CN112373469A - Vehicle control method, control system and vehicle - Google Patents
Vehicle control method, control system and vehicle Download PDFInfo
- Publication number
- CN112373469A CN112373469A CN202011261339.9A CN202011261339A CN112373469A CN 112373469 A CN112373469 A CN 112373469A CN 202011261339 A CN202011261339 A CN 202011261339A CN 112373469 A CN112373469 A CN 112373469A
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- Prior art keywords
- vehicle
- skylight
- height
- target object
- obstacle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
Abstract
The invention provides a vehicle control method, a vehicle control system and a vehicle, and relates to the technical field of vehicles. The vehicle control method of the invention includes: when the opening of a skylight of a vehicle is detected and a target object is arranged at the upper part of the skylight, detecting a first height from the highest point of the target object to the ground; when an obstacle exists in front of the vehicle, detecting a second height of the lowest point of the obstacle from the ground; judging whether the difference value of the second height minus the first height is smaller than a first preset value or not; if the speed is smaller than the preset speed, controlling the vehicle to alarm and controlling the vehicle to automatically decelerate. The vehicle control method and the vehicle control system can timely alarm and remind personnel in the vehicle to withdraw the target object into the vehicle when the skylight of the vehicle is opened and the target object exists, automatically control the vehicle to decelerate, ensure that the target object does not collide with the obstacle in front of the vehicle, and improve the driving safety.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle control method, a vehicle control system and a vehicle.
Background
At present, the application of the power sunroof in the automobile is more and more popular, which improves the comfort of the user for the automobile, but brings some safety problems. For example, when a car runs, the limbs of people in the car extend out of a skylight, and if a height limiting rod, a high-altitude obstacle or a bumpy road surface appears in front of the skylight, the people in the car can be injured.
Disclosure of Invention
An object of the first aspect of the present invention is to provide a vehicle control method, which solves the problem of the prior art that when a sun roof is opened, a member extending from the sun roof is damaged by an obstacle in front of the vehicle.
Another object of the first aspect of the invention is to solve the problem of the prior art in which the member is extended outside the skylight and the vehicle is travelling on a bumpy road to cause injury to the member.
It is an object of a second aspect of the invention to provide a vehicle control system.
It is an object of a third aspect of the invention to provide a vehicle incorporating the vehicle control system.
In particular, the present invention provides a vehicle control method including:
when the situation that a skylight of a vehicle is opened and a target object is arranged at the upper part of the skylight is detected, detecting a first height from the highest point of the target object to the ground;
when an obstacle exists in front of the vehicle, detecting a second height of the lowest point of the obstacle from the ground;
judging whether the difference value of the second height minus the first height is smaller than a first preset value or not;
and if the speed is smaller than the preset speed, controlling the vehicle to give an alarm and controlling the vehicle to automatically decelerate.
Optionally, after detecting the second height of the lowest point of the obstacle from the ground, the method further includes:
judging whether the vehicle runs on a bumpy road surface or not;
if the vehicle runs on a bumpy road, judging whether the difference value obtained by subtracting the first height from the second height is smaller than a second preset value or not;
if the speed of the vehicle is smaller than the preset speed, controlling the vehicle to alarm and controlling the vehicle to automatically decelerate;
wherein the second preset value is greater than the first preset value.
Alternatively, the determining whether the vehicle is traveling on a bumpy road surface includes:
detecting a body lateral angular velocity of the vehicle;
judging whether the lateral angular velocity of the vehicle body is greater than a target lateral angular velocity;
and if so, judging that the vehicle runs on a bumpy road surface.
Optionally, after controlling the vehicle alarm and controlling the vehicle to automatically decelerate, the method further includes:
judging whether the target object exists at the skylight or not;
and if the target object is not on the skylight, closing the skylight.
Optionally, after determining whether the target object exists at the skylight, the method further includes:
detecting the horizontal distance between the vehicle and the obstacle in real time;
and when the horizontal distance is smaller than the preset distance and the target object is arranged at the skylight, controlling the vehicle to stop running until the target object is not arranged at the skylight.
Optionally, when the vehicle runs on a bumpy road and the skylight is closed, monitoring the real-time height of the top end of the vehicle from the ground, and when the maximum value of the real-time height is smaller than the second height, stopping controlling the vehicle to alarm and automatically decelerate.
In particular, the invention also provides a vehicle control system,
comprising a control device comprising a memory and a processor, the memory having stored therein a control program for implementing the above vehicle control method when executed by the processor.
Particularly, the invention also provides a vehicle comprising the vehicle control system.
Optionally, the detection device includes:
the camera and the radar are arranged in front of the vehicle and used for detecting whether an obstacle exists in front of the vehicle and a second height of the obstacle from the ground;
the displacement sensor and the infrared sensor are arranged at the skylight and used for detecting whether the skylight is opened or not, whether a target object exists at the skylight or not and a first height from the highest point of the target object to the ground;
a gyroscope provided at a vehicle body to detect a lateral angular velocity of the vehicle;
the alarm system is arranged at the vehicle body and used for giving an alarm; and
and the braking system is used for braking the vehicle to decelerate or stop the vehicle.
The vehicle control method and the vehicle control system can timely alarm and remind personnel in the vehicle to withdraw the target object into the vehicle when the skylight of the vehicle is opened and the target object exists, automatically control the vehicle to decelerate, ensure that the target object does not collide with the obstacle in front of the vehicle, and improve the driving safety.
Furthermore, the vehicle control method and the vehicle control system can monitor whether the skylight of the vehicle is opened or not, whether an object extends out of the skylight or not and whether the vehicle runs on a bumpy road or not, ensure that the vehicle can smoothly pass through an obstacle on the bumpy road, and avoid damage to the object extending out of the skylight when the vehicle runs on the bumpy road.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a schematic flow chart diagram of a vehicle control method according to one embodiment of the invention;
FIG. 2 is a schematic flow chart of a vehicle control method according to another embodiment of the invention;
FIG. 3 is a flowchart schematically showing steps of a vehicle control method according to another embodiment of the invention for determining whether a vehicle is traveling on a bumpy road;
FIG. 4 is a schematic flow chart diagram of a vehicle control method according to yet another embodiment of the invention;
fig. 5 is a schematic block diagram of a vehicle control system according to yet another embodiment of the invention.
Detailed Description
Fig. 1 is a schematic flowchart of a vehicle control method according to an embodiment of the invention. As one specific embodiment of the present invention, the vehicle control method of the present embodiment may include:
s10, when the situation that the skylight of the vehicle is opened and the upper part of the skylight is provided with a target object is detected, detecting the first height from the highest point of the target object to the ground;
s20, when an obstacle exists in front of the vehicle, detecting a second height of the lowest point of the obstacle from the ground;
s30, judging whether the difference value of the second height minus the first height is smaller than a first preset value;
and if the signal is less than S40, controlling the vehicle to alarm and controlling the vehicle to automatically decelerate.
In this embodiment, when the sunroof of the vehicle is opened and an object is present in the sunroof, an accident is likely to occur if the object, whether a person or an object, hits an obstacle in front of the vehicle. If the object extending out of the skylight is a person, the object can directly hurt the person when the object collides with an obstacle. If the object extending out of the sunroof is an object, the vehicle may be suddenly stopped or turned over when colliding with an obstacle, and the person in the vehicle may be injured.
In the embodiment, when the skylight of the vehicle is monitored to be opened and a target object is arranged, the height from the highest point of the target object to the ground is monitored, meanwhile, whether an obstacle exists in front of the vehicle or not is monitored, and the height from the lowest point of the obstacle to the ground is monitored. If the height of the highest point of the target object is less than that of the lowest point of the obstacle, the target object is in collision with the obstacle. In the embodiment, a difference value between a first height of a highest point of the target object from the ground and a second height of a lowest point of the obstacle from the ground is compared with a first preset value, the first preset value of the embodiment may be 0-10cm, wherein when the difference value is 0cm, it is indicated that the heights of the target object and the obstacle are consistent, and the vehicle can pass through the difference value in theory. However, in practical situations, when the vehicle has a certain speed, the vehicle may shake a little or an object may be on the road surface, and therefore the first preset value is at least greater than 2 cm.
By the vehicle control method, when the skylight of the vehicle is opened and the target object exists, an alarm can be given in time to remind people in the vehicle to withdraw the target object into the vehicle, the vehicle is automatically controlled to decelerate, the target object is prevented from colliding with the obstacle in front of the vehicle, and the driving safety is improved.
FIG. 2 is a schematic flow chart of a vehicle control method according to another embodiment of the invention;
as a specific embodiment of the present invention, after detecting the second height of the lowest point of the obstacle from the ground, the method further includes:
s50 judging whether the vehicle runs on a bumpy road surface;
s60, if the vehicle runs on a bumpy road, judging whether the difference value of the second height minus the first height is smaller than a second preset value;
if the speed is smaller than the speed threshold S40, controlling the vehicle to alarm and controlling the vehicle to automatically decelerate;
wherein the second preset value is larger than the first preset value.
When the vehicle actually runs, the vehicle can not only run on a flat road but also sometimes run on a bumpy road. When the vehicle is driven on a bumpy road surface and has a certain speed, the vehicle may appear to be at a higher height than when driven on a flat road surface due to the inertia of the vehicle. Therefore, in the present embodiment, when the vehicle travels on a bumpy road surface, the difference between the second height and the first height is greater than the second preset value, and the second preset value is greater than the first preset value. Preferably, the second preset value may be 8-20 cm. The vehicle can smoothly pass through the barrier on the bumpy road surface, and the damage to the target object extending out of the skylight when the vehicle runs on the bumpy road surface is avoided.
FIG. 3 is a flowchart schematically showing steps of a vehicle control method according to another embodiment of the invention for determining whether a vehicle is traveling on a bumpy road;
specifically, determining whether the vehicle is traveling on a bumpy road surface includes:
s51, detecting the lateral angular speed of the vehicle body;
s52, judging whether the lateral angular velocity of the vehicle body is greater than the target lateral angular velocity;
and if the value of S53 is larger than the preset value, judging that the vehicle runs on a bumpy road surface.
Particularly, when the vehicle runs on a bumpy road, the vehicle can rotate at two sides or bulge upwards. It is thus possible to ascertain whether the vehicle is driving on a bumpy road surface by the lateral angular velocity. If the lateral angular velocity is greater than the preset angular velocity, the angular velocity is greater, and the condition that the vehicle runs on a bumpy road surface can be judged.
FIG. 4 is a schematic flow chart diagram of a vehicle control method according to yet another embodiment of the invention;
as a specific embodiment of the invention, after controlling the vehicle alarm and simultaneously controlling the vehicle to automatically decelerate, the method further comprises the following steps:
s70, judging whether a target object exists at the skylight or not;
and S80, if the skylight is judged to have no target object, closing the skylight.
When the vehicle runs, after the vehicle gives an alarm, the risk of collision between an obstacle in front of a person in the vehicle and a target object on the skylight is prompted, the person in the vehicle can retract into the vehicle under normal conditions, or an object at the skylight is moved towards the inside of the vehicle, so that collision is avoided. When the situation that the driver and passengers stop the skylight to cause people in the automobile to suddenly stretch out or the driver and passengers forget to stop the skylight to cause the automobile to be drenched is avoided.
FIG. 4 is a schematic flow chart diagram of a vehicle control method according to yet another embodiment of the invention;
as a specific embodiment of the present invention, after determining whether there is a target object at the skylight, the method further includes:
s90 detecting the horizontal distance between the vehicle and the obstacle in real time;
and S91, when the horizontal distance is smaller than the preset distance and the target object is located at the skylight, controlling the vehicle to stop running until the target object is not located at the skylight.
In this embodiment, when detecting that the target object on the skylight has a risk of collision with the obstacle, the vehicle interior personnel are prompted, and after decelerating, the horizontal distance between the vehicle and the obstacle is further monitored. When the horizontal distance is smaller than the preset value distance, the vehicle is close to the obstacle at the moment, and if the vehicle continues to run, the target object on the vehicle collides with the front obstacle, so that the vehicle is controlled to stop, and the danger is avoided.
Further, when the vehicle runs on a bumpy road and the skylight is closed, the real-time height of the top end of the vehicle from the ground is monitored, and when the maximum value of the real-time height is smaller than the second height, the vehicle is stopped from being controlled to alarm and automatically decelerate.
The embodiment detects the height values of the highest point of the vehicle and the lowest point of the obstacle when the vehicle skylight is closed, thereby further ensuring the safety of the vehicle.
Fig. 5 is a schematic block diagram of a vehicle control system according to yet another embodiment of the invention. As a specific embodiment of the present invention, the present embodiment further provides a vehicle control system 100, where the vehicle control system 100 may include a control device 101, the control device 101 includes a memory 10 and a processor 20, the memory 10 stores a control program, and the control program is executed by the processor 20 to implement the vehicle control method. The processor 20 may be a Central Processing Unit (CPU), a digital processing unit, or the like. The processor 20 transceives data through the communication interface. The memory 10 is used to store programs executed by the processor 20. The memory 20 is any medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, or a combination of memories. The above-described computing program may be downloaded from a computer-readable storage medium to a corresponding computing/processing device or to a computer or external storage device via a network (e.g., the internet, a local area network, a wide area network, and/or a wireless network).
As a specific embodiment of the present invention, the present embodiment also provides a vehicle that may include the vehicle control system described above.
Specifically, the detection device may include a camera and a radar provided in front of the vehicle, a displacement sensor and an infrared sensor provided at a sunroof, a gyroscope, an alarm system, and a brake system. The camera and the radar are used for detecting whether an obstacle exists in front of the vehicle and a second height of the obstacle from the ground. The camera may be placed at the base of the interior rearview mirror. The radar scans obstacles in front of the vehicle head in real time, and the camera is used for identifying the types of the obstacles in front (a height limiting rod, a bridge opening, branches, suspended matters or balloons and the like). When the radar scans that an obstacle appears in the front, the control system calculates the height of the obstacle from the ground. The camera also determines the type of obstacle to determine if the person's limb is damaged (e.g., the balloon is not considered to be damaged). The displacement sensor and the infrared sensor are used for detecting whether the skylight is opened or not, whether a target object exists at the skylight or not and the first height of the highest point of the target object from the ground. When the displacement sensor monitors that the opening amplitude of the skylight exceeds a target value (such as 10cm), and meanwhile, the infrared sensor at the skylight detects that the skylight is blocked (namely, the limbs or objects of people in the automobile extend out of the window), the radar and the camera are started. The gyroscope is provided at the vehicle body for detecting a lateral angular velocity of the vehicle. The alarm system is arranged at the vehicle body and used for giving an alarm. The braking system is used to brake the vehicle to slow or stop the vehicle. According to the invention, the displacement sensor, the infrared sensor, the radar, the camera, the gyroscope and the like are added to acquire corresponding data, and the data are sent to the control system to judge whether the vehicle can safely pass, so that the structure is simple and the judgment is accurate.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (9)
1. A vehicle control method characterized by comprising:
when the situation that a skylight of a vehicle is opened and a target object is arranged at the upper part of the skylight is detected, detecting a first height from the highest point of the target object to the ground;
when an obstacle exists in front of the vehicle, detecting a second height of the lowest point of the obstacle from the ground;
judging whether the difference value of the second height minus the first height is smaller than a first preset value or not;
and if the speed is smaller than the preset speed, controlling the vehicle to give an alarm and controlling the vehicle to automatically decelerate.
2. The vehicle control method according to claim 1,
after detecting the second height of the lowest point of the obstacle from the ground, the method further comprises:
judging whether the vehicle runs on a bumpy road surface or not;
if the vehicle runs on a bumpy road, judging whether the difference value obtained by subtracting the first height from the second height is smaller than a second preset value or not;
if the speed of the vehicle is smaller than the preset speed, controlling the vehicle to alarm and controlling the vehicle to automatically decelerate;
wherein the second preset value is greater than the first preset value.
3. The vehicle control method according to claim 2,
determining whether the vehicle is traveling on a bumpy road surface includes:
detecting a body lateral angular velocity of the vehicle;
judging whether the lateral angular velocity of the vehicle body is greater than a target lateral angular velocity;
and if so, judging that the vehicle runs on a bumpy road surface.
4. The vehicle control method according to claim 3,
after controlling the vehicle alarm and simultaneously controlling the vehicle to automatically decelerate, the method further comprises the following steps:
judging whether the target object exists at the skylight or not;
and if the target object is not on the skylight, closing the skylight.
5. The vehicle control method according to claim 4,
after judging whether the target object exists at the skylight, the method further comprises the following steps:
detecting the horizontal distance between the vehicle and the obstacle in real time;
and when the horizontal distance is smaller than the preset distance and the target object is arranged at the skylight, controlling the vehicle to stop running until the target object is not arranged at the skylight.
6. The vehicle control method according to claim 5,
when the vehicle runs on a bumpy road and the skylight is closed, monitoring the real-time height from the top end of the vehicle to the ground, and stopping controlling the vehicle to alarm and automatically decelerate when the maximum value of the real-time height is smaller than the second height.
7. A vehicle control system characterized in that,
comprising a control device comprising a memory and a processor, the memory having stored therein a control program for implementing a vehicle control method according to any one of claims 1-6 when executed by the processor.
8. A vehicle characterized by comprising the vehicle control system of claim 7.
9. The vehicle of claim 8,
the detection device includes:
the camera and the radar are arranged in front of the vehicle and used for detecting whether an obstacle exists in front of the vehicle and a second height of the obstacle from the ground;
the displacement sensor and the infrared sensor are arranged at the skylight and used for detecting whether the skylight is opened or not, whether a target object exists at the skylight or not and a first height from the highest point of the target object to the ground;
a gyroscope provided at a vehicle body to detect a lateral angular velocity of the vehicle;
the alarm system is arranged at the vehicle body and used for giving an alarm; and
and the braking system is used for braking the vehicle to decelerate or stop the vehicle.
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| CN202011261339.9A CN112373469A (en) | 2020-11-12 | 2020-11-12 | Vehicle control method, control system and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011261339.9A CN112373469A (en) | 2020-11-12 | 2020-11-12 | Vehicle control method, control system and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114378831A (en) * | 2022-02-28 | 2022-04-22 | 广州赛特智能科技有限公司 | Robot control method, device, robot and storage medium |
| CN116279259A (en) * | 2023-02-27 | 2023-06-23 | 成都赛力斯科技有限公司 | Vehicle control system, method and intelligent vehicle |
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| CN110544379A (en) * | 2019-09-10 | 2019-12-06 | 中交城乡建设规划设计研究院有限公司 | Vehicle height limiting frame non-contact type early warning system and method based on cloud storage |
| CN111060976A (en) * | 2019-12-12 | 2020-04-24 | 上海科德汽车部件有限公司 | Skylight detection device that pops out |
| CN111661044A (en) * | 2020-06-29 | 2020-09-15 | 浙江吉利新能源商用车集团有限公司 | Vehicle anti-collision control method and system and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114378831A (en) * | 2022-02-28 | 2022-04-22 | 广州赛特智能科技有限公司 | Robot control method, device, robot and storage medium |
| CN114378831B (en) * | 2022-02-28 | 2024-02-23 | 广州赛特智能科技有限公司 | Robot control method, device, robot and storage medium |
| CN116279259A (en) * | 2023-02-27 | 2023-06-23 | 成都赛力斯科技有限公司 | Vehicle control system, method and intelligent vehicle |
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