CN112208459A

CN112208459A - Vehicle control system and method

Info

Publication number: CN112208459A
Application number: CN201910626559.8A
Authority: CN
Inventors: 辛宇
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-07-11
Filing date: 2019-07-11
Publication date: 2021-01-12

Abstract

The invention discloses a vehicle control system and a vehicle control method, wherein the system comprises a traveling computer, a reversing radar, a probe rod motor, a probe rod, a pitching motor and a camera, and can probe out of a vehicle body and a probe rod hidden in the vehicle body and positioned in a preset area in the middle of the tail of a vehicle. When the traveling crane computer receives a reversing signal, if the distance between a rear obstacle and the vehicle is not less than a first distance, the traveling crane computer controls the angle formed by the horizontal middle axial plane of the visual angle of the pitching motor driving camera and the horizontal middle axial plane of the vehicle to be within a first preset angle range; if the distance between the rear obstacle and the vehicle is smaller than the first distance, the driving computer controls the pitching motor to drive the horizontal middle axial plane of the camera viewing angle to form an angle within a second preset angle range with the horizontal middle axial plane of the vehicle. The invention can ensure that the obstacles at the far position can be seen clearly, the obstacles at the near position can be seen clearly with high advantage, and the safety of backing a car is improved. The purpose can be realized by only a small number of parts, and the safety and the cost of backing are both considered.

Description

Vehicle control system and method

Technical Field

The invention relates to the technical field of vehicle auxiliary control, in particular to a vehicle control system and a vehicle control method.

Background

This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.

With the increasing number of vehicles, traffic accidents caused by automobiles are increasing. Reversing is the most common operation in daily life, and traffic accidents caused by reversing are more and more. It can be said that reversing is the most attentive aspect of everyday driving.

In order to reduce the number of traffic accidents caused by reversing and improve the safety of reversing, people invent reversing radars. The occurrence of the reversing radar improves the self-confidence of a driver who is not skilled in driving technology, and reduces traffic accidents caused by reversing to a certain extent. Even so, however, there are a number of traffic accidents caused by reversing. The reason for this is mainly the driver's excessive dependence and trust in the reversing radar. With the aid of a reversing radar, the driver is still unable to effectively control the vehicle. For example, in the process of backing up, when the backing up radar is on the warning red line, a certain degree of virtual positions still exist between the vehicle and the obstacle (which means the angle that the steering wheel can rotate under the condition that the steering wheel does not deflect, or the wheel movement is not influenced by rotating the steering wheel under the condition that the vehicle is stopped), and the driver still continues backing up under the condition of over confidence, and finally scratch or collision accidents are caused.

In order to completely liberate hands, an Automatic Parking System (APS) is used. The automatic parking system greatly reduces the number of traffic accidents caused by reversing, and responsibility can be ascribed to the automatic parking system even in the event of an accident. However, in view of the high cost of the automatic parking system, only a very small portion of the vehicles are equipped with the automatic parking system. According to the measurement and calculation of related data, the automatic parking system takes at least 15 years to be more comprehensively popularized. Meanwhile, many people are not willing to buy the automobile comprising the automatic parking system because the cost of the automatic parking system is high. Therefore, the existing reversing has the problems of low reversing safety caused by a reversing radar and high cost of an automatic parking system.

In order to solve the above problems, a vehicle control system capable of improving the safety of reversing and reducing the cost is urgently needed.

Disclosure of Invention

The embodiment of the invention provides a vehicle control system, which is used for improving the reversing safety, reducing the cost and balancing the reversing safety and the cost, and comprises the following components:

the system comprises a traveling computer, a reversing radar, a probe rod motor, a probe rod, a pitching motor and a camera;

the reversing radar, the probe rod motor and the pitching motor are all connected with a traveling computer, the probe rod motor is connected with a probe rod, the pitching motor is fixedly connected to the probe rod, the pitching motor is connected with a camera, and the vehicle body and the probe rod hidden in the vehicle body can be extended out of a preset area in the middle of the tail of the vehicle;

when the driving computer does not receive a reversing signal, the probe rod motor is controlled to drive the probe rod to be hidden in the vehicle body;

when the driving computer receives a reversing signal, the probe rod motor is controlled to drive the probe rod to extend out of the vehicle body, and the reversing radar detects the distance between a rear obstacle and the vehicle;

if the distance between the rear obstacle and the vehicle is not less than the first distance, the traveling crane computer controls the pitching motor to drive the camera to rotate, so that the angle formed by the horizontal middle axial plane of the camera visual angle and the horizontal middle axial plane of the vehicle is within a first preset angle range; the first preset angle range is any angle range within a range of not less than 0 degrees and not more than 15 degrees;

if the distance between the rear obstacle and the vehicle is smaller than the first distance, the traveling crane computer controls the pitching motor to drive the camera so that the angle formed by the horizontal middle axial plane of the camera visual angle and the horizontal middle axial plane of the vehicle is within a second preset angle range; the second preset angle range is any angle range within a range of not less than 75 ° and not more than 90 °.

The embodiment of the invention also provides a vehicle control method, which is used for improving the reversing safety, reducing the cost and balancing the reversing safety and the cost, and comprises the following steps:

when the traveling crane computer receives a reversing signal, the probe rod motor is controlled to drive the probe rod to extend out of the vehicle body;

the reversing radar detects the distance between a rear obstacle and a vehicle;

In the embodiment of the invention, when the traveling crane computer receives a reversing signal, if the distance between a rear obstacle and a vehicle is not less than a first distance (relatively far), the traveling crane computer controls the pitching motor to drive the horizontal middle axial plane of the visual angle of the camera to form an angle with the horizontal middle axial plane of the vehicle within a first preset angle range (the angle is close to the horizontal in a remote mode), so that the reversing image can be ensured to clearly see the far obstacle; if the distance between the rear obstacle and the vehicle is smaller than the first distance, the driving computer controls the horizontal middle axial plane of the pitching motor to drive the visual angle of the camera to be in a second preset angle range (the angle is close to vertical in a close-range mode), the distance between the obstacle at a close position and the tail of the vehicle can be clearly seen by the reversing image with a high advantage, and the reversing safety can be greatly improved. In addition, the vehicle control system provided by the embodiment of the invention can realize the purpose of improving the reversing safety by utilizing a small number of components such as a reversing radar, a probe rod motor and a probe rod, and the reversing safety and the cost are considered and balanced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. In the drawings:

FIG. 1 is a schematic structural diagram of a vehicle control system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of another configuration of a vehicle control system according to an embodiment of the present invention;

fig. 3 is a flowchart of an implementation of a vehicle control method according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

Fig. 1 shows a structural schematic diagram of a vehicle control system provided by an embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown, and detailed as follows:

as shown in fig. 1, a vehicle control system includes:

the system comprises a traveling computer 10, a reversing radar 11, a probe rod motor 12, a probe rod 13, a pitching motor 14 and a camera 16;

the reversing radar 11, the probe rod motor 12 and the pitching motor 14 are all connected with the traveling computer 10, the probe rod motor 12 is connected with the probe rod 13, the pitching motor 14 is fixedly connected with the probe rod 13, the pitching motor 14 is connected with the camera 16, and the vehicle body and the probe rod 13 hidden in the vehicle body can be extended out of a preset area in the middle of the tail of the vehicle;

when the traveling computer 10 does not receive a reversing signal, the probe rod motor 12 is controlled to drive the probe rod 13 to be hidden in the vehicle body;

when the traveling computer 10 receives a reversing signal, the probe rod motor 12 is controlled to drive the probe rod 13 to extend out of the vehicle body, and the reversing radar 11 detects the distance between a rear obstacle and the vehicle;

if the distance between the rear obstacle and the vehicle is not less than the first distance, the traveling computer 10 controls the pitching motor 14 to drive the camera 16 to rotate, so that the angle formed by the horizontal middle axial plane of the visual angle of the camera 16 and the horizontal middle axial plane of the vehicle is within a first preset angle range; the first preset angle range is any angle range within a range of not less than 0 ° and not more than 15 °.

If the distance between the rear obstacle and the vehicle is smaller than the first distance, the traveling computer 10 controls the pitching motor 14 to drive the camera 16, so that the angle formed by the horizontal middle axial plane of the visual angle of the camera 16 and the horizontal middle axial plane of the vehicle is within a second preset angle range, and the second preset angle range is any angle range within a range of not less than 75 degrees and not more than 90 degrees.

In the embodiment of the present invention, the probe 13 is a hidden type or protruding type structure. In addition, the preset area in the middle of the tail is a preset area in the middle of the tail. It will be understood by those skilled in the art that the area may be preset to be within a preset rectangular area in the middle of the car tail, or may be preset to be within a preset square area in the middle of the car tail, and those skilled in the art will understand that the area may also be preset to be other than the preset rectangular area in the middle of the car tail or the preset square area in the middle of the car tail, for example, the area may be preset to be a circular area in the middle of the car tail, and the embodiment of the present invention is not particularly limited. Generally speaking, the position of the probe rod 13 slightly above the middle of the car tail can be installed as much as possible according to the car tail models of different car models, so that the installed position probe rod 13 does not appear to be very abrupt.

In another embodiment of the present invention, the vehicle control system further includes a cover plate (not shown in fig. 1), which is connected to the camera and installed above the camera, and does not obstruct the view of the camera. When the traveling computer 10 does not receive a reversing signal, that is, when the vehicle is not in a reversing state, the traveling computer 10 controls the probe motor 12 to drive the probe 13 to be hidden in the vehicle body and naturally integrated with the vehicle body, so that the probe 13 is hidden in the vehicle body and integrated with the vehicle body.

When the traveling computer 10 receives a reverse signal, that is, when the vehicle is in a reverse state, the traveling computer 10 controls the probe rod motor 12 to drive the probe rod 13 to extend out of the vehicle body, and then the cover plate is pushed out. While the reverse sensor 11 detects the distance of the rear obstacle from the vehicle. At this time, the distance between the rear obstacle and the vehicle is determined to prevent accidents such as collision.

The first distance is a preset distance and represents a safe distance between a rear obstacle and the vehicle. It will be appreciated by those skilled in the art that the first distance may be predetermined according to actual conditions and specific requirements. For example, the first distance may be preset to be 5 meters or 6 meters, and it will be understood by those skilled in the art that the first distance may also be preset to be a distance other than the above-mentioned 5 meters or 6 meters, for example, the first distance may be preset to be 4 meters or 8 meters, and the embodiment of the present invention is not limited in particular.

In addition, the first preset angle range and the second preset angle range are preset angles, and those skilled in the art can understand that the first preset angle range and the second preset angle range can be preset according to actual conditions and specific requirements. For example, the first predetermined angle range is preset to be 3 ° to 8 °, and the second predetermined angle range is preset to be 78 ° to 85 °. It will be understood by those skilled in the art that the first preset angle range may also be preset to other angle ranges than the above-mentioned 3 ° to 8 °, for example, the first preset angle range may be preset to 2 ° to 10 ° or 0 ° to 15 °, etc.; it will be understood by those skilled in the art that the second preset angle range may be preset to other angle ranges than the above-mentioned 78 ° to 85 °, for example, the first preset angle range may be preset to 80 ° to 89 ° or 75 ° to 90 °, and the embodiment of the present invention is not particularly limited.

When the distance between the rear obstacle and the vehicle is judged, the visual angle formed by the camera 16 can be approximately regarded as a cone, so that the visual angle of the camera 16 has a horizontal central axis plane and a vertical central axis plane. Meanwhile, the vehicle is approximately regarded as a cuboid according to the information of the length, the width and the like of the vehicle, so that the vehicle also has a horizontal middle axial plane and a vertical middle axial plane. This facilitates the subsequent description of the positional relationship of the camera 16 with the vehicle.

If the distance between the rear obstacle and the vehicle is not less than the first distance, which indicates that the distance between the rear obstacle and the vehicle is not less than the safe distance, this mode may be referred to as a long-distance mode. In the remote mode, the traveling computer 10 controls the pitching motor 14 to drive the camera 16 to rotate, so that an angle formed by a horizontal middle axial plane of a viewing angle of the camera 16 and a horizontal middle axial plane of the vehicle (considering that two planes form a smaller acute angle and a larger obtuse angle in a non-vertical intersecting state, we discuss the smaller acute angle formed by the horizontal middle axial plane of the viewing angle of the camera 16 and the horizontal middle axial plane of the vehicle) is within a first preset angle range. In view of the first preset angle range being not less than 0 ° and not more than any angle range within 15 °, namely, in the remote mode, the distance between the rear obstacle and the vehicle body can be observed by controlling the visual angle of the camera 16 to be approximately close to the vehicle body and be horizontal, so that the obstacle far away from the vehicle body can be seen clearly by utilizing the camera 16 with the advantage of the remote distance.

If the distance between the rear obstacle and the vehicle is less than the first distance, which indicates that the distance between the rear obstacle and the vehicle is within the safe distance, there is a risk of collision, and this mode may be referred to as a short-distance mode. In the close-range mode, the traveling computer 10 controls the pitching motor 14 to drive the camera 16 to rotate, so that the angle formed by the horizontal middle axial plane of the visual angle of the camera 16 and the horizontal middle axial plane of the vehicle is within a second preset angle range. In view of the fact that the second preset angle range is not smaller than 75 degrees and not larger than any angle range in the 90-degree range, namely the distance between the rear obstacle and the vehicle body is observed by controlling the visual angle of the camera 16 at an angle approximately perpendicular to the vehicle body in the close-range mode, the obstacle close to the vehicle body can be seen clearly by the camera 16 with the advantage of height. In order to prevent the vehicle body from being inclined due to an uphill slope, a downhill slope, or the like, (the center axis plane of) the vehicle body should be used as a reference standard.

In the embodiment of the invention, when the traveling computer 10 receives the reversing signal, if the distance between the rear obstacle and the vehicle is not less than the first distance (relatively far), the traveling computer 10 controls the pitching motor 14 to drive the angle formed by the horizontal middle axial plane of the visual angle of the camera 16 and the horizontal middle axial plane of the vehicle to be within the first preset angle range (the angle is close to the horizontal in the remote mode), so that the reversing image can be ensured to clearly see the obstacle at a far position; if the distance between the rear obstacle and the vehicle is smaller than the first distance, the traveling computer 10 controls the pitching motor 14 to drive the angle formed by the horizontal middle axial plane of the visual angle of the camera 16 and the horizontal middle axial plane of the vehicle to be within a second preset angle range (the angle is close to vertical in a close-range mode), so that the distance between the obstacle at the close position and the tail part of the vehicle can be clearly seen by a reversing image with a high advantage, and the reversing safety can be greatly improved. In addition, the vehicle control system provided by the embodiment of the invention can realize the purpose of improving the reversing safety by using a small number of components such as the reversing radar 11, the probe rod motor 12 and the probe rod 13, and the reversing safety and the cost are balanced.

In addition, the vehicle control System including the short-range mode and the long-range mode, which is composed of the structure shown in fig. 1, can be called an Intelligent active view Security System (english-language full name: Intelligent active Vision Security System).

In an embodiment of the present invention, the length of the probe 13 is within a predetermined length range. It will be appreciated by those skilled in the art that the length range can be preset according to actual conditions and specific requirements. For example, the preset length may be preset in a range of 5 cm to 20 cm. It will be understood by those skilled in the art that the preset length range may also be preset to be other length ranges than the above-mentioned 5 cm to 20 cm, for example, 3 cm to 17 cm, or 8 cm to 15 cm, and the embodiment of the present invention is not limited thereto.

Fig. 2 shows another structural schematic of the vehicle control system provided by the embodiment of the invention, and for convenience of description, only the parts related to the embodiment of the invention are shown, and the details are as follows:

in an embodiment of the present invention, as shown in fig. 2, the vehicle control system further includes, in addition to the structure shown in fig. 1: a swing motor 15 and an angle sensor 20 connected with the traveling computer 10.

When the traveling crane computer 10 receives the reverse signal and the angle sensor 20 detects that the rotation angle of the steering wheel changes, the traveling crane computer 10 controls the swing motor 15 to drive the viewing angle of the camera 16 to change along with the change of the rotation angle of the steering wheel, so that the vertical central axis plane of the viewing angle of the camera 16 is parallel to the vertical central axis plane of the vehicle.

The applicant finds that, in the parking and warehousing process, a driver excessively depends on or trusts a radar or an automatic parking system, and the parking and warehousing safety is low. Based on this, in order to improve the safety of parking garage, the vehicle control system in the embodiment of the invention further includes an angle sensor 20 for detecting a change in the turning angle of the steering wheel of the vehicle. The angle sensor 20 is connected to the cycle computer 10. At this time, when the driving computer 10 receives the reverse signal and the angle sensor 20 detects that the rotation angle of the steering wheel changes, it indicates that the vehicle is in a parking and warehousing state, and at this time, the driving computer 10 controls the swing motor 15 to drive the viewing angle of the camera 16 to change along with the change of the rotation angle of the steering wheel, so that the vertical central axis plane of the viewing angle of the camera 16 is parallel to the vertical central axis plane of the vehicle. The vertical central axis plane of the visual angle of the camera 16 is parallel to the vertical central axis plane of the vehicle, including the situation that the vertical central axis plane of the visual angle of the camera 16 coincides with the vertical central axis plane of the vehicle.

That is, the view field formed by the view angle of the camera 16 is always the reverse image right behind the vehicle, if the steering wheel rotates clockwise, the vehicle will drive to the right behind, if the angle sensor 20 detects that the rotation angle of the steering wheel changes, the driving computer 10 will control the swing motor 15 to drive the camera 16 to twist to the right, if the steering wheel rotates counterclockwise, the vehicle will drive to the left behind, and if the angle sensor 20 detects that the rotation angle of the steering wheel changes, the driving computer 10 will control the swing motor 15 to drive the camera 16 to twist to the left, thereby greatly expanding the view field edge, solving the problem that the view field dead angle and the distorted image caused by stretching do not accord with reality when the vehicle is reversed to the left behind/right behind, and thus accidents happen, ensuring better view field, and solving the problem that the dead angle exists in the parking garage and parking of the vehicle, The distance between the obstacle and the vehicle body cannot be clearly seen through the rearview mirror. In the embodiment of the invention, the driving computer 10 controls the swing motor 15 to drive the visual angle of the camera 16 to change along with the change of the rotation angle of the steering wheel, so that the vertical central axis plane of the visual angle of the camera 16 is parallel to the vertical central axis plane of the vehicle, and the safety of parking and warehousing can be further improved.

In an embodiment of the present invention, as shown in fig. 2, the vehicle control system further includes, in addition to the above-described structure: and a brake oil pump 21 connected with the traveling computer 10.

When the driving computer 10 receives the reverse signal and detects that the reverse speed exceeds the preset reverse speed, the braking oil pump 21 is controlled to brake.

The applicant further found through research that most of the reversing accidents are caused by the fact that the reversing speed is too high. In order to avoid traffic accidents caused by too high backing speed, the backing speed needs to be controlled to slow down during backing, so that enough distance space is reserved for braking, and a driver has enough time to avoid or brake. Based on this, to avoid a traffic accident caused by an excessively fast backing speed, the safety is further improved, in the embodiment of the present invention, when the driving computer 10 receives a backing signal and detects that the backing speed exceeds a preset backing speed, the driving computer 10 actively controls the brake oil pump 21 to brake, so as to avoid the traffic accident caused by the excessively fast backing speed. The function of the partial reversing speed limit can be called as an anti-error protection system.

The preset reversing speed is a preset reversing speed, and the preset reversing speed can be preset according to actual conditions and specific requirements as can be understood by those skilled in the art. For example, the preset reverse speed is preset to be 10 km/h, and it can be understood by those skilled in the art that the preset reverse speed may also be preset to be other than the above-mentioned 10 km/h, for example, 8 km/h, or 12 km/h, etc., which is not limited in particular by the embodiment of the present invention. It will be appreciated that although the preset reverse speed may be preset, the preset reverse speed should be small, for example, not greater than 15 km/hr.

In the embodiment of the invention, when the traveling computer 10 receives the reversing signal and detects that the reversing speed exceeds the preset reversing speed, the braking oil pump 21 is controlled to brake, so that the safety can be further improved.

In an embodiment of the present invention, the driving computer 10 prompts when receiving the reverse signal and detecting that the reverse speed exceeds a preset ratio of the preset reverse speed.

On the basis of the above, the applicant further thinks that although the preset reverse speed is preset, there may still be a possibility of traffic accidents by actively braking when the reverse speed reaches the preset reverse speed. Based on this, in order to further improve the safety, in the embodiment of the present invention, when the driving computer 10 receives the reverse signal and detects that the reverse speed exceeds the preset proportion of the preset reverse speed, a prompt is performed, for example, a screen is highlighted or an alarm sound prompt is performed, so as to reserve sufficient time for the driver to avoid and brake.

The preset proportion is a preset proportion, and those skilled in the art can understand that the preset proportion can be preset according to actual conditions and specific requirements. For example, the preset ratio is preset to be 80%, and those skilled in the art will understand that the preset ratio may also be preset to be other than the above 80%, for example, 75%, or 85%, etc., which is not limited in particular by the embodiment of the present invention.

In the embodiment of the invention, the driving computer 10 prompts when receiving the reversing signal and detecting that the reversing speed exceeds the preset proportion of the preset reversing speed, so that the safety can be further improved.

After the traveling computer 10 receives the control instruction for releasing the speed limit, if the vehicle backing signal is received and the vehicle backing speed is detected to exceed the preset vehicle backing speed, the braking oil pump 21 is not controlled to brake.

The applicant finds that sometimes a larger reverse speed is actually needed during reversing, and the reverse speed is limited, so that the vehicle control is not flexible enough. Therefore, in order to improve the flexibility of vehicle control, the speed limit releasing control instruction sent by the driver can be received through a display control panel with a touch screen control function on the vehicle, or the speed limit releasing control instruction sent by the driver through a control button is received, so that the reversing speed limit function can be temporarily closed. Namely, after the driving computer 10 receives the control instruction of releasing the speed limit, the speed limit releasing function during the reverse driving is started, and if the reverse driving signal is received and the reverse driving speed is detected to exceed the preset reverse driving speed, the brake oil pump 21 is not controlled to brake.

In the embodiment of the invention, after the traveling computer 10 receives the control instruction for releasing the speed limit, if the reversing signal is received and the reversing speed is detected to exceed the preset reversing speed, the braking oil pump 21 is not controlled to brake, so that the flexibility of vehicle control can be improved.

On the basis, the speed limiting function of backing a car can be started by receiving the speed limiting control instruction sent by the driver through a speed limiting control instruction, for example, a display control panel with a touch screen control function on the vehicle, or receiving the speed limiting control instruction sent by the driver through a control button. Namely, after the traveling computer 10 receives the control instruction of speed limit, the speed limit function when backing is started, and if the backing signal is received and the backing speed is detected to exceed the preset backing speed, the traveling computer 10 actively controls the brake oil pump 21 to brake.

In the embodiment of the invention, after the traveling computer 10 receives the control instruction of speed limitation, if a reversing signal is received and the reversing speed is detected to exceed the preset reversing speed, the traveling computer 10 controls the brake oil pump 21 to brake, so that the flexibility of vehicle control can be further improved.

In an embodiment of the present invention, as shown in fig. 2, the vehicle control system includes a brake oil pump 21 connected to the driving computer 10, and on the basis of the above-mentioned structure, the vehicle control system further includes:

and the rear distance measuring radar 22 is arranged at the tail part of the vehicle and is connected with the traveling computer 10.

When the traveling computer 10 receives a reversing signal, the rear ranging radar 22 detects the distance between a rear obstacle and the vehicle, and when the distance between the rear obstacle and the vehicle is smaller than a preset rear safety distance, the traveling computer 10 controls the brake oil pump 21 to brake.

In one embodiment of the present invention, there are one or more than one ranging radar, and at least one ranging radar is installed in the middle of the rear of the vehicle at a position adjacent to the probe 13, i.e., the rear ranging radar 22. The rear distance measuring radar 22 is used for monitoring the distance between an obstacle right behind the vehicle and the vehicle, and when the distance between the obstacle right behind the vehicle and the vehicle is smaller than a preset rear safety distance, in order to avoid a traffic accident, the driving computer 10 also actively controls the brake oil pump 21 to brake.

The preset rear safety distance is a preset rear safety distance, and the technical personnel in the field can understand that the preset rear safety distance can be preset according to actual conditions and specific requirements. For example, the preset rear safe distance is preset to be 3 meters or 2 meters, and it can be understood by those skilled in the art that the preset rear safe distance may also be preset to be a distance other than the above-mentioned 3 meters or 2 meters, for example, the preset rear safe distance is preset to be 2.5 meters or 3.5 meters or 4 meters, etc., which is not limited in particular by the embodiment of the present invention.

In the embodiment of the invention, when the traveling computer 10 receives the reversing signal, the rear ranging radar 22 detects the distance between the rear obstacle and the vehicle, and when the distance between the rear obstacle and the vehicle is smaller than the preset rear safety distance, the traveling computer 10 controls the brake oil pump 21 to brake, so that the safety can be further improved.

a rear speed measuring radar (not shown in fig. 2) installed at the rear of the vehicle and connected to the traveling computer 10; and

a front range radar (not shown in fig. 2) mounted on the head of the vehicle and connected to the travel computer 10;

the rear distance measuring radar 22 detects the distance between a rear obstacle and the vehicle, and the rear speed measuring radar detects the real-time speed of the rear obstacle in the direction close to the vehicle; the front distance measuring radar detects the distance between a front obstacle and a vehicle;

when the distance between the rear obstacle and the vehicle is smaller than the preset rear safety distance, the real-time speed of the rear obstacle in the direction close to the vehicle is larger than zero, and the distance between the front obstacle and the vehicle is larger than the preset acceleration safety distance, the traveling computer 10 controls the vehicle to accelerate at a speed larger than the real-time speed of the rear obstacle in the direction close to the vehicle, so that the distance between the rear obstacle and the vehicle is not smaller than the preset rear safety distance, and the distance between the front obstacle and the vehicle is not smaller than the preset front safety distance.

In the embodiment of the invention, the rear range radar 22 is used for detecting the distance between a rear obstacle and the vehicle, the rear range radar 22 is used for detecting the real-time speed of the rear obstacle in the direction approaching the vehicle, the front range radar is used for detecting the distance between the front obstacle and the vehicle, when the distance between the rear obstacle and the vehicle is smaller than the preset rear safety distance, the danger of collision or traffic accidents exists, meanwhile, the real-time speed of the rear obstacle in the direction approaching the vehicle is detected by using the rear range radar 22, and when the real-time speed of the rear obstacle in the direction approaching the vehicle is detected to be larger than zero, the rear obstacle is moving and gradually approaches the vehicle, and the danger of collision is more likely to occur.

Therefore, here, the distance between the front obstacle and the vehicle is detected by using the front range radar, when the distance between the front obstacle and the vehicle is greater than the preset acceleration safety distance, it is indicated that a traffic accident or an accident can be avoided by accelerating the vehicle away from the rear obstacle, at this time, the vehicle is controlled by the driving computer 10 to accelerate at a speed greater than the real-time speed of the rear obstacle in the direction close to the vehicle, so as to control the vehicle, so that the distance between the rear obstacle and the vehicle is not less than the preset rear safety distance, and the distance between the front obstacle and the vehicle is not less than the preset front safety distance, so that the sufficient safety distance in front of the vehicle can be guaranteed while the rear obstacle is away from, and the safety is further greatly improved.

The preset acceleration safety distance is a preset acceleration safety distance, and those skilled in the art can understand that the preset acceleration safety distance can be preset according to actual conditions and specific requirements. For example, the preset safe acceleration distance is preset to be 30 meters or 20 meters, and it will be understood by those skilled in the art that the preset safe acceleration distance may also be preset to be a distance other than the above-mentioned 30 meters or 20 meters, for example, the preset safe acceleration distance is preset to be 25 meters or 35 meters or 40 meters, etc., which is not limited in particular by the embodiments of the present invention.

The preset front safety distance is a preset front safety distance, and those skilled in the art can understand that the preset front safety distance can be preset according to actual conditions and specific requirements. For example, the preset front safety distance is preset to be 3 meters or 2 meters, and it will be understood by those skilled in the art that the preset front safety distance may also be preset to be a distance other than the above-mentioned 3 meters or 2 meters, for example, the preset front safety distance is preset to be 2.5 meters or 3.5 meters or 4 meters, etc., which is not limited in particular by the embodiments of the present invention.

In the embodiment of the present invention, when the distance between the rear obstacle and the vehicle is less than the preset rear safety distance, the real-time speed of the rear obstacle in the direction close to the vehicle is greater than zero, and the distance between the front obstacle and the vehicle is greater than the preset acceleration safety distance, the vehicle is controlled by the vehicle computer 10 to accelerate at a speed greater than the real-time speed of the rear obstacle in the direction close to the vehicle, so that the distance between the rear obstacle and the vehicle is not less than the preset rear safety distance, and the distance between the front obstacle and the vehicle is not less than the preset front safety distance, which can further improve the safety.

a first ultrasonic ranging device 23 installed at one side of the probe 13 and connected with the traveling computer 10; the horizontal middle axial plane of the first ultrasonic distance measuring device 23 is parallel to the horizontal middle axial plane of the vehicle, and the vertical middle axial plane is perpendicular to the horizontal middle axial plane of the vehicle;

when the traveling computer 10 receives a reversing signal, the first ultrasonic ranging device 23 detects the distance between the obstacle in the direction corresponding to the first ultrasonic ranging device and the vertical middle axial plane of the vehicle, and when the distance between the obstacle and the vertical middle axial plane of the vehicle is smaller than the preset side safety distance, the traveling computer 10 controls the brake oil pump 21 to brake.

In the embodiment of the present invention, a first ultrasonic ranging device 23 connected to the traveling computer 10 is installed at one side of the probe 13. The horizontal middle axial plane of the first ultrasonic distance measuring device 23 is parallel to the horizontal middle axial plane of the vehicle, and the vertical middle axial plane is perpendicular to the horizontal middle axial plane of the vehicle. Such an installation arrangement enables the first ultrasonic ranging device 23 to obtain a larger detection range. The first ultrasonic ranging device 23 is used for detecting the distance between the obstacle in the direction corresponding to the first ultrasonic ranging device and the vertical middle axial plane of the vehicle, so that the driver can obtain more information on the lateral side of the tail of the vehicle. Wherein, the horizontal middle axial plane of first ultrasonic ranging device 23 is parallel with the horizontal middle axial plane of vehicle, includes: the horizontal middle axial plane of the first ultrasonic distance measuring device 23 coincides with the horizontal middle axial plane of the vehicle.

Specifically, the first ultrasonic ranging device 23 is used for ultrasonic obstacle avoidance, and when the driving computer 10 receives a reversing signal, the first ultrasonic ranging device 23 uses ultrasonic positioning to detect the distance between the obstacle in the direction corresponding to the obstacle and the vertical middle axial plane of the vehicle, and further determines the distance between the obstacle and the vertical middle axial plane of the vehicle and the preset lateral safety distance. When the distance between the obstacle and the vertical middle shaft surface of the vehicle is less than the preset side safety distance, it indicates that there is a possibility of danger or collision, and at this time, the traveling computer 10 also actively controls the brake oil pump 21 to brake.

The preset side safe distance is a preset side safe distance, and those skilled in the art can understand that the preset side safe distance can be preset according to actual conditions and specific requirements. For example, the preset lateral safe distance is preset to be 2 meters or 1 meter, and those skilled in the art can understand that the preset lateral safe distance may also be preset to be a distance other than the above 2 meters or 1 meter, for example, the preset lateral safe distance is preset to be 1.5 meters or 2.5 meters or 0.8 meter, and the embodiment of the present invention does not particularly limit this.

In the embodiment of the present invention, when the vehicle computer 10 receives the reverse signal, the first ultrasonic ranging device 23 detects the distance between the obstacle in the corresponding direction and the vertical central axis of the vehicle, and when the distance between the obstacle and the vertical central axis of the vehicle is smaller than the preset side safety distance, the vehicle computer 10 controls the brake oil pump 21 to perform braking, which can further improve the safety.

a second ultrasonic ranging device 24 installed at the other side of the probe 13 and connected to the traveling computer 10; the horizontal middle axial plane of the second ultrasonic distance measuring device 24 is parallel to the horizontal middle axial plane of the vehicle, and the vertical middle axial plane is perpendicular to the horizontal middle axial plane of the vehicle; the detection direction of the first ultrasonic ranging device 23 is opposite to the detection direction of the second ultrasonic ranging device 24;

when the traveling computer 10 receives the reverse signal, the second ultrasonic ranging device 24 detects the distance between the obstacle in the direction corresponding to the second ultrasonic ranging device and the vertical middle axial plane of the vehicle, and when the distance between the obstacle and the vertical middle axial plane of the vehicle is smaller than the preset side safety distance, the traveling computer 10 controls the brake oil pump 21 to brake.

In order to further improve safety, a second ultrasonic ranging device 24 is mounted on the probe 13 in a direction opposite to the first ultrasonic ranging device 23. The horizontal middle axial plane of the second ultrasonic ranging device 24 is parallel to the horizontal middle axial plane of the vehicle, the vertical middle axial plane is perpendicular to the horizontal middle axial plane of the vehicle, and the detection direction of the first ultrasonic ranging device 23 is opposite to the detection direction of the second ultrasonic ranging device 24. The second ultrasonic ranging device 24 is used for detecting the distance between an obstacle in the other lateral direction of the vehicle and the vertical central axis plane of the vehicle. Such an installation arrangement may allow the second ultrasonic ranging device 24 to obtain a larger detection range. The second ultrasonic ranging device 24 is used for detecting the distance between the obstacle in the direction corresponding to the second ultrasonic ranging device and the vertical middle axial plane of the vehicle, so that the driver can obtain more information on the lateral side of the tail of the vehicle. Wherein, the horizontal middle axial plane of second ultrasonic ranging device 24 is parallel with the horizontal middle axial plane of vehicle, includes: the horizontal mid-axis plane of the second ultrasonic ranging device 24 coincides with the horizontal mid-axis plane of the vehicle.

Specifically, the second ultrasonic ranging device 24 is used for ultrasonic obstacle avoidance, and when the traveling computer 10 receives a reversing signal, the second ultrasonic ranging device 24 uses ultrasonic positioning to detect the distance between the obstacle in the direction corresponding to the second ultrasonic ranging device and the vertical central axis surface of the vehicle, so as to judge the distance between the obstacle and the vertical central axis surface of the vehicle and the preset lateral safety distance. When the distance between the obstacle and the vertical middle shaft surface of the vehicle is less than the preset side safety distance, it indicates that there is a possibility of danger or collision, and at this time, the traveling computer 10 also actively controls the brake oil pump 21 to brake.

In the embodiment of the present invention, when the vehicle computer 10 receives the reverse signal, the second ultrasonic ranging device 24 detects the distance between the obstacle in the corresponding direction and the vertical central axis of the vehicle, and when the distance between the obstacle and the vertical central axis of the vehicle is smaller than the preset side safety distance, the vehicle computer 10 controls the brake oil pump 21 to perform braking, which can further improve the safety.

Therefore, we can refer to the above-mentioned partial system including two ultrasonic ranging devices as an ultrasonic obstacle avoidance system.

a left lidar (not shown in fig. 2) mounted on the left side of the vehicle and connected to the traveling computer 10;

when the vehicle turns left, if the left laser radar detects that an obstacle exists in a preset safety region on the left side of the vehicle, the traveling computer 10 controls the brake oil pump 21 to brake.

In the embodiment of the invention, a left-side laser radar can be installed in a position area on the left side of the vehicle, such as the front of a left-side vehicle door and the upper side of a left-side front wheel, and is used for starting the left-side laser radar when the vehicle turns left to perform pedestrian detection and identification. Similarly, similar to the probe rod 13, the left-side lidar may also adopt a probing structure, that is, when the vehicle is in a left-turn state, the traveling computer 10 controls the left-side lidar to probe; when the vehicle is not in a left-turning state, the traveling computer 10 controls the left-side laser radar hiding to be integrated with the vehicle body.

Specifically, when the vehicle is in a left-turn state, the traveling computer 10 controls the left-side laser radar to extend out of the vehicle body, the left-side laser radar starts a pedestrian detection and identification function, and if the left-side laser radar detects that a barrier (mainly a pedestrian) exists in a preset safety region on the left side of the vehicle, the traveling computer 10 controls the brake oil pump 21 to brake.

The preset safety region may be preset according to actual conditions and specific requirements, for example, the preset safety region may be a three-dimensional region detected by the left-side laser radar along the length direction of the vehicle body, and the preset safety region may also be preset to be another region except the above-mentioned region, which is not limited in the embodiment of the present invention.

In the embodiment of the invention, when the vehicle turns left, if the left-side laser radar detects that an obstacle exists in a preset safety zone on the left side of the vehicle, the driving computer 10 controls the brake oil pump 21 to brake, so that the left-side laser radar can be used for detecting and identifying pedestrians when the vehicle turns left, and the safety is improved.

a right-side lidar (not shown in fig. 2) mounted on the right side of the vehicle and connected to the travel computer 10;

when the vehicle turns right, if the laser radar on the right side detects that an obstacle exists in a preset safety region on the right side of the vehicle, the traveling computer 10 controls the brake oil pump 21 to brake.

In the embodiment of the invention, a right-side laser radar can be installed in a position area on the right side of the vehicle, such as the front of a right-side vehicle door and the upper side of a right-side front wheel, and is used for starting the right-side laser radar when the vehicle turns right to detect and identify pedestrians. Similarly, similar to the probe rod 13, the right-side lidar may also adopt a probing structure, that is, when the vehicle is in a right-turn state, the traveling computer 10 controls the right-side lidar to probe; when the vehicle is not in a right-turn state, the traveling computer 10 controls the laser radar on the right side to be hidden and integrated with the vehicle body.

Specifically, when the vehicle is in a right-turn state, the driving computer 10 controls the right-side laser radar to extend out of the vehicle body, the right-side laser radar starts a pedestrian detection and identification function, and if the right-side laser radar detects that a preset safe region on the right side of the vehicle has an obstacle (mainly indicating a pedestrian), the driving computer 10 controls the brake oil pump 21 to brake.

In the embodiment of the invention, when the vehicle turns right, if the right laser radar detects that an obstacle exists in a preset safety zone on the right side of the vehicle, the driving computer 10 controls the brake oil pump 21 to brake, so that the right laser radar can be used for detecting and identifying pedestrians when the vehicle turns right, and the safety is improved.

a rear lidar (not shown in fig. 2) mounted behind the vehicle and connected to a travel computer 10;

when the vehicle wheels reverse, if the rear laser radar detects that an obstacle exists in a preset safety area behind the vehicle, the driving computer 10 controls the brake oil pump 21 to brake.

In an embodiment of the present invention, a rear laser radar may be installed in a position area behind a vehicle, for example, above the middle of the rear tail of the vehicle, and used for turning on the rear laser radar when the wheels of the vehicle reverse (for example, reverse or roll), so as to perform pedestrian detection and identification. Similarly, the rear lidar may also be of a probing structure similar to the probe 13, that is, the traveling computer 10 controls the rear lidar to probe when the vehicle wheels are in a reverse state; when the vehicle wheels are not in a reverse state, the driving computer 10 controls the rear laser radar to be hidden and integrated with the vehicle body.

Specifically, when the vehicle wheels are in a reverse rotation state, the driving computer 10 controls the rear laser radar to extend out of the vehicle body, the rear laser radar starts a pedestrian detection and identification function, and if the rear laser radar detects that an obstacle (mainly a pedestrian) exists in a preset safe region behind the vehicle, the driving computer 10 controls the brake oil pump 21 to brake.

In the embodiment of the invention, when the vehicle road is in a reverse state, if the rear laser radar detects that an obstacle exists in a preset safety region behind the vehicle, the driving computer 10 controls the brake oil pump 21 to brake, so that the rear laser radar can be used for detecting and identifying pedestrians when the wheels of the vehicle are in reverse, and the safety is improved.

Therefore, the system part comprising the left laser radar, the right laser radar and the rear laser radar can be used as a pedestrian avoidance protection system. The partial system is more inclined to trucks, semi-trailers, heavy engineering vehicles and the like, visual blind areas and dead angles exist when the vehicles turn or reverse, and traffic accidents and accidents are easy to happen when pedestrians or electric vehicles are close to the vehicles. Therefore, the protection system for detecting the pedestrian by using the laser radar can greatly improve the safety of the pedestrian and the vehicle.

The embodiment of the invention also provides a vehicle control method, which is described in the following embodiment. Since the principle of solving the problems of the methods is similar to that of the vehicle control system, the implementation of the vehicle control methods can be referred to the implementation of the vehicle control system, and repeated descriptions are omitted.

Fig. 3 shows a flow of implementing the vehicle control method provided by the embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown, and the details are as follows:

as shown in fig. 3, a vehicle control method includes:

step 301, when the traveling computer 10 does not receive a reversing signal, controlling the probe rod motor 12 to drive the probe rod 13 to be hidden in the vehicle body;

step 302, when the traveling computer 10 receives a reversing signal, controlling the probe rod motor 12 to drive the probe rod 13 to extend out of the vehicle body;

step 303, detecting the distance between a rear obstacle and a vehicle by the reversing radar 11;

step 304, if the distance between the rear obstacle and the vehicle is not less than the first distance, the traveling computer 10 controls the pitching motor 14 to drive the camera 16 to rotate, so that the angle formed by the horizontal middle axial plane of the visual angle of the camera 16 and the horizontal middle axial plane of the vehicle is within a first preset angle range; the first preset angle range is any angle range within a range of not less than 0 degrees and not more than 15 degrees;

in step 305, if the distance between the rear obstacle and the vehicle is smaller than the first distance, the traveling computer 10 controls the pitching motor 14 to drive the camera 16, so that the angle formed by the horizontal central axis of the viewing angle of the camera 16 and the horizontal central axis of the vehicle is within a second preset angle range, and the second preset angle range is any angle range within a range of not less than 75 ° and not more than 90 °.

In an embodiment of the present invention, the length of the probe 13 is within a predetermined length range.

In an embodiment of the present invention, the vehicle control system further includes: and an angle sensor 20 connected with the running computer 10. On the basis of the above method steps, the vehicle control method further includes:

In the embodiment of the present invention, the driving computer 10 controls the swing motor 15 to drive the viewing angle of the camera 16 to change along with the change of the rotation angle of the steering wheel, so that the vertical central axis plane of the viewing angle of the camera 16 is parallel to the vertical central axis plane of the vehicle, and the safety of parking and warehousing can be further improved.

In an embodiment of the present invention, the vehicle control system further includes: and a brake oil pump 21 connected with the traveling computer 10. On the basis of the above method steps, the vehicle control method further includes:

In an embodiment of the invention, on the basis of the above method steps, the vehicle control method further includes:

the driving computer 10 gives a prompt when receiving the reversing signal and detecting that the reversing speed exceeds the preset reversing speed by the preset proportion.

after the traveling computer 10 receives the control instruction of speed limit, if a reverse signal is received and the reverse speed is detected to exceed the preset reverse speed, the braking oil pump 21 is controlled to brake.

In the embodiment of the invention, after the traveling computer 10 receives the control instruction of speed limitation, if a reversing signal is received and the reversing speed is detected to exceed the preset reversing speed, the braking oil pump 21 is controlled to brake, so that the flexibility of vehicle control can be further improved.

In an embodiment of the present invention, the vehicle control system includes a brake oil pump 21 connected to the computer 10, and the vehicle control system further includes a rear range radar 22 installed at the rear of the vehicle and connected to the computer 10. On the basis of the above method steps, the vehicle control method further includes:

a rear speed measuring radar which is arranged at the tail of the vehicle and is connected with the traveling computer 10; and

a front range radar mounted on the head of the vehicle and connected to the traveling computer 10;

the rear distance measuring radar 22 detects the distance between a rear obstacle and the vehicle, and the rear speed measuring radar detects the real-time speed of the rear obstacle in the direction close to the vehicle; the front range radar detects a distance between a front obstacle and a vehicle.

On the basis of the above method steps, the vehicle control method further includes:

In an embodiment of the present invention, the vehicle control system includes a brake oil pump 21 connected to the computer 10, and further includes a first ultrasonic ranging device 23 installed on one side of the probe 13 and connected to the computer 10; the horizontal central axis plane of the first ultrasonic ranging device 23 is parallel to the horizontal central axis plane of the vehicle, and the vertical central axis plane is perpendicular to the horizontal central axis plane of the vehicle. On the basis of the above method steps, the vehicle control method further includes:

In an embodiment of the present invention, the vehicle control system includes a brake oil pump 21 connected to the computer 10, and the vehicle control system further includes a second ultrasonic ranging device 24 installed on the other side of the probe 13 and connected to the computer 10; the horizontal middle axial plane of the second ultrasonic distance measuring device 24 is parallel to the horizontal middle axial plane of the vehicle, and the vertical middle axial plane is perpendicular to the horizontal middle axial plane of the vehicle; the detection direction of the first ultrasonic ranging device 23 is opposite to the detection direction of the second ultrasonic ranging device 24. On the basis of the above method steps, the vehicle control method further includes:

In an embodiment of the present invention, the vehicle control system includes a brake oil pump 21 connected to the computer 10, and the vehicle control system further includes a left laser radar installed on the left side of the vehicle and connected to the computer 10. On the basis of the above method steps, the vehicle control method further includes:

In an embodiment of the present invention, the vehicle control system includes a brake oil pump 21 connected to the computer 10, and the vehicle control system further includes a right-side laser radar installed on the right side of the vehicle and connected to the computer 10. On the basis of the above method steps, the vehicle control method further includes:

In an embodiment of the present invention, the vehicle control system includes a brake oil pump 21 connected to the computer 10, and the vehicle control system further includes a rear laser radar installed at the rear of the vehicle and connected to the computer 10. On the basis of the above method steps, the vehicle control method further includes:

In summary, in the embodiment of the present invention, when the traveling computer 10 receives the reverse signal, if the distance between the rear obstacle and the vehicle is not less than the first distance (relatively far), the traveling computer 10 controls the pitching motor 14 to drive the horizontal middle axial plane of the viewing angle of the camera 16 to make the angle between the horizontal middle axial plane of the vehicle and the horizontal middle axial plane of the vehicle within the first preset angle range (the angle is close to the horizontal in the long-distance mode), so as to ensure that the reverse image can clearly see the far obstacle; if the distance between the rear obstacle and the vehicle is smaller than the first distance, the traveling computer 10 controls the pitching motor 14 to drive the angle formed by the horizontal middle axial plane of the visual angle of the camera 16 and the horizontal middle axial plane of the vehicle to be within a second preset angle range (the angle is close to vertical in a close-range mode), so that the distance between the obstacle at the close position and the tail part of the vehicle can be clearly seen by a reversing image with a high advantage, and the reversing safety can be greatly improved. In addition, the vehicle control system provided by the embodiment of the invention can realize the purpose of improving the reversing safety by using a small number of components such as the reversing radar 11, the probe rod motor 12 and the probe rod 13, and the reversing safety and the cost are balanced.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A vehicle control system, characterized by comprising:

2. The vehicle control system of claim 1, wherein the probe length is within a predetermined length range.

3. The vehicle control system of claim 1, further comprising:

the angle sensor is connected with the swing motor and the traveling crane computer;

when the driving computer receives a reversing signal and the angle sensor detects that the rotation angle of the steering wheel changes, the driving computer controls the swing motor to drive the visual angle of the camera to change along with the change of the rotation angle of the steering wheel, so that the vertical middle axial plane of the visual angle of the camera is parallel to the vertical middle axial plane of the vehicle.

4. The vehicle control system of claim 1, further comprising:

a brake oil pump connected with a traveling computer;

and when the driving computer receives the reversing signal and detects that the reversing speed exceeds the preset reversing speed, the driving computer controls the brake oil pump to brake.

5. The vehicle control system of claim 1, further comprising:

a brake oil pump connected with a traveling computer;

after the traveling computer receives the control instruction for releasing the speed limit, if the vehicle backing signal is received and the vehicle backing speed is detected to exceed the preset vehicle backing speed, the braking oil pump is not controlled to brake.

6. The vehicle control system of claim 1, wherein the vehicle control system includes a brake oil pump connected to a vehicle computer, further comprising:

the rear ranging radar is arranged at the tail of the vehicle and connected with a traveling computer;

when the driving computer receives a reversing signal, the rear ranging radar detects the distance between a rear obstacle and the vehicle, and when the distance between the rear obstacle and the vehicle is smaller than a preset rear safety distance, the driving computer controls the brake oil pump to brake.

7. The vehicle control system of claim 6, further comprising:

the rear speed measuring radar is arranged at the tail of the vehicle and connected with a driving computer; and

the front distance measuring radar is arranged at the head of the vehicle and is connected with the traveling computer;

the rear distance measuring radar detects the distance between a rear obstacle and the vehicle, and the rear speed measuring radar detects the real-time speed of the rear obstacle in the direction close to the vehicle; the front distance measuring radar detects the distance between a front obstacle and a vehicle;

when the distance between the rear barrier and the vehicle is smaller than the preset rear safety distance, the real-time speed of the rear barrier in the direction close to the vehicle is larger than zero, and the distance between the front barrier and the vehicle is larger than the preset accelerating safety distance, the driving computer controls the vehicle to accelerate at the speed larger than the real-time speed of the rear barrier in the direction close to the vehicle, so that the distance between the rear barrier and the vehicle is not smaller than the preset rear safety distance, and the distance between the front barrier and the vehicle is not smaller than the preset front safety distance.

8. The vehicle control system of claim 1, wherein the vehicle control system includes a brake oil pump connected to a vehicle computer, further comprising:

the first ultrasonic ranging device is arranged on one side of the probe rod and connected with a traveling crane computer; the horizontal middle axial plane of the first ultrasonic distance measuring device is parallel to the horizontal middle axial plane of the vehicle, and the vertical middle axial plane is perpendicular to the horizontal middle axial plane of the vehicle;

when the traveling crane computer receives a reversing signal, the first ultrasonic distance measuring device detects the distance between the obstacle in the direction corresponding to the first ultrasonic distance measuring device and the vertical middle axial surface of the vehicle, and when the distance between the obstacle and the vertical middle axial surface of the vehicle is smaller than a preset side safety distance, the traveling crane computer controls the brake oil pump to brake; and/or

The second ultrasonic ranging device is arranged on the other side of the probe rod and connected with a traveling crane computer; the horizontal middle axial plane of the second ultrasonic distance measuring device is parallel to the horizontal middle axial plane of the vehicle, and the vertical middle axial plane is perpendicular to the horizontal middle axial plane of the vehicle; the detection direction of the first ultrasonic ranging device is opposite to the detection direction of the second ultrasonic ranging device;

when the driving computer receives a reversing signal, the second ultrasonic distance measuring device detects the distance between the obstacle in the direction corresponding to the second ultrasonic distance measuring device and the vertical middle axial surface of the vehicle, and when the distance between the obstacle and the vertical middle axial surface of the vehicle is smaller than the preset side safety distance, the driving computer controls the brake oil pump to brake.

9. The vehicle control system of claim 1, wherein the vehicle control system includes a brake oil pump connected to a vehicle computer, further comprising:

the left laser radar is arranged on the left side of the vehicle and connected with a traveling computer;

when the vehicle turns left, if the left laser radar detects that an obstacle exists in a preset safety region on the left side of the vehicle, the driving computer controls the brake oil pump to brake; and/or

The right laser radar is arranged on the right side of the vehicle and connected with a traveling computer;

when the vehicle turns right, if the laser radar on the right side detects that an obstacle exists in a preset safety area on the right side of the vehicle, the driving computer controls the brake oil pump to brake; and/or

The rear laser radar is arranged behind the vehicle and connected with the traveling computer;

when the wheels of the vehicle are reversed, if the rear laser radar detects that an obstacle exists in a preset safety region behind the vehicle, the driving computer controls the brake oil pump to brake.

10. A vehicle control method based on the vehicle control system according to any one of claims 1 to 9, characterized by comprising:

the reversing radar detects the distance between a rear obstacle and a vehicle;