comprises:
determining the type of the current road according to the shooting data;
when the road type is a curve, acquiring vehicle and road cooperation information;
and adjusting the running state of the vehicle according to the vehicle-road coordination information.
6. The vehicle control method according to claim 5, wherein the vehicle-road coordination information includes vehicle positioning information, and an incoming state and an incoming position corresponding to the vehicle positioning information.
7. The vehicle control method according to claim 5, characterized in that after the step of determining the current road type from the shot data, further comprising:
and when the road type is a curve, executing the step of determining the position of the vehicle body and the road track according to the shooting data.
8. A vehicle control system, characterized by comprising: a camera device, a memory, a processor and a vehicle control program stored on the memory and executable on the processor, the vehicle control program when executed by the processor implementing the steps of the vehicle control method as claimed in any one of claims 1 to 7.
9. A vehicle, characterized in that the vehicle is provided with a vehicle control system according to claim 8.
10. A computer-readable storage medium, characterized in that a vehicle control program is stored thereon, which when executed by a processor implements the steps of the vehicle control method according to any one of claims 1 to 7.
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