CN112218786A - Driving control method and device under severe weather, vehicle and driving control system - Google Patents
Driving control method and device under severe weather, vehicle and driving control system Download PDFInfo
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Abstract
A driving control method under severe weather is applied to a vehicle, and comprises the following steps: when the vehicle runs, respectively acquiring a first signal intensity of a specific signal on the left side of the vehicle and a second signal intensity of a specific signal on the right side of the vehicle through a first sensor (240) and a second sensor (250) which are symmetrically arranged on the left side and the right side of the vehicle; comparing the first signal intensity with the second signal intensity, and judging whether the vehicle is currently drifted according to the magnitude relation of the first signal intensity and the second signal intensity; and generating corresponding early warning prompts according to whether the vehicle is controlled to yaw. Also provided are a driving control device, a vehicle and a driving control system in severe weather. The control method and the control device can judge whether the vehicle drifts according to the signal intensity balance relation of the left side and the right side of the vehicle and generate corresponding early warning prompts according to whether the vehicle drifts, so that a driver can be reminded of correcting the deviation in time, and accidents caused by the drifts are avoided.
Description
The application relates to the field of driving auxiliary control, in particular to a driving control method and device, a vehicle and a driving control system in severe weather.
Artificial intelligence is the main field of scientific and technological competition of various countries in the future, and automatic driving is one of the main research directions of artificial intelligence, and represents the leading-edge technical level of the field. The automatic driving system is an intelligent control machine in essence and comprises three parts: three subsystems of information perception, behavior decision and manipulation control. Currently, autodrive is divided into five levels: l0, vehicle driving without an automatic driving function; l1, refers to autonomous vehicle driving with specific functions, which mainly represent functions: ESC (electronic stability control system), AEB (vehicle active safety technology), LKA (lane keeping assist function); l2, refers to autonomous vehicle driving with combined functions, which mainly represents the functions: ACC (adaptive cruise control), automatic parking, and the like; l3, directed to controlled autonomous vehicle driving, primarily representing a function that is highly autonomous; l4, refers to full unmanned, primarily representing a function that is fully autonomous.
Although the automatic driving technology is in a qualitative leap in recent years, the successful realization of the automatic driving technology always has a precondition that the weather is good. For autonomous driving, most of the data collected during training and testing of decision making capability of autonomous vehicles is under normal weather. Under the condition that weather is normal, various intelligent systems and auxiliary driving systems can well operate, the machine vision of the automatic driving system can prevent rear-end collision and collision, and instant road positioning information can be provided for preventing vehicles from running out of a road surface, so that the requirements for vehicle and road positioning are met. However, in severe weather, accurate vehicle and road positioning information are required for vehicle yaw warning when the vehicle is driven out of the road, and the accuracy of the existing sensor technology cannot meet the requirement. For rain, snow and haze weather, intelligent auxiliary driving cannot be carried out due to the fact that the automatic driving system cannot see road surface road line information, and an effective solution is not available at present.
Specifically, in rainy and snowy weather, road reflection characteristics of a road are changed due to icing, accumulated snow and accumulated water, a lane line cannot be accurately identified and identified or even obtained, an effective image is obtained, and real-time navigation is not available; laser radar performance is relatively poor under bad weather such as sleet fog, and the reason lies in: laser beams are too concentrated, high-power equipment cannot be manufactured, and when visibility is extremely low, a system is difficult to draw an accurate environment map. Because the laser scanning system is used for active scanning, the low-power laser cannot penetrate through thick fog, and the high-power laser is not suitable for being installed on a vehicle for scanning; in rainy, snowy and foggy weather, the detection distance of the millimeter wave radar is restricted by frequency band loss, the edge of a road without a high guardrail cannot be sensed, and a road trend graph cannot be constructed; the detection distance of the infrared radar is short, the detection distance is 3-50 meters, the detection is mainly used for realizing the reliability detection and control of a moving object at the distance of less than 40km/h, the detection and control of the moving object at the distance of 25m are seriously influenced by fog, the detection of obstacles is obviously influenced in rainy, snowy and foggy weather, the detection distance is shortened, and the real-time navigation requirement cannot be met. Obviously, in severe weather, the automatic driving systems cannot operate without exception, and must be closed, driving operation is performed by people, when no line is drawn on a road, or a road route is shielded by rain and snow in a rainy and snowy day, a series of systems such as ADAS and Mobiley which rely on observing the road line to perform yaw early warning and automatic driving cannot complete yaw early warning, automatic driving and the like, and the systems fail without exception.
Disclosure of Invention
The embodiment of the application discloses a driving control method, a driving control device, a vehicle and a driving control system under severe weather, which can realize intelligent auxiliary driving under severe weather such as rain, snow, haze and the like so as to solve the technical problem.
The driving control method under the severe weather comprises the following steps: when the vehicle runs, respectively acquiring first signal intensity of a specific signal on the left side of the vehicle and second signal intensity of a specific signal on the right side of the vehicle through a first sensor and a second sensor which are symmetrically arranged on the left side and the right side of the vehicle; comparing the first signal intensity with the second signal intensity, and judging whether the vehicle is currently drifted according to the magnitude relation of the first signal intensity and the second signal intensity; and generating corresponding early warning prompts according to whether the vehicle is controlled to yaw.
The driving control device under the severe weather comprises a first sensor and a second sensor which are symmetrically arranged on the left side and the right side of a vehicle, and further comprises a processor, wherein the first sensor and the second sensor are used for respectively acquiring first signal intensity of a specific signal on the left side of the vehicle and second signal intensity of a specific signal on the right side of the vehicle when the vehicle runs; the processor is used for comparing the first signal strength with the second signal strength, judging whether the vehicle is currently drifted according to the magnitude relation between the first signal strength and the second signal strength, and generating a corresponding early warning prompt according to whether the vehicle is controlled to be drifted.
The vehicle disclosed in the embodiment of the application comprises the driving control device. The driving control device comprises a first sensor and a second sensor which are symmetrically arranged on the left side and the right side of the vehicle, and the driving control device further comprises a processor, wherein the first sensor and the second sensor are used for respectively acquiring first signal intensity of a specific signal on the left side of the vehicle and second signal intensity of a specific signal on the right side of the vehicle when the vehicle runs; the processor is used for comparing the first signal strength with the second signal strength, judging whether the vehicle is currently drifted according to the magnitude relation between the first signal strength and the second signal strength, and generating a corresponding early warning prompt according to whether the vehicle is controlled to be drifted.
The driving control system comprises a driving control device arranged on a vehicle and signal emitting systems arranged on two sides of a road, wherein the signal emitting systems comprise a plurality of signal emitting units which are arranged on the two sides of the road in an interval, distributed and symmetrical mode, the signal emitting units emit signals in real time, and a first sensor and a second sensor on the vehicle are used for respectively acquiring first signal intensity of signals emitted by the signal emitting units on the left side of the vehicle and second signal intensity of signals emitted by the signal emitting units on the right side of the vehicle when the vehicle runs on the road; the processor is used for comparing the first signal strength with the second signal strength, judging whether the vehicle is currently drifted according to the magnitude relation between the first signal strength and the second signal strength, and generating a corresponding early warning prompt according to whether the vehicle is controlled to be drifted.
According to the driving control method, the driving control device, the vehicle and the driving control system in severe weather, whether the vehicle drifts can be judged according to the signal intensity balance relation of the left side and the right side of the vehicle, and corresponding early warning prompts can be generated according to whether the vehicle drifts, so that a driver can be timely reminded of whether the vehicle drifts currently.
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a block diagram of a driving control system according to an embodiment of the present application.
Fig. 2 is a flowchart illustrating a driving control method according to an embodiment of the present application.
Fig. 3 is a schematic diagram of an early warning prompt during normal driving in an embodiment of the present application.
Fig. 4 is a schematic diagram of a vehicle in normal running according to an embodiment of the present application.
Fig. 5 is a schematic diagram illustrating a vehicle yaw to the right in an embodiment of the present application.
Fig. 6 is a schematic diagram of an early warning prompt when a vehicle is yawing to the right in an embodiment of the application.
Fig. 7 is a schematic view of a vehicle yaw to the left in an embodiment of the present application.
Fig. 8 is a schematic diagram of warning prompt when the vehicle is yawing to the left side in the embodiment of the application.
Fig. 9 is a block diagram schematically illustrating a vehicle driving apparatus according to an embodiment of the present application.
Fig. 10 is a block diagram of a driving control system according to an embodiment of the present application.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "comprises" and "comprising," and any variations thereof, in the description and claims of this application and the drawings described above, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. The terms "first," "second," and "third," etc. in the description and claims of this application and the above-described drawings are used for distinguishing between different objects and not for describing a particular order.
Referring to fig. 1, fig. 1 is a block diagram of a driving control system 100 in severe weather. The driving control system 100 includes a severe weather dedicated road illumination system 10 and a vehicle autopilot system 20. The vehicle autopilot system 20 includes a road-heading real-time construction subsystem 21 and a light intensity balance based yaw detection subsystem 22. The severe weather dedicated road lighting system 10 is used to restore human vision in severe weather. The road trend real-time construction subsystem 21 is used for constructing road trends in real time through a topological algorithm. The yaw detection subsystem 22 based on light intensity balance is used for judging whether the vehicle is currently yawing on the basis of the constructed road and generating corresponding early warning indication according to whether the vehicle is yawing.
Therefore, the method and the device can provide corresponding reminding for the driving of the vehicle according to whether the vehicle generates corresponding early warning indication when the vehicle drifts, and control the vehicle after judging that the driver cannot completely complete correct driving operation and possible accidents occur, so that all-weather intelligent safe driving is realized.
Specifically, the road illumination system 10 special for severe weather improves human eye vision, the real-time road trend construction subsystem 21 and the yaw detection subsystem 22 based on light intensity balance form machine vision, the human eye vision and machine vision figures are highly fused, a driver observes the road surface through the human eye vision in the driving process, and the machine vision also observes the road surface. When a driver observes and forms a human eye visual image of the vehicle running state through the front windshield, machine vision describing the vehicle running state and yaw warning information is synchronously presented on the front windshield in a graphic form, so that the human eye visual image and the machine vision graphic are highly fused. When the machine vision finds the obstacles on the road surface preferentially, the obstacles can be observed and verified through the human eye vision simultaneously, and similarly, when the human eye vision finds the obstacles in front preferentially, the driver can observe and verify the obstacles through the machine vision simultaneously in order to avoid illusion. Therefore, the driving direction can be adjusted, positioned and planned by sensing and checking the cross of the human vision and the machine vision.
Specifically, the severe weather dedicated road lighting system 10 comprises a low lamp position transverse distribution type street lamp subsystem 11, a luminophore dedicated vision-increasing subsystem 12, a non-luminophore dedicated vision-increasing subsystem 13, a road edge display subsystem 14, a vehicle long-distance flash warning subsystem 15 and a dedicated signal transmitting subsystem 16.
Low lamp position transverse distribution type street lamp subsystem 11
The reason why the efficiency of a high beam of a vehicle becomes significantly low in weather conditions such as rain, fog, haze, smoke, etc., is that a large amount of aerosol molecular clusters in a suspended state are collected in the air in front of the vehicle. This results in that on the one hand, part of the incident light directed to the object in front of the vehicle is absorbed and scattered by the water molecular groups on the light path without reaching the object, and the scattered part forms a white fog curtain, i.e., the "white (fog) wall effect", which causes the driver to be blinded by the obstacle in front of the road; on the other hand, the reflected light of the incident light reaching the object in front of the vehicle is absorbed and scattered by aerosol molecular groups suspended in the air, and the brightness and contrast of the reflected light are reduced, so that the visibility of the obstacle in front of the vehicle is greatly reduced.
Research shows that when the included angle between incident light and the sight line of the driver is nearly vertical, the phenomenon of 'white (fog) wall' can be effectively overcome, and the method is an effective method for solving the problem of road illumination in foggy days at present. In this application, the horizontal distributed street lamp subsystem 11 in low light position provides the direction of illumination and driver's sight direction and is close to the vertically space illumination, improves the visibility level of the place ahead barrier under the complicated weather condition. Specifically, the low-light-position transversely-distributed street lamp subsystem 13 includes a plurality of first lamp bodies, the first lamp bodies are respectively arranged on a plurality of street lamp poles, the first lamp bodies respectively adopt light sources with color temperatures of 3000K to 6500K, the irradiation spaces of the first lamp bodies are above and below the high light position and a road surface, the irradiation ranges of the first lamp bodies are from 0 ° to 180 ° in the horizontal direction and from 180 ° to 360 ° in the vertical direction, and are from 90 ° to 270 ° and from 270 ° to 90 °, the power of the light sources adopted by the first lamp bodies is not more than 10W, and the distance between the adjacent first lamp bodies is from 3 m to 10 m. Therefore, the edge acuity of vision, the stereoscopic acuity of vision and the color acuity of vision of human eyes can be effectively improved, the white wall effect is effectively overcome, the existing feeling, the distance feeling and the direction feeling of a front object of a vehicle driver are reconstructed, and the visual ability of the human eyes of the driver is recovered.
Illuminant-specific vision-enhancing subsystem 12
Under bad weather, the rear vehicle can see the place ahead vehicle clearly, know the distance with the place ahead vehicle, and is especially important to safe driving, and fog lamp around consequently the vehicle can be opened promotes the driving safety under the bad weather. However, in severe weather such as heavy haze and heavy rainstorm, the brightness of the vehicle fog lamp is insufficient, and particularly, the rear fog lamp and the tail lamp cannot penetrate through thick fog. In the application, the special vision enhancement subsystem 12 of luminous body includes a plurality of second lamp bodies, a plurality of second lamp bodies adopt the low lamp position setting, and it shines reverse narrow grading for the vertical direction, and beam angle is about 45, and its irradiation space is 0.5 ~ 1.5 meters above the road surface, and the colour temperature of the light source of its adoption is not less than 1000K, and has higher penetrating power and higher color rendering, and the power of its adopted light source is not more than 10W, and the interval between the adjacent second lamp body is 3 ~ 10 meters. In other words, in one embodiment, the second lamp bodies of the illuminant-specific vision enhancement subsystem 12 are respectively disposed on the light poles. The second lamp bodies of the special vision enhancement subsystem 12 for the luminous bodies can be used for irradiating tail lamps and fog lamps of a vehicle, and light rays of the second lamp bodies of the special vision enhancement subsystem 12 for the luminous bodies are reflected by utilizing an optical reflection structure of the tail lamps and the fog lamp bodies of the vehicle, so that the brightness of the luminous bodies such as the tail lamps and the fog lamps is enhanced, and the visual identification of a driver of a rear vehicle to a front vehicle is improved.
Non-illuminant dedicated vision-enhancing subsystem 13
The non-luminous body refers to an object having no self-luminous property on a pedestrian, a bicycle, an obstacle, or the like on a road. In severe weather, the non-luminous body is difficult to be perceived by a driver, and traffic accidents are easily caused. Under the condition of thin fog, the identification of a driver to a front obstacle and a road can be enhanced by turning on a front fog lamp, but under the condition of thick fog, the fog lamp is difficult to play an effective role, and if the front lamp is turned on, a white wall effect can occur, and the vision of the driver is reduced. The special vision enhancement subsystem 13 for the non-luminous body comprises a plurality of third lamp bodies, wherein the third lamp bodies are transversely arranged at low lamp positions, the irradiation direction of the third lamp bodies is vertical narrow light distribution, the beam angle is about 60 degrees, the irradiation space is above a road, the color temperature of the adopted light source is 3500K-6500K, the light source has high penetrating power and high color rendering property, the power of the light source is not more than 10W, and the distance between the adjacent third lamp bodies is 3-10 m. In other words, in one embodiment, the third lamp bodies of the non-illuminant dedicated vision-enhancing subsystem 13 are respectively disposed on the light poles. The third lamp bodies of the special vision enhancement subsystem 13 for the non-luminous bodies are respectively used for transversely irradiating from two sides of a road to the middle of the road, the non-luminous bodies are illuminated and perceived by a driver, and the vision enhancement of the human eyes of the driver is more than twice stronger than fog lamps and headlights of a vehicle.
Road edge display subsystem 14
The driver is also important in observing the road lanes and edges, in addition to the road obstacles ahead, which determines the direction of travel of the vehicle. In severe weather, a driver can only see a close-distance lane line, cannot observe the road edge, cannot predict the road trend, is in a state of extreme tension in driving, and is easy to cause driving fatigue without a sense of safety. In the present application, the road edge display subsystem 14 includes a plurality of fourth lamp bodies, the plurality of fourth lamp bodies are arranged horizontally at low lamp positions, the irradiation direction is 0 to 180 ° in the horizontal direction, 180 ° to 360 ° in the vertical direction, 0 to 180 ° to 360 ° in the vertical direction, the irradiation space is above the road, the color temperature of the light source used is 3500K to 6500K, and has high penetration and high color rendering, the power of the light source used is not more than 30W, and has high penetration and high color rendering, and the distance between adjacent fourth lamp bodies is 3 to 10 meters. In other words, in one embodiment, the fourth light bodies of the road edge display subsystem 14 are respectively disposed on the light poles. The fourth lamp bodies of the road edge display subsystem 14 are respectively used for irradiating from two sides of a road to the middle, so that a driver can observe the light source and know the position of the street lamp, thereby knowing the position of the road edge, predicting the trend of the road, enhancing the driving safety of the driver and reducing the fatigue of the driver caused by tension.
Vehicle remote flashing warning subsystem 15
When a vehicle breaks down on a road or has a traffic accident, a danger alarm flash lamp is turned on according to the regulations, and a warning sign is arranged at the position 100-150 meters behind the vehicle. However, if visibility is low, the corresponding warning signs may not be effective, causing secondary accidents. In this application, the long distance flash of light warning subsystem 15 of vehicle includes a plurality of fifth lamp bodies, just a plurality of fourth lamp bodies adopt the reverse grading in low lamp position, and its direction of illumination is the positive and negative 90 degrees of horizontal direction, and the space of shining is the road top, and its light source colour temperature is for being less than 1000K, and the power of its adopted light source is for being not more than 5W, and the interval between the adjacent second lamp body is 3 ~ 10 meters. Therefore, after a traffic accident happens, a driver can turn on the warning flicker of the system through a switch on the roadside or the system can sense all weather, the situation and the position of a fault vehicle are timely judged, the associated street lamp system is given a descending indication, the warning flicker can be turned on at a street lamp which is close to the tail of the vehicle for a certain distance, the driver behind the vehicle is reminded of the existence of the fault vehicle in front, the vehicle is decelerated to run, and safety is noticed.
Dedicated signal transmission subsystem 16
The special signal transmitting subsystem 16 comprises a plurality of signal transmitting units, one signal transmitting unit is arranged on each light pole, the signal transmitting direction is 0-135 degrees and 225-360 degrees, the irradiating space is above the road, and the working power is not more than 20W. The special signal transmitting unit can emit invisible light signals such as infrared light, electromagnetic waves and the like. It is to be understood that the dedicated signal transmitting unit may be integrated in a general street lamp, such as a low-level street lamp.
The vehicle is provided with a special signal receiving subsystem 23 which identifies the frequency, angle, direction, distance and other information of the signal by receiving the signal sent by the special signal transmitting subsystem 16 and transmits the signal to the road trend real-time constructing subsystem 21 of the vehicle.
Road trend real-time construction subsystem 21
The road trend real-time construction subsystem 21 constructs the road trend in real time according to the signal, and details are not described here.
In addition, a street lamp redundant signal triggering subsystem 24 is also arranged on the vehicle side. Due to the complexity of road conditions, such as different steering and gradient factors, the signal fixity of the special signal transmitting subsystem 16 and the singleness of the special signal receiving subsystem 23, certain signal overlapping and interference can be caused, information processing becomes complex, the sampling and calculating period of the street lamp redundant signal triggering subsystem 24 is less than 0.02 second, the calculating precision is centimeter level, necessary signal sampling redundancy is set, and the street lamp redundant signal triggering subsystem has the capability of eliminating external disturbance.
Yaw detection subsystem 22 based on light intensity balance
A first sensor 240 and a second sensor 250 (for example, as shown in fig. 9) are provided on the vehicle, and the first sensor 240 and the second sensor 250 are symmetrically provided on the left and right sides of the vehicle. For example, in one embodiment, the first sensor 240 and the second sensor 250 are respectively disposed on the left and right sides of the head of the vehicle. In another variant embodiment, the first sensor 240 and the second sensor 250 are respectively disposed on the left and right sides of the rear of the vehicle.
Referring to fig. 2, fig. 2 is a schematic flow chart of a driving control method according to an embodiment of the present application. The driving control method includes the steps of:
step 201: when the vehicle is running, a first signal intensity of a specific signal on the left side of the vehicle and a second signal intensity of a specific signal on the right side of the vehicle are acquired by a first sensor 240 and a second sensor 250 symmetrically disposed on the left and right sides of the vehicle, respectively.
Specifically, in one embodiment, the specific signal comes from a signal emitting system (for example, the signal emitting system 310 shown in fig. 10) disposed on both sides of the road, the signal emitting system includes a plurality of signal emitting units disposed on both sides of the road in a spaced, distributed and symmetrical manner, the plurality of signal emitting units respectively emit signals in real time, and the first sensor 240 and the second sensor 250 on the vehicle are configured to respectively obtain a first signal strength of the specific signal emitted by the signal emitting unit on the left side of the vehicle and a second signal strength of the signal emitted by the specific signal emitting unit on the right side of the vehicle when the vehicle runs on the road.
Specifically, in one embodiment, the signal transmitting unit is one of a general street lamp or a dedicated signal transmitting subsystem 16. When the signal emitting unit is an ordinary street lamp, for example, a plurality of first lamp bodies in the low-light-level laterally-distributed street lamp subsystem 11 are symmetrically distributed on both sides of a road, the first sensor 240 and the second sensor 250 are configured to respectively collect a first signal intensity of an optical signal emitted by the first lamp body located on the left side of the vehicle and a second signal intensity of an optical signal emitted by the second lamp body located on the right side of the vehicle. It is understood that in one variant, when the signal emitting unit is a dedicated signal emitting subsystem 16, several dedicated signal emitting units of the dedicated signal emitting subsystem 16 may emit infrared light or electromagnetic waves, etc. The plurality of special signal emitting units are symmetrically distributed on two sides of a road, and the first sensor 240 and the second sensor 250 are used for respectively acquiring first signal intensity of an optical signal emitted by a first lamp body positioned on the left side of the vehicle and second signal intensity of an optical signal emitted by a second lamp body positioned on the right side of the vehicle. Further, in one of the modified embodiments, when the signal transmitting unit is a dedicated signal transmitting subsystem, the dedicated signal transmitting unit is integrated in a common street lamp, thereby facilitating practical application.
Step 202: and comparing the first signal intensity with the second signal intensity, and judging whether the vehicle is yawing currently according to the magnitude relation of the first signal intensity and the second signal intensity.
Step 203: and generating corresponding early warning prompts according to whether the vehicle is controlled to yaw.
Therefore, the yaw detection subsystem 22 based on light intensity balance performs dynamic evaluation according to the difference value of the luminance of the street lamps at two sides of the road and/or the luminance ratio of the luminance of the street lamps at two sides of the road detected by the vehicle, and adjusts the driving direction of the vehicle, so that the relative luminance at two sides of the vehicle is kept unchanged, and the relative distance between the vehicle and two sides of the road is kept unchanged. For example, in one embodiment, if the vehicle detects that the brightness of the 1 st light on the left side of the road is 100lx and the brightness of the 1 st light on the right side of the road is 150lx, then the ratio of the brightness of the two lights is 2: 3, the vehicle continues to run, and the brightness ratio of the 2 nd, 3 rd, 4 th and 5 th 5 … … th lamps is kept to be 2: 3, the relative distance between the vehicle and the left and right sides of the road is kept unchanged. If the brightness proportion of the street lamps on the left side and the right side of the vehicle is changed, the situation that the vehicle is close to one side of the road and is far away from the other side is shown, the direction of the vehicle should be adjusted at the moment, and the brightness of the street lamps on the left side and the right side of the vehicle is changed back to 2: 3, namely, the purpose of yaw adjustment is achieved. Therefore, according to the dynamic balance analysis of the signal intensity, whether the vehicle is off course or not can be determined quickly and accurately, and for example, when the vehicle is accidentally pressed to a lane mark line or a lane change has a collision risk in the driving process, the vehicle can be sensed in time.
Further, in one embodiment, when the collision risk is sensed when the vehicle is accidentally pressed to a lane marker or lane change during running, if a head-up display is provided on the vehicle, the warning prompt may be generated by the head-up display on the vehicle to visually alert the driver, and/or, warning prompts by steering wheel vibration on the vehicle to warn the driver haptically, and/or, the voice playing unit on the vehicle plays the prompt voice information to carry out early warning prompt so as to warn the driver in a voice mode, and/or, if the projection equipment is arranged on the vehicle, the early warning prompting content can be timely projected onto the front windshield of the vehicle through the projection equipment to carry out early warning prompting so as to warn the driver in an image form, meanwhile, the electronic control vehicle stable running system can assist the driver to correct the running route of the vehicle.
Specifically, in one embodiment, the "determining whether the vehicle is currently yawing according to the magnitude relationship between the first signal strength and the second signal strength" includes:
when the difference value between the first signal intensity and the second signal intensity is smaller than a first preset threshold value, or the ratio of the first signal intensity to the second signal intensity is within a first preset ratio range, determining that the vehicle normally runs and does not yaw; or,
when the difference value between the first signal strength and the second signal strength is larger than a first preset threshold value and the first signal strength is larger than the second signal strength, or the ratio of the first signal strength to the second signal strength is larger than the first preset ratio range, determining that the vehicle is currently yawing to the right; or,
and when the difference value between the first signal strength and the second signal strength is larger than a first preset threshold value and the first signal strength is smaller than the second signal strength, or the ratio of the first signal strength to the second signal strength is smaller than the first preset ratio range, determining that the vehicle is currently yawing leftwards.
Specifically, in one embodiment, referring to fig. 3 together, a first indicating component 220 and a second indicating component 230 are disposed on the vehicle. It is understood that the first indication component 220 and the second indication component 230 may be disposed on the vehicle-mounted display and displayed in the form of virtual icons, and/or may be disposed on the vehicle head-up display and displayed in the form of virtual icons, and/or may be displayed in the form of virtual icons and projected on the front windshield of the vehicle through the projection device. The step of generating corresponding early warning prompts according to whether the vehicle is controlled to yaw or not comprises the following steps:
the vehicle is indicated by the first indicating component 220 as requiring a left turn or not requiring a left turn and by the second indicating component 230 as requiring a right turn or not requiring a right turn.
Specifically, in one embodiment, "indicating that the vehicle requires a left turn or does not require a left turn via the first indicating component 220, and indicating that a right turn or does not require a right turn via the second indicating component 230" includes:
when the vehicle is yawing to the left, the vehicle is indicated not to need to turn to the left by the first indicating component 220, and the vehicle needs to turn to the right by the second indicating component 230;
when the vehicle is yawing to the right, the vehicle is indicated to require a left turn by the first indicating component 220 and not to require a right turn by the second indicating component 230.
Specifically, in one embodiment, the first indicating component 220 comprises a first color indicator light, a second color indicator light, and a third color indicator light, and the second indicating component 230 comprises a first color indicator light, a second color indicator light, and a third color indicator light, and indicating that the vehicle does not need to turn left by the first indicating component 220 and that the vehicle needs to turn right by the second indicating component 230 when the vehicle is yaw left comprises:
the first color light emitted by the first color indicator light of the first indicator assembly 220 indicates that the vehicle does not need to turn left, and the second color light emitted by the second color indicator light of the second indicator assembly 230 indicates that the vehicle needs to turn right;
"when the vehicle is yaw to the right, the vehicle is indicated to need to turn left by the first indicating component 220, and the vehicle is indicated not to need to turn right by the second indicating component 230" includes:
the second color light emitted by the second color indicator light of the first indicator assembly 220 indicates that the vehicle needs to turn left, and the first color light emitted by the first color indicator light of the second indicator assembly 230 indicates that the vehicle does not need to turn right.
Specifically, in one embodiment, the driving control method further includes:
when the yaw of the vehicle is determined according to the difference value between the first signal strength and the second signal strength and the difference value is larger than a second preset threshold value, determining that the yaw of the vehicle is serious, wherein the second preset threshold value is larger than the first preset threshold value, when the yaw of the vehicle is serious towards the left and the steering wheel needs to turn to the right, emitting second color light through a second color indicator lamp of the second indicator assembly 230 to indicate that the steering wheel of the vehicle needs to turn to the right and emitting first color light through a first color indicator lamp of the first indicator assembly to indicate that the steering wheel of the vehicle cannot continue to rotate to the left;
when the vehicle has serious right yaw and needs to turn to the left, the second color indicator lamp of the first indicator assembly 220 emits the second color light to indicate that the steering wheel of the vehicle needs to turn to the left, and the first color indicator lamp of the second indicator assembly 230 emits the first color light to indicate that the steering wheel of the vehicle cannot continue to rotate to the right.
Specifically, in one embodiment, the driving control method further includes:
when the yaw of the vehicle is determined according to the difference value between the first signal strength and the second signal strength and the difference value is between the first preset threshold value and the second preset threshold value, determining that the vehicle slightly yaws;
when the vehicle is slightly yawing to the left, emitting a third color light through a third color indicator lamp of the first indicator assembly 220 to indicate that the vehicle is slightly yawing to the left;
when the vehicle is slightly yawing to the right, the vehicle is indicated to slightly yaw to the right by emitting a third color light through the third color indicator light of the second indicator assembly 230.
Specifically, in one embodiment, the driving control method further includes:
when the first color indicator light of the first indicator component 220 and the first color indicator light of the second indicator component 230 emit first color light to indicate at the same time, it indicates that the current road is forbidden and needs to be braked;
when the second color indicator light of the first indicator component 220 and the second color indicator light of the second indicator component 230 emit the second color light at the same time for indication, the straight line is represented;
when the third color indicator light of the first indicator assembly 220 and the third color indicator light of the second indicator assembly emit third color light for indication at the same time, it indicates that high attention is needed.
Specifically, in one embodiment, the vehicle is further provided with running indication marks 240, and the running indication marks 240 comprise a normal running indication mark, a leftward turning indication mark and a rightward turning indication mark; the driving control method further includes:
when the vehicle normally runs and is not in yaw, the normal running indicating mark is used for highlighting and indicating the current normal running of the vehicle;
when the vehicle is yaw left, the vehicle is highlighted and indicated to be currently turned to the right through the right turning indicating mark so as to avoid yaw;
when the vehicle is yaw-to-right, the indication that the vehicle should turn left currently is highlighted through the turn-to-left indicator to avoid yaw.
It is understood that the highlighting may be a highlighting, a lighting of a backlight, etc., and is not limited thereto.
Specifically, in one embodiment, the driving control method further includes:
generating display information to visually alert a driver when the vehicle is either heading to the right or to the right by a heads-up display on the vehicle; or,
tactilely alerting a driver by a steering wheel vibration on a vehicle when the vehicle is experiencing a right or right yaw; or,
when the vehicle is deflected to the right or the right, the voice playing unit on the vehicle plays voice information to warn the driver; or,
when the vehicle is deflected to the right or to the right, an early warning prompt is projected onto the windshield by the projection device to warn the driver.
Specifically, in one embodiment, the first color indicator light is a red indicator light, which indicates that the line is forbidden; the second color indicator light is a green indicator light and indicates normal; the third color indicator light is a yellow indicator light and indicates that attention is needed. Also, the first and second indicating members 220 and 230 are located at both sides of the driving indicator. It is understood that, in other embodiments, the colors of the first color indicator light, the second color indicator light and the third color indicator light may be set according to actual needs, and are not limited herein.
Further, as shown in fig. 4, when the vehicle is running normally, the two regularly distributed identification points on the road indicate the installation points of the low-light street lamps, one low-light street lamp is installed at a fixed distance, and a signal transmitting unit is arranged on each low-light street lamp, wherein the angle α refers to the detectable angle of the vehicle to the signal transmitting units on the two sides of the road.
Referring to fig. 3 again, when it is determined that the vehicle is running normally, the early warning prompt is that the green indicator light of the first indicator component 220 is on and emits a second color light, the green indicator light of the second indicator component 230 is on and emits a second color light, and the running indicator is a straight arrow.
Referring to fig. 5 and 6, when it is determined that the vehicle is yawing to the right, the warning prompt is that the green indicator light of the first indicator assembly 220 emits the second color light when being turned on, the red indicator light of the second indicator assembly 230 emits the first color light when being turned on, and the driving indicator is an arrow turning to the left.
When the vehicle is slightly deviated to the right, the early warning prompt is that the first indicating component 220 emits second color light when being a green indicating lamp, the yellow indicating lamp of the second indicating component 230 emits third color light when being a yellow indicating lamp, and the running indicating mark is an arrow bent to the left, so as to remind a driver of paying attention to the condition of the right side of the vehicle.
Referring to fig. 7 and 8, when it is determined that the vehicle is yaw left, the warning prompt is that the red indicator light of the first indicator assembly 220 emits a first color light when being turned on, the green indicator light of the second indicator assembly 230 emits a second color light when being turned on, and the driving indicator is a rightward turning arrow.
When it is determined that the vehicle is slightly deviated to the left, the early warning prompt is that the yellow indicator light of the first indicator component 220 is on, that is, the yellow indicator light emits a third color light, the green indicator light of the second indicator component 230 is on, that is, the green indicator light emits a second color light, and the driving indicator is a rightward-turning arrow to remind a driver of paying attention to the condition of the left side of the vehicle.
When it is determined that an obstacle cannot pass through the front of the vehicle, the early warning prompt is that the red indicator light of the first indicator component 220 is on, that is, the first color light is emitted, and the red indicator light of the second indicator component 230 is on, that is, the first color light is emitted, so as to remind a driver of braking in time.
When it is determined that the obstacle on the left side of the vehicle cannot pass through and the right side of the vehicle needs attention, the early warning prompt is that the red indicator light of the first indicator component 220 is turned on to emit first color light, and the yellow indicator light of the second indicator component 230 is turned on to emit third color light, so as to remind the driver that the left side is forbidden and the right side needs attention.
When it is determined that the right obstacle of the vehicle cannot pass and the left side needs attention, the early warning prompt is that the yellow indicator light of the first indicator component 220 is turned on to emit the third color light, and the red indicator light of the second indicator component 230 is turned on to emit the first color light to remind the driver that the right side is forbidden and the left side needs attention.
When it is determined that the left side and the right side of the vehicle both need to pay attention to, the early warning prompt is that the yellow indicator light of the first indicator component 220 is on, that is, the yellow indicator light of the second indicator component 230 is on, that is, the yellow indicator light of the first indicator component emits light of the third color, so as to remind the driver of paying attention to the surrounding environment.
Specifically, in one of the embodiments, the vehicle includes radar sensors respectively located at a front bumper, a rear bumper, a vehicle body side surface, and a center of a radiator front portion, and the driving control method further includes:
generating a braking request when an obstacle is sensed by a radar sensor;
the vehicle is braked in response to the braking request.
Specifically, in one embodiment, the vehicle includes a spectral detection recognition device located between a vehicle bumper or a center mirror and a windshield, and the driving control method further includes:
detecting the spectral change of the road environment in front of the vehicle in real time through the spectral detection and identification equipment;
the spectrum detection and identification equipment generates a control signal when the spectrum value of a road in front of a vehicle detected in real time changes and is out of a preset range value; when no obstacle exists in front of the vehicle, the spectrum detection and identification equipment detects the spectrum value in a preset range in real time; when an obstacle appears in front of the vehicle, the spectrum detection and identification equipment detects that the spectrum value is out of the preset range in real time;
and responding to the control signal and generating warning information to remind the driver.
Further, the driving control method further includes the steps of:
and analyzing, identifying and comparing the obstacles through the big data, and feeding back information such as the possibility of the front obstacles to the driver.
Referring to fig. 9, fig. 9 is a block diagram of a driving control device in severe weather according to an embodiment of the present disclosure. The driving control apparatus 200 includes a first sensor 240 and a second sensor 250 symmetrically disposed on the left and right sides of the vehicle, and a processor 210. Wherein, the processor 210 is electrically connected to the first sensor 240 and the second sensor 250, respectively. The driving control apparatus 200 obtains a first signal intensity of the specific signal on the left side of the vehicle and a second signal intensity of the specific signal on the right side of the vehicle, respectively, through the first sensor 240 and the second sensor 250 while the vehicle is running; the processor 210 is configured to compare the first signal strength and the second signal strength, determine whether the vehicle is currently yawing according to a magnitude relationship between the first signal strength and the second signal strength, and generate a corresponding warning prompt according to whether the vehicle is yawing.
Specifically, in one embodiment, the processor 210 is configured to determine that the vehicle is not yawing during normal running when the difference between the first signal strength and the second signal strength is smaller than a first preset threshold value, or the ratio of the first signal strength and the second signal strength is within a first preset ratio range; or, the processor 210 is configured to determine that the vehicle is currently yawing to the right when the difference between the first signal strength and the second signal strength is greater than a first preset threshold and the first signal strength is greater than the second signal strength, or the ratio of the first signal strength and the second signal strength is greater than the first preset ratio range; or, the processor 210 is configured to determine that the vehicle is currently yawing left when a difference between the first signal strength and the second signal strength is greater than a first preset threshold and the first signal strength is smaller than the second signal strength, or a ratio of the first signal strength and the second signal strength is smaller than the first preset ratio range.
Specifically, in one embodiment, the driving control device 200 includes a first indication component 220 and a second indication component 230 disposed on the vehicle, and the processor 210 is configured to indicate that the vehicle needs to turn left or does not need to turn left by controlling the first indication component 220, and indicate that the vehicle needs to turn right or does not need to turn right by controlling the second indication component 230.
Specifically, in one embodiment, the processor 210 is configured to indicate that the vehicle does not need to turn left by controlling the first indicating component 220 and indicate that the vehicle needs to turn right by controlling the second indicating component 230 when the vehicle is yawing to the left; the processor 210 is configured to indicate that the vehicle needs to turn left by controlling the first indicating component 220 and indicate that the vehicle does not need to turn right by controlling the second indicating component 230 when the vehicle is yawing to the right.
Specifically, in one embodiment, the first indicating component 220 includes a first color indicator, a second color indicator and a third color indicator, the second indicating component 230 includes a first color indicator, a second color indicator and a third color indicator, and the processor 210 is configured to indicate that the vehicle does not need to turn left by controlling the first color indicator of the first indicating component 220 to emit a first color light and indicate that the vehicle needs to turn right by controlling the second color indicator of the second indicating component 230 to emit a second color light; the processor 210 is further configured to control the second color indicator light of the first indicator assembly 220 to emit a second color light to indicate that the vehicle needs to turn left, and control the first color indicator light of the second indicator assembly 230 to emit a first color light to indicate that the vehicle does not need to turn right.
Specifically, in one embodiment, the processor 210 is further configured to determine that the vehicle is yawing severely when the difference between the first signal strength and the second signal strength is larger than a second preset threshold value, wherein the second preset threshold value is larger than the first preset threshold value. When the vehicle has serious left yaw and needs to turn to the right direction, the second color indicator lamp of the second indicator assembly 230 emits second color light to indicate that the steering wheel of the vehicle needs to turn to the right direction, and the first color indicator lamp of the first indicator assembly 220 emits first color light to indicate that the steering wheel of the vehicle cannot continue to rotate to the left direction; the processor 210 is further configured to, when the vehicle has drifted to the right seriously and needs to turn to the left, send out a second color light through the second color indicator of the first indicator 220 to indicate that the steering wheel of the vehicle needs to turn to the left, and send out a first color light through the first color indicator of the second indicator 230 to indicate that the steering wheel of the vehicle cannot continue to rotate to the right.
Specifically, in one embodiment, the processor 210 is further configured to determine that the vehicle is slightly off-course when the vehicle is determined to be off-course based on the difference between the first signal strength and the second signal strength and the difference is between a first preset threshold and a second preset threshold; the processor 210 is further configured to indicate a slight yaw left by the vehicle as indicated by the third color light emitted by the third color indicator light of the first indicator assembly 220 when the vehicle is slightly yaw left; the processor 210 is further configured to indicate a slight yaw to the right by emitting a third color light through the third color indicator light of the second indicator assembly 230 when the vehicle is slightly yaw to the right.
Specifically, in one embodiment, the processor 210 is further configured to indicate that the current road is forbidden and needs to be braked when the first color indicator light of the first indicator component 220 and the first color indicator light of the second indicator component 230 emit the first color light at the same time for indication; the processor 210 is further configured to indicate a straight line when the second color indicator light of the first indicator component 220 and the second color indicator light of the second indicator component 230 emit the second color light at the same time for indication; the processor 210 is further configured to indicate that high attention is needed when the third color indicator light of the first indicator component 220 and the third color indicator light of the second indicator component 230 emit the third color light at the same time for indication.
Specifically, in one embodiment, the driving control device 200 is further provided with a driving indication mark 240, and the driving indication mark 240 comprises a normal driving indication mark, a left-turning indication mark and a right-turning indication mark; the processor 210 is further configured to highlight the normal running indication mark to indicate that the vehicle is running normally when the vehicle is running normally without yaw; when the vehicle is yaw left, the vehicle is highlighted and indicated to be currently turned to the right through the right turning indicating mark so as to avoid yaw; when the vehicle is yaw-driven to the right, the display is provided through the left-turning indicating sign to indicate that the vehicle should turn left currently to avoid yaw.
Specifically, in one embodiment, the processor 210 is further configured to visually alert the driver when the vehicle is being steered to the right or is being steered to the right by generating a display message via a heads-up display on the vehicle.
Specifically, in one embodiment, the processor 210 is also configured to haptically alert the driver by way of a steering wheel vibration on the vehicle when the vehicle is experiencing a yaw to the right or right.
Specifically, in one embodiment, a voice playing unit is disposed on the vehicle, and the processor 210 is further configured to control the voice playing unit to play voice information to prompt the driver to pay attention when the vehicle has a yaw to the right or the right.
Specifically, in one embodiment, a projection device is further disposed on the vehicle, and the processor 210 is further configured to project an early warning prompt onto the windshield through the projection device to remind the driver of the early warning prompt when the vehicle has a right or right yaw.
Specifically, in one embodiment, the vehicle comprises radar sensors which are respectively positioned in the front bumper, the rear bumper, the side surface of the vehicle body and the center of the front part of a radiator, and the radar sensors generate braking requests when sensing obstacles; the processor 210 is also configured to brake the vehicle in response to the braking request.
Specifically, in one embodiment, a spectrum detection and identification device is further arranged on the vehicle and is positioned between a bumper or a central rearview mirror of the vehicle and a windshield, and the spectrum detection and identification device detects the spectrum change of the road environment in front of the vehicle in real time; when no obstacle exists in front of the vehicle, the spectrum detection and identification equipment detects the spectrum value in a preset range in real time; when an obstacle appears in front of the vehicle, the spectrum detection and identification equipment changes the spectrum value of the road in front of the vehicle detected in real time and generates a control signal; the processor 210 is also configured to respond to the control signal and generate a warning message to alert the driver.
Referring to fig. 10, the driving control system 300 includes a driving control device 200 disposed on a vehicle and signal emitting systems 310 disposed on two sides of a road, where the signal emitting systems 310 include a plurality of signal emitting units disposed on two sides of the road in a spaced, distributed and symmetrical manner, the plurality of signal emitting units emit signals in real time, and the first sensor 240 and the second sensor 250 on the vehicle are configured to respectively obtain a first signal strength of a specific signal emitted by a signal emitting unit on the left side of the vehicle and a second signal strength of a signal emitted by a specific signal emitting unit on the right side of the vehicle when the vehicle travels on the road; the processor 210 is configured to compare the first signal strength and the second signal strength, determine whether the vehicle is currently yawing according to a magnitude relationship between the first signal strength and the second signal strength, and generate a corresponding warning prompt according to whether the vehicle is yawing.
Further, in one embodiment, the signal transmitting unit is one of a general street lamp and a dedicated signal transmitting subsystem 16, and when the signal transmitting unit is the dedicated signal transmitting subsystem 16, the dedicated signal transmitting subsystem 16 may emit one of infrared light and electromagnetic waves.
Further, in one embodiment, when the signal transmitting unit is a dedicated signal transmitting subsystem 16, the dedicated signal transmitting subsystem may be integrated into a general street lamp, for example, a low-level street lamp.
According to the driving control method, the driving control device and the driving control system under the severe weather, whether the vehicle drifts can be judged according to the signal intensity balance relation of the left side and the right side of the vehicle, and corresponding early warning prompts are generated when the vehicle drifts, so that a driver can be timely reminded to correct the deviation, and accidents caused by the drifts are avoided.
It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the order of acts described, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.
The steps in the method of the embodiment of the application can be sequentially adjusted, combined and deleted according to actual needs.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, and the program can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM), a Random Access Memory (RAM), or the like.
The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and embodiments of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (27)
- A driving control method under severe weather is applied to a vehicle, and is characterized by comprising the following steps:when the vehicle runs, respectively acquiring first signal intensity of a specific signal on the left side of the vehicle and second signal intensity of a specific signal on the right side of the vehicle through a first sensor and a second sensor which are symmetrically arranged on the left side and the right side of the vehicle;comparing the first signal intensity with the second signal intensity, and judging whether the vehicle is currently drifted according to the magnitude relation of the first signal intensity and the second signal intensity; andand generating corresponding early warning prompts according to whether the vehicle is controlled to yaw.
- The driving control method according to claim 1, wherein the "determining whether the vehicle is currently yawing according to a magnitude relation between the first signal strength and the second signal strength" includes:when the difference value between the first signal intensity and the second signal intensity is smaller than a first preset threshold value, or the ratio of the first signal intensity to the second signal intensity is within a first preset ratio range, determining that the vehicle normally runs and does not yaw; or,when the difference value between the first signal strength and the second signal strength is larger than a first preset threshold value and the first signal strength is larger than the second signal strength, or the ratio of the first signal strength to the second signal strength is larger than the first preset ratio range, determining that the vehicle is currently yawing to the right; or,and when the difference value between the first signal strength and the second signal strength is larger than a first preset threshold value and the first signal strength is smaller than the second signal strength, or the ratio of the first signal strength to the second signal strength is smaller than the first preset ratio range, determining that the vehicle is currently yawing leftwards.
- The driving control method according to claim 2, wherein the vehicle is provided with a first indication component and a second indication component, and the step of generating a corresponding warning prompt according to whether the vehicle is yaw-controlled comprises the steps of:indicating that the vehicle needs to turn left or does not need to turn left through the first indicating component, and indicating that the vehicle needs to turn right or does not need to turn right through the second indicating component.
- The driving control method according to claim 3, wherein "indicating that the vehicle requires left turning or does not require left turning by the first indicating component and indicating that the vehicle requires right turning or does not require right turning by the second indicating component" includes:when the vehicle is deflected to the left, the first indicating component indicates that the vehicle does not need to turn left, and the second indicating component indicates that the vehicle needs to turn right;when the vehicle is deflected to the right, the vehicle is indicated to need to turn left through the first indicating component, and the vehicle is indicated not to need to turn right through the second indicating component.
- The driving control method of claim 4, wherein the first indication component comprises a first color indicator light and a second color indicator light, and the second indication component comprises a first color indicator light and a second color indicator light, and indicating that the vehicle does not need to turn left by the first indication component and indicating that the vehicle needs to turn right by the second indication component when the vehicle is yawing to the left comprises:the first color indicator lamp of the first indicator assembly emits first color light to indicate that the vehicle does not need to turn left, and the second color indicator lamp of the second indicator assembly emits second color light to indicate that the vehicle needs to turn right;"indicating, by the first indicating component, that the vehicle requires a left turn and indicating, by the second indicating component, that the vehicle does not require a right turn when the vehicle is yaw to the right" includes:the second color indicator lamp of the first indicator assembly emits second color light to indicate that the vehicle needs to turn left, and the first color indicator lamp of the second indicator assembly emits first color light to indicate that the vehicle does not need to turn right.
- The driving control method according to claim 5, characterized by further comprising:when the vehicle is determined to yaw according to the difference value between the first signal intensity and the second signal intensity and the difference value is larger than a second preset threshold value, the serious yaw of the vehicle is determined, wherein the second preset threshold value is larger than the first preset threshold value, when the vehicle is severely yawed to the left and needs to return to the right direction, the second color indicator lamp of the second indicator assembly emits second color light to indicate that the steering wheel of the vehicle needs to return to the right direction, and the first color indicator lamp of the first indicator assembly emits first color light to indicate that the steering wheel of the vehicle cannot continue to rotate to the left;when the vehicle drifts to the right and seriously needs to return to the positive direction left, the second color indicator lamp of the first indicator component emits second color light to indicate that the steering wheel of the vehicle needs to return to the positive direction left, and the first color indicator lamp of the second indicator component emits first color light to indicate that the steering wheel of the vehicle cannot continue to rotate to the right.
- The driving control method of claim 5, wherein the first and second indicator assemblies each further comprise a third color indicator light, the method further comprising:when the vehicle yaw is determined according to the difference value between the first signal strength and the second signal strength and the difference value is between the first preset threshold value and a second preset threshold value, determining that the vehicle slightly yaws, wherein the second preset threshold value is larger than the first preset threshold value;when the vehicle slightly deflects to the left, emitting third color light through a third color indicator lamp of the first indicator assembly to indicate that the vehicle slightly deflects to the left;when the vehicle slightly deflects to the right, the third color light is emitted by the third color indicator lamp of the second indicator assembly to indicate that the vehicle slightly deflects to the right.
- The driving control method of claim 5, wherein the first and second indicator assemblies each further comprise a third color indicator light, the method further comprising:when the first color indicator light of the first indicator assembly and the first color indicator light of the second indicator assembly emit first color light to indicate, the current road is forbidden and needs to be braked;when the second color indicator light of the first indicator assembly and the second color indicator light of the second indicator assembly emit second color light at the same time for indication, the straight line is represented;when the third color indicator light of the first indicator assembly and the third color indicator light of the second indicator assembly emit third color light for indication at the same time, the high attention is required.
- The drive control method according to claim 5, characterized in that running indication marks are further provided on the vehicle, the running indication marks including a normal running indication mark, a leftward turning indication mark, and a rightward turning indication mark; the method further comprises the following steps:when the vehicle normally runs and is not in yaw, the normal running indicating mark is used for highlighting and indicating the current normal running of the vehicle;when the vehicle is yaw left, the vehicle is highlighted and indicated to be currently turned to the right through the right turning indicating mark so as to avoid yaw;when the vehicle is yaw-to-right, the indication that the vehicle should turn left currently is highlighted through the turn-to-left indicator to avoid yaw.
- The driving control method according to any one of claims 1 to 8, characterized by further comprising:when the vehicle is deflected to the right or the right, the head-up display on the vehicle generates display information to carry out early warning prompt; and/or the presence of a gas in the gas,when the vehicle is deflected to the right or the right, the warning prompt is carried out through the vibration of a steering wheel on the vehicle; and/or the presence of a gas in the gas,when the vehicle is deflected to the right or the right, the voice playing unit on the vehicle plays voice information to perform early warning prompt; and/or the presence of a gas in the gas,when the vehicle is deflected to the right or the right, the early warning content is projected to the windshield through the projection equipment on the vehicle for early warning.
- The driving control method according to any one of claims 1 to 8, wherein radar sensors are provided on the vehicle at the centers of a front bumper, a rear bumper, a vehicle body side surface, and a radiator front portion, respectively, the method further comprising:generating a braking request when an obstacle is sensed by a radar sensor;the vehicle is braked in response to the braking request.
- The driving control method according to any one of claims 1 to 8, wherein a spectrum detection recognition device is provided on the vehicle between a vehicle bumper or a center mirror and a windshield, the driving control method further comprising:detecting the spectral change of the road environment in front of the vehicle in real time through the spectral detection and identification equipment;the spectrum detection and identification equipment generates a control signal when the spectrum value of a road in front of a vehicle detected in real time changes and is out of a preset range value; when no obstacle exists in front of the vehicle, the spectrum detection and identification equipment detects the spectrum value in a preset range in real time; when an obstacle appears in front of the vehicle, the spectrum detection and identification equipment detects that the spectrum value is out of the preset range in real time;and responding to the control signal and generating warning information to remind the driver.
- The driving control device under the severe weather is characterized by comprising a first sensor and a second sensor which are symmetrically arranged at the left side and the right side of a vehicle, and a processor, wherein the first sensor and the second sensor are used for respectively acquiring the first signal intensity of a specific signal at the left side of the vehicle and the second signal intensity of a specific signal at the right side of the vehicle when the vehicle runs; the processor is used for comparing the first signal strength with the second signal strength, judging whether the vehicle is currently drifted according to the magnitude relation between the first signal strength and the second signal strength, and generating a corresponding early warning prompt according to whether the vehicle is controlled to be drifted.
- The driving control apparatus as claimed in claim 13, wherein the processor is configured to determine that the vehicle is normally running without yaw when a difference between the first signal strength and the second signal strength is smaller than a first preset threshold value or a ratio of the first signal strength and the second signal strength is within a first preset ratio range; or,the processor is used for determining that the vehicle is currently yawing to the right when the difference value between the first signal strength and the second signal strength is larger than a first preset threshold value and the first signal strength is larger than the second signal strength or the ratio of the first signal strength to the second signal strength is larger than a first preset ratio range; or,the processor is configured to determine that the vehicle is currently yawing left when a difference between the first signal strength and the second signal strength is greater than a first preset threshold value and the first signal strength is less than the second signal strength, or a ratio of the first signal strength to the second signal strength is less than a first preset ratio range.
- The steering control device of claim 14, wherein the steering control device includes a first indicating component and a second indicating component disposed on the vehicle, and wherein the processor is configured to indicate that the vehicle requires left steering or no left steering by controlling the first indicating component and that requires right steering or no right steering by controlling the second indicating component.
- The steering control device of claim 15, wherein the processor is configured to indicate that the vehicle does not require left turns by controlling the first indicating component and to indicate that the vehicle requires right turns by controlling the second indicating component when the vehicle is yawing to the left; the processor is used for indicating that the vehicle needs to turn left by controlling the first indicating component and indicating that the vehicle does not need to turn right by controlling the second indicating component when the vehicle deflects to the right.
- The steering control of claim 16, wherein the first indicator assembly includes a first color indicator light and a second color indicator light and a third color indicator light, wherein the second indicator assembly includes a first color indicator light and a second color indicator light and a third color indicator light, and wherein the processor is configured to indicate that the vehicle does not require a left turn by controlling the first color indicator light of the first indicator assembly to emit a first color light and to indicate that the vehicle requires a right turn by controlling the second color indicator light of the second indicator assembly to emit a second color light; the processor is also used for indicating that the vehicle needs to turn left by controlling the second color indicator lamp of the first indicator assembly to emit second color light and indicating that the vehicle does not need to turn right by controlling the first color indicator lamp of the second indicator assembly to emit first color light.
- The steering control device of claim 17, wherein the processor is further configured to determine that the vehicle is yawing severely based on a difference between the first signal strength and the second signal strength, and the difference is greater than a second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold, and wherein the processor is further configured to indicate that the steering wheel of the vehicle is required to turn right when the vehicle is yawing severely to the left and the steering wheel is required to turn right to turn left by emitting a second color light from the second color indicator of the second indicator assembly, and to indicate that the steering wheel of the vehicle cannot continue to turn left by emitting a first color light from the first color indicator of the first indicator assembly; the processor is further used for emitting second color light to indicate that the steering wheel of the vehicle needs to return to the left direction through the second color indicator lamp of the first indicator assembly when the vehicle has serious right yaw and needs to return to the left direction, and emitting first color light to indicate that the steering wheel of the vehicle cannot continue to rotate to the right through the first color indicator lamp of the second indicator assembly.
- The steering control as claimed in claim 17, wherein the first and second indicator assemblies each further comprise a third color indicator light, the processor being further configured to determine that the vehicle is slightly off-course when the vehicle is off-course based on a difference between the first and second signal strengths and the difference is between the first and second preset thresholds, wherein the second preset threshold is greater than the first preset threshold; the processor is further used for emitting third color light through a third color indicator lamp of the first indicator assembly to indicate that the vehicle slightly yaws to the left when the vehicle slightly yaws to the left; the processor is further configured to indicate a slight yaw of the vehicle to the right by emitting a third colored light through a third colored indicator light of the second indicator assembly when the vehicle is slightly yaw to the right.
- The driving control device of claim 17, wherein the first and second indicator assemblies further comprise a third color indicator, and the processor is further configured to indicate that the current road is disabled and braking is required when the first color indicator of the first indicator assembly and the first color indicator of the second indicator assembly emit the first color light for indication at the same time; or, the processor is further configured to indicate a straight line when the second color indicator light of the first indicator assembly and the second color indicator light of the second indicator assembly emit the second color light at the same time for indication; or the processor is further configured to indicate that high attention is needed when the third color indicator light of the first indicator assembly and the third color indicator light of the second indicator assembly emit third color light for indication at the same time.
- The drive control apparatus according to claim 17, characterized in that a running indication mark is further provided on the drive control apparatus, the running indication mark including a normal running indication mark, a leftward turning indication mark, and a rightward turning indication mark; the processor is further used for highlighting and displaying the indication that the vehicle runs normally through the normal running indication mark when the vehicle runs normally without yaw; when the vehicle is yaw left, the vehicle is highlighted and indicated to be currently turned to the right through the right turning indicating mark so as to avoid yaw; when the vehicle is yaw-to-right, the indication that the vehicle should turn left currently is highlighted through the turn-to-left indicator to avoid yaw.
- The drive control apparatus according to any one of claims 13 to 21, characterized in that a head-up display is provided on the vehicle,the processor is used for generating display information through a head-up display on the vehicle to carry out early warning prompt when the vehicle deflects to the right or the right; and/or the presence of a gas in the gas,the processor is used for carrying out early warning prompt through the vibration of a steering wheel on the vehicle when the vehicle deflects to the right or to the right; and/or the presence of a gas in the gas,the processor is used for playing voice information to perform early warning prompt through the voice playing unit when the vehicle deflects to the right or the right; and/or the presence of a gas in the gas,be provided with projection equipment on the vehicle, the treater is used for when the vehicle appears right or when the right side yaw, through projection equipment with early warning suggestion content projection to the windshield on carry out early warning suggestion.
- The drive control apparatus according to any one of claims 13 to 21, wherein the vehicle includes radar sensors respectively located at a front bumper, a rear bumper, a side of a vehicle body, and a center of a front portion of a radiator, the radar sensors generating a braking request when sensing an obstacle; the processor is also configured to brake the vehicle in response to the braking request.
- The driving control apparatus as claimed in any one of claims 13 to 21, wherein a spectrum detection recognition device is further provided on the vehicle between the vehicle bumper or the center mirror and the windshield, the spectrum detection recognition device generating a control signal when a spectrum value of a road ahead of the vehicle detected in real time changes and is outside a preset range value; when no obstacle exists in front of the vehicle, the spectrum detection and identification equipment detects the spectrum value in a preset range in real time; when an obstacle appears in front of the vehicle, the spectrum detection and identification equipment detects that the spectrum value is out of the preset range in real time; the processor is also used for responding to the control signal and generating warning information to remind a driver.
- A vehicle characterized by comprising the driving control apparatus according to any one of claims 13 to 24.
- A driving control system, characterized in that the driving control system comprises a driving control device arranged on a vehicle and signal transmitting systems arranged on two sides of a road, the driving control device is the driving control device of any one of claims 13 to 24, the signal transmitting systems comprise a plurality of signal transmitting units which are arranged on two sides of the road at intervals, in a distributed manner and symmetrically, the signal transmitting units transmit signals in real time, and the first sensor and the second sensor are used for respectively acquiring a first signal intensity of a specific signal sent by the signal transmitting unit on the left side of the vehicle and a second signal intensity of a specific signal sent by the signal transmitting unit on the right side of the vehicle when the vehicle runs on the road; the processor is used for comparing the first signal strength with the second signal strength, judging whether the vehicle is currently drifted according to the magnitude relation between the first signal strength and the second signal strength, and generating a corresponding early warning prompt according to whether the vehicle is controlled to be drifted.
- The driving control system of claim 26, wherein the signal transmitting unit is one of a general street lamp or a dedicated signal transmitting subsystem, and when the signal transmitting unit is the dedicated signal transmitting subsystem, the dedicated signal transmitting unit emits one of infrared light and electromagnetic waves; and/or, when the signal transmitting unit is a special signal transmitting subsystem, the special signal transmitting unit is integrated in a common street lamp.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/079694 WO2020191619A1 (en) | 2019-03-26 | 2019-03-26 | Driving control method and apparatus under severe weather, vehicle, and driving control system |
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| Publication Number | Publication Date |
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| CN112218786A true CN112218786A (en) | 2021-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201980004828.5A Pending CN112218786A (en) | 2019-03-26 | 2019-03-26 | Driving control method and device under severe weather, vehicle and driving control system |
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| CN (1) | CN112218786A (en) |
| WO (1) | WO2020191619A1 (en) |
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