CN112937562A - Vehicle travel control method, electronic device, and storage medium - Google Patents
Vehicle travel control method, electronic device, and storage medium Download PDFInfo
- Publication number
- CN112937562A CN112937562A CN202110209348.1A CN202110209348A CN112937562A CN 112937562 A CN112937562 A CN 112937562A CN 202110209348 A CN202110209348 A CN 202110209348A CN 112937562 A CN112937562 A CN 112937562A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- obstacle
- vehicle speed
- braking
- passing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000004888 barrier function Effects 0.000 claims abstract description 27
- 230000015654 memory Effects 0.000 claims description 16
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 239000000126 substance Substances 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 description 9
- 238000012545 processing Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 239000002023 wood Substances 0.000 description 5
- 239000004744 fabric Substances 0.000 description 4
- 239000006260 foam Substances 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000013135 deep learning Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000004347 surface barrier Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003707 image sharpening Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The application discloses a vehicle running control method, an electronic device and a storage medium. A vehicle travel control method comprising: acquiring barrier information in front of a vehicle; when the passing obstacle is detected in front of the vehicle, the braking force of the vehicle passing through the passing obstacle is adjusted according to the vehicle speed or the type of the passing obstacle. This application is through detecting the barrier to vehicle the place ahead to according to the speed of a motor vehicle or the braking force when barrier type adjustment vehicle passes through the accessible barrier, avoid passing through too high braking force when barrier, correct the wrong braking operation of customer's driving action, avoid the dangerous condition of axletree fracture to take place.
Description
Technical Field
The application relates to the technical field of electric automobiles, in particular to a vehicle running control method, electronic equipment and a storage medium.
Background
Axle breakage is a great safety accident and also a problem affecting the quality of bad products. Axle breakage problems are partly a product design problem, but more so due to driver mishandling. When a vehicle impacts a road block at a great speed, a single-side axle is easily broken.
Therefore, how to avoid the misoperation of the driver is the key to avoid the axle breakage.
However, the conventional art does not consider the limitation of the erroneous operation of the driver, and therefore, even if the axle strength is increased, the axle may be broken.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle travel control method, an electronic device, and a storage medium for limiting the technical problem of the breakage of an axle due to the erroneous operation of a driver in the related art.
The present application provides a vehicle travel control method including:
acquiring barrier information in front of a vehicle;
when the passing obstacle is detected in front of the vehicle, the braking force of the vehicle passing through the passing obstacle is adjusted according to the vehicle speed or the type of the passing obstacle.
Further, the adjusting the braking force when the vehicle passes through the obstacle according to the vehicle speed or the obstacle type of the obstacle that can pass through the obstacle specifically includes:
if the vehicle speed is less than the warning vehicle speed threshold value, or the type of the obstacle which can pass through the obstacle is a risk-free type, the braking force of the vehicle when passing through the obstacle is not limited;
and if the vehicle speed is greater than or equal to the warning vehicle speed threshold value and the type of the obstacle which can pass through the obstacle is a risky type, limiting the braking force when the vehicle passes through the obstacle according to the vehicle speed.
Still further, the brake modes include a first brake mode and one or more other brake modes, the maximum brake force of the first brake mode is greater than the maximum brake force of the other brake modes, and the limiting the brake mode when the vehicle passes through the passing obstacle according to the vehicle speed specifically includes:
and limiting the braking mode when the vehicle passes through the accessible obstacle to be other braking modes according to the vehicle speed.
Still further, the limiting the braking mode when the vehicle passes through the obstacle according to the vehicle speed is another braking mode, specifically includes:
if the vehicle speed is in a first vehicle speed range, limiting the brake mode when the vehicle passes through the accessible obstacle to be the other brake mode;
if the vehicle speed is in a second vehicle speed range, reducing the vehicle to a preset safe speed, and limiting the braking mode when the vehicle passes through the accessible obstacle to be other braking modes, wherein the minimum vehicle speed of the second vehicle speed range is greater than or equal to the maximum vehicle speed of the first vehicle speed range;
and if the vehicle speed is in a third vehicle speed range, reducing the speed of the vehicle by adopting a first brake mode, and limiting the brake mode when the vehicle passes through the accessible obstacle to be other brake modes, wherein the minimum vehicle speed of the third vehicle speed range is greater than or equal to the maximum vehicle speed of the second vehicle speed range.
Still further, if the vehicle speed is in a third vehicle speed range, the decelerating the vehicle by using the first braking mode, and limiting the braking mode when the vehicle passes through the obstacle to other braking modes, specifically comprising:
if the vehicle speed is in a third vehicle speed range, and when the passing obstacle is detected, the distance between the vehicle and the passing obstacle is larger than a preset first distance threshold value, adopting a first braking mode to reduce the vehicle to a preset safe speed, and limiting a braking mode when the vehicle passes through the passing obstacle to be other braking modes;
if the vehicle speed is in a third vehicle speed range, and when the passing obstacle is detected, the distance between the vehicle and the passing obstacle is smaller than or equal to a preset first distance threshold value, the vehicle is decelerated continuously by adopting a first braking mode until the distance between the vehicle and the passing obstacle is smaller than or equal to a preset second distance threshold value, the braking mode when the vehicle passes the passing obstacle is limited to be other braking modes, and the second distance is smaller than the first distance threshold value.
Still further, if the vehicle speed is in a third vehicle speed range, and when the passing obstacle is detected, the distance between the vehicle and the passing obstacle is smaller than or equal to a preset first distance threshold, the first braking mode is adopted to continuously decelerate the vehicle until the distance between the vehicle and the passing obstacle is smaller than or equal to a preset second distance threshold, and the braking mode when the vehicle passes the passing obstacle is limited to be another braking mode, specifically including:
if the vehicle speed is in a third vehicle speed range, and when the passable obstacle is detected, the distance between the vehicle and the passable obstacle is smaller than or equal to a preset first distance threshold value, adopting a first braking mode to continuously reduce the speed of the vehicle until the distance between the vehicle and the passable obstacle is smaller than or equal to a preset second distance threshold value, limiting the braking mode when the vehicle passes through the passable obstacle to be other braking modes, and detecting the vehicle speed when the vehicle passes through the passable obstacle;
and if the vehicle speed when passing the passing obstacle is greater than the safe speed, prompting parking inspection.
Still further, the method further comprises the step of giving an alarm prompt if the vehicle speed is larger than or equal to the alarm vehicle speed threshold value and the type of the obstacle which can pass through the obstacle is a risky type.
Still further, the method also comprises the step of prompting that the steering system is abnormal if the vehicle has a deviation phenomenon when normal driving is detected.
The application provides a vehicle control electronic equipment that traveles includes: at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to:
the vehicle travel control method as described above is executed.
The present application provides a storage medium storing computer instructions for performing all the steps of the vehicle travel control method as described above when executed by a computer.
This application is through detecting the barrier to vehicle the place ahead to according to the speed of a motor vehicle or the braking force when barrier type adjustment vehicle passes through the accessible barrier, avoid passing through too high braking force when barrier, correct the wrong braking operation of customer's driving action, avoid the axletree fracture dangerous condition to take place.
Drawings
FIG. 1 is a flowchart illustrating a method for controlling vehicle driving according to an embodiment of the present disclosure
FIG. 2 is a flowchart illustrating a method for controlling the driving of a vehicle according to an embodiment of the present disclosure;
FIG. 3 is a flowchart illustrating a method for controlling the driving of a vehicle according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a hardware structure of a vehicle driving control electronic device according to an embodiment of the present application.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1, a work flow chart of a vehicle driving control method according to an embodiment of the present application includes:
step S101, acquiring obstacle information in front of a vehicle;
and step S102, when the passing obstacle is detected in front of the vehicle, adjusting the braking force when the vehicle passes through the passing obstacle according to the vehicle speed or the type of the passing obstacle.
Specifically, the present application can be applied to a vehicle Electronic Control Unit (ECU).
When step S101 is executed, obstacle information in front of the vehicle is collected. The camera and the radar of the automobile with the automatic driving and driving assisting functions can be used for collecting image information and distance of suspicious obstacles on the front road. By detecting the type and distance of the front obstacle, when the driving direction of the wheels has an obstacle, the step S102 is triggered to analyze and judge the obstacle, and the braking system is controlled according to the vehicle speed or the type of the obstacle which can pass through the obstacle, so that the braking force of the vehicle when passing through the obstacle is adjusted, and the dangerous condition of axle breakage is avoided.
The passable obstacle refers to an obstacle with a height lower than a preset height threshold value, and a vehicle can pass through the obstacle. Such as steps, rocks, curbs, pits, wood blocks, iron rails, fabric, foam, and the like.
This application is through detecting the barrier to vehicle the place ahead to according to the speed of a motor vehicle or the braking force when barrier type adjustment vehicle passes through the accessible barrier, avoid passing through too high braking force when barrier, correct the wrong braking operation of customer's driving action, avoid the axletree fracture dangerous condition to take place.
Fig. 2 is a flowchart illustrating a vehicle driving control method according to an embodiment of the present application, including:
step S201, acquiring barrier information in front of a vehicle;
step S202, when a passable obstacle is detected in front of the vehicle;
step S203, if the vehicle speed is less than the warning vehicle speed threshold value, or the type of the obstacle which can pass through the obstacle is a risk-free type, the braking force when the vehicle passes through the obstacle is not limited;
step S204, if the vehicle speed is more than or equal to the warning vehicle speed threshold value and the type of the obstacle which can pass through the obstacle is a risky type, warning prompt is carried out, and the braking force of the vehicle when passing through the obstacle is limited according to the vehicle speed;
and S205, if the vehicle has the deviation phenomenon when normal running is detected, prompting that the steering system is abnormal.
Specifically, the information processing system can be provided with an information acquisition module, an information analysis module, an information sending module and a control execution module. The information acquisition module is the camera and the radar that utilize current assembly autopilot and drive the vehicle with auxiliary function, carries out step S201, gathers suspicious barrier image information in place ahead road surface, distance to can set up 1 light sensor, 1 fog/haze consistency transmitter, 1 raindrop sensor and gather the barrier visibility. The information analysis module executes the step S202, firstly, the image is subjected to sharpening processing, and the influence of weather reasons on the barrier which cannot be clearly distinguished is removed; the suspicious obstacle accurate classification identification is carried out based on an analysis model, the information analysis model executes a step S202, and the suspicious obstacle accurate classification identification can be obtained by carrying out neural network deep learning on image data of various road obstacles, can be used for identifying the types of the obstacles, including steps, curbs, stones, pits, wood blocks, rails and the like, and can be used for identifying fabric, foam and the like as risk-free obstacles. The information sending module executes step S202 to analyze the current risk state according to the current driving state and the type of the obstacle, and if the deviation phenomenon of the vehicle is detected when the vehicle normally drives, the steering system is prompted to be abnormal. If the risk exists currently, step S204 is executed to send the information to the control execution module. And the control execution module adopts different control strategies according to different risk degrees. And if the vehicle speed is less than the warning vehicle speed threshold value, or the type of the obstacle which can pass through the obstacle is a risk-free type, no information is sent, and the braking force of the vehicle when passing through the obstacle is not limited.
The embodiment avoids the vehicle axle from breaking through detecting the condition of the vehicle road surface barrier and reminding a driver and a different processing mode when the vehicle encounters the axle breaking danger of different grades, the processing mode is simple, and major accidents and serious loss are avoided.
In one embodiment, the brake modes include a first brake mode and one or more other brake modes, the maximum brake force of the first brake mode is greater than the maximum brake force of the other brake modes, and the limiting the brake mode when the vehicle passes through the obstacle according to the vehicle speed specifically includes:
and limiting the braking mode when the vehicle passes through the accessible obstacle to be other braking modes according to the vehicle speed.
Specifically, the first braking mode is a double braking mode, and the other braking modes include a second braking mode and a third braking mode. The braking force of the second braking mode is greater than the braking force of the third braking mode. The second braking mode is a medium braking mode, and the third braking mode is a light braking mode.
The embodiment divides the braking mode into a plurality of modes, and prevents the driver from adopting the shaft breaking risk caused by heavy braking and hard braking when the vehicle passes through the accessible obstacle by limiting the braking mode of the vehicle to be other braking modes except the first braking mode.
In one embodiment, the limiting the braking mode when the vehicle passes through the obstacle according to the vehicle speed is another braking mode, which specifically includes:
if the vehicle speed is in a first vehicle speed range, limiting the brake mode when the vehicle passes through the accessible obstacle to be the other brake mode;
if the vehicle speed is in a second vehicle speed range, reducing the vehicle to a preset safe speed, and limiting the braking mode when the vehicle passes through the accessible obstacle to be other braking modes, wherein the minimum vehicle speed of the second vehicle speed range is greater than or equal to the maximum vehicle speed of the first vehicle speed range;
and if the vehicle speed is in a third vehicle speed range, reducing the speed of the vehicle by adopting a first brake mode, and limiting the brake mode when the vehicle passes through the accessible obstacle to be other brake modes, wherein the minimum vehicle speed of the third vehicle speed range is greater than or equal to the maximum vehicle speed of the second vehicle speed range.
The embodiment controls the braking mode when the vehicle passes through the barrier according to different running speeds. When the vehicle speed is low, the braking mode is only limited when the vehicle can pass through the obstacle, so that the broken shaft is avoided. And when the vehicle speed is high, the vehicle speed is reduced in advance so that the vehicle can pass through the obstacle at a lower vehicle speed, and meanwhile, the braking mode when the vehicle passes through the obstacle is limited so as to avoid the broken shaft.
In one embodiment, if the vehicle speed is in a third vehicle speed range, the decelerating the vehicle with the first braking mode and limiting the braking mode when the vehicle passes through the obstacle to be another braking mode specifically includes:
if the vehicle speed is in a third vehicle speed range, and when the passing obstacle is detected, the distance between the vehicle and the passing obstacle is larger than a preset first distance threshold value, adopting a first braking mode to reduce the vehicle to a preset safe speed, and limiting a braking mode when the vehicle passes through the passing obstacle to be other braking modes;
if the vehicle speed is in a third vehicle speed range, and when the passing obstacle is detected, the distance between the vehicle and the passing obstacle is smaller than or equal to a preset first distance threshold value, the vehicle is decelerated continuously by adopting a first braking mode until the distance between the vehicle and the passing obstacle is smaller than or equal to a preset second distance threshold value, the braking mode when the vehicle passes the passing obstacle is limited to be other braking modes, and the second distance is smaller than the first distance threshold value.
The embodiment detects the distance to the obstacle for the high-speed condition, and if the vehicle is close to the obstacle, the first braking mode is adopted to continuously reduce the speed, and the braking mode when the vehicle passes through the obstacle is limited to be the other braking mode. Wherein the second distance may be a small value.
In one embodiment, if the vehicle speed is in a third vehicle speed range, and when the passable obstacle is detected, the distance between the vehicle and the passable obstacle is smaller than or equal to a preset first distance threshold, the first braking mode is adopted to continuously decelerate the vehicle until the distance between the vehicle and the passable obstacle is smaller than or equal to a preset second distance threshold, and the braking mode when the vehicle passes through the passable obstacle is limited to be another braking mode, specifically including:
if the vehicle speed is in a third vehicle speed range, and when the passable obstacle is detected, the distance between the vehicle and the passable obstacle is smaller than or equal to a preset first distance threshold value, adopting a first braking mode to continuously reduce the speed of the vehicle until the distance between the vehicle and the passable obstacle is smaller than or equal to a preset second distance threshold value, limiting the braking mode when the vehicle passes through the passable obstacle to be other braking modes, and detecting the vehicle speed when the vehicle passes through the passable obstacle;
and if the vehicle speed when passing the passing obstacle is greater than the safe speed, prompting parking inspection.
In the embodiment, the parking check prompt is performed for the condition that the vehicle cannot pass through the obstacle at a safe and safe speed, so that the safety of the vehicle is improved.
As shown in fig. 3, a work flow chart of a vehicle driving control method according to an embodiment of the present application includes:
step S301, preventing the false use of system starting, and detecting the visibility and distance of the barrier;
step S302, image sharpening processing is carried out;
step S303, obstacle type analysis;
step S304, risk identification is carried out;
s305, if the deviation phenomenon occurs and the steering system is abnormal, prompting to overhaul;
step S306, if the current vehicle speed is less than or equal to 40 kilometers per hour (kph) or no risk is detected due to the fact that the obstacle is soft, no information is sent;
step S307, if the current vehicle speed is greater than 40kph and the obstacle is detected to form a risk, transmitting obstacle information, distance information and vehicle speed information;
step S308, if the current vehicle speed is 40-50kph and the risk is low, the driver is reminded of the risk, the user is prevented from mistakenly operating and slamming on the brake, heavy braking is limited, and the limitation is finished after the vehicle passes through the obstacle;
step S309, if the current vehicle speed is 50-70kph, the vehicle is in a middle risk, the driver is reminded of the risk, the operation is required to avoid the risk, if the driver has no feedback within 1 second, the vehicle is decelerated to be less than or equal to 50kph, the braking mode is adjusted to be light braking, the user is limited to be heavily braked, and the limitation is finished after the vehicle passes through an obstacle;
step S310, if the current vehicle speed is greater than 70kph, the risk is high, if the distance between obstacles is greater than or equal to 30 meters, step S311 is executed, otherwise, step S312 is executed;
step S311, reminding emergency risks, requiring operation to avoid risks, if the driver has no feedback within 1 second, slowing down to less than or equal to 50kph by the heavy braking, adjusting the braking mode to be middle braking, limiting the heavy braking of the user, and ending the limitation after the obstacle passes;
and S312, when the distance between the obstacles is less than 30 meters, the automatic execution system directly intervenes to continuously brake again, when the obstacles are reached, the automatic execution system is adjusted to be middle brake, the passing speed is judged after the obstacles pass, if the passing speed is less than or equal to 50kph, the judgment is safe, and otherwise, the maintenance is prompted.
The present invention is provided with an information acquisition module 3001, an information analysis module 3002, an information transmission module 3003, and a control execution module 3004. Information acquisition module 3001 is camera and radar that utilize current assembly autopilot and drive the vehicle with auxiliary function, gathers suspicious obstacle image information in place ahead road surface, distance to set up 1 light sensor, 1 fog/haze consistency transmitter, 1 raindrop sensor and gather the obstacle visibility. The information analysis module 3002 first performs sharpening on the image to remove the influence of weather causes on the obstacle that cannot be clearly distinguished. The suspicious obstacle accurate classification and identification is carried out based on an analysis model, the information analysis model 3002 carries out neural network deep learning on image data of various road obstacles to obtain accurate obstacle types including steps, curbs, stones, pits, wood blocks, rails and the like, and fabric, foam and the like are identified as risk-free obstacles. The information sending module 3003 analyzes the current risk state according to the current driving state and the type of the obstacle, and sends the information to the next module if the current risk exists. The control execution module 3004 adopts different control strategies according to the risk degree.
The device of the embodiment has an on/off button, and a user can select whether to start the system or not and turn on the system in a default condition.
The front obstacle is detected to be a light object such as fabric and foam which do not form a risk, and no dangerous information is sent.
When normal driving is detected, the vehicle has a deviation phenomenon, the steering system is prompted to be abnormally overhauled, and the misoperation risk of a client is reduced.
The front obstacle is detected to cause obstacles such as steps, stones, curbs, pits, wood blocks and rails with the risk of axle breakage, and if the vehicle speed is less than the safe speed of 40kph, the risk of axle breakage is avoided directly, and no dangerous information is sent.
And detecting obstacles such as steps, stones, curbs, pits, wood blocks and rails which can cause the risk of axle breakage due to the front obstacle, and sending dangerous information to the next module if the current vehicle speed is higher than the safe speed of 40 kph.
The signal reaches the control execution module 3004, and when the vehicle speed is within 50kph of the dangerous speed, the control execution module 3004 judges that the risk is low, only prompts the risk of the roadblock, and the driver decelerates or steers according to the situation. If the driver has no feedback, the current driving state is kept to pass, the stress of the wheels does not exceed the strength design limit, and the risk of axle breakage is small. However, if the vehicle is in the vicinity of an obstacle, the driver can apply violent braking, and the wheel is locked to bump a convex object or fall into a pit, so that huge stress is caused, and the risk of axle breakage is increased. Thus, to prevent the driver from mistakenly slamming on the brake, the control execution module 3004 limits the brake system from heavy braking.
The signal reaches the control execution module 3004, and when the vehicle speed is 50-70kph, the execution module judges the medium risk and prompts the roadblock risk through voice. Without feedback within the driver 1s, the following operations are automatically performed: according to the obstacle distance, a reasonable braking grade (light braking, medium braking and heavy braking) is automatically selected to be decelerated to be below 50 kph. When the vehicle reaches the obstacle, the misoperation of a vehicle user is limited to carry out hard braking, and the current braking grade is automatically adjusted to be light braking to pass the obstacle.
The signal reaches the control execution module 3004, and when the vehicle speed is higher than 70kph, the execution module judges that the risk is high and prompts the high risk of the roadblock through voice. The following operations are automatically performed without feedback within the driver 1 s: the heavy brake decelerates below 50kph as a function of the barrier distance, and the vehicle passes over the barrier at a safe speed. When the vehicle reaches the obstacle, the vehicle user is limited from performing misoperation to perform hard braking, and the current braking grade is automatically adjusted to be middle braking to pass the obstacle.
If the detected distance to the obstacle is shorter than 30m and the vehicle speed is higher than 70kph, the execution module judges that the risk is high, and directly takes over and executes the following operations: the heavy brake is continuously decelerated until the wheels approach obstacles, and the brake mode is adjusted to be middle brake and passes through the roadblock. If the current passing speed is less than 50kph, no prompt is given, and if the current passing speed is higher than 50kph, a parking check is given.
This embodiment is through setting up information acquisition module, information judgment module, information transmission module, control execution module on the vehicle, detects the vehicle road surface barrier condition, when the vehicle meets the axletree fracture danger of different grades, through reminding the driver and the processing mode that does not, avoids the vehicle axletree fracture, and processing mode is simple, belongs to the safe development direction of vehicle initiative, avoids major accident and serious loss to take place.
Fig. 4 is a schematic structural diagram of hardware of an electronic device for controlling vehicle running according to an embodiment of the present application, including:
at least one processor 401; and the number of the first and second groups,
a memory 402 communicatively coupled to at least one of the processors 401; wherein the content of the first and second substances,
the memory 402 stores instructions executable by at least one of the processors 401, the instructions being executable by at least one of the processors 401 to enable at least one of the processors 401 to:
the vehicle travel control method as described above is executed.
The Electronic device may be a vehicle Electronic Control Unit (ECU). In fig. 4, one processor 401 is taken as an example.
The electronic device may further include: an input device 403 and a display device 404.
The processor 401, the memory 402, the input device 403 and the display device 404 may be connected by a bus or other means, such as a bus.
The memory 402, which is a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle driving control method in the embodiment of the present application, for example, the method flow shown in fig. 1. The processor 401 executes various functional applications and data processing by executing nonvolatile software programs, instructions, and modules stored in the memory 402, that is, implements the vehicle travel control method in the above-described embodiment.
The memory 402 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the vehicle travel control method, and the like. Further, the memory 402 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 402 may optionally include a memory remotely disposed from the processor 401, and these remote memories may be connected to a device for executing the vehicle travel control method through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 403 may receive an input of a user click and generate a signal input related to a user setting and a function control of the vehicle travel control method. The display device 404 may include a display screen or the like.
When the one or more modules are stored in the memory 402, the vehicle travel control method in any of the above-described method embodiments is performed when executed by the one or more processors 401.
This application is through detecting the barrier to vehicle the place ahead to according to the speed of a motor vehicle or the braking force when barrier type adjustment vehicle passes through the accessible barrier, avoid passing through too high braking force when barrier, correct the wrong braking operation of customer's driving action, avoid the axletree fracture dangerous condition to take place.
An embodiment of the present application provides a storage medium storing computer instructions for executing all the steps of the vehicle travel control method as described above when a computer executes the computer instructions.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A vehicle travel control method characterized by comprising:
acquiring barrier information in front of a vehicle;
when the passing obstacle is detected in front of the vehicle, the braking force of the vehicle passing through the passing obstacle is adjusted according to the vehicle speed or the type of the passing obstacle.
2. The vehicle travel control method according to claim 1, wherein the adjusting the braking force when the vehicle passes through the passable obstacle according to the vehicle speed or the obstacle type of the passable obstacle, specifically includes:
if the vehicle speed is less than the warning vehicle speed threshold value, or the type of the obstacle which can pass through the obstacle is a risk-free type, the braking force of the vehicle when passing through the obstacle is not limited;
and if the vehicle speed is greater than or equal to the warning vehicle speed threshold value and the type of the obstacle which can pass through the obstacle is a risky type, limiting the braking force when the vehicle passes through the obstacle according to the vehicle speed.
3. The vehicle travel control method according to claim 2, wherein the brake modes include a first brake mode in which a maximum braking force is larger than that of the other brake modes, and one or more other brake modes, and the limiting the brake mode when the vehicle passes through the passable obstacle according to the vehicle speed specifically includes:
and limiting the braking mode when the vehicle passes through the accessible obstacle to be other braking modes according to the vehicle speed.
4. The vehicle travel control method according to claim 3, wherein the limiting of the braking mode when the vehicle passes through the passable obstacle according to the vehicle speed is another braking mode, specifically includes:
if the vehicle speed is in a first vehicle speed range, limiting the brake mode when the vehicle passes through the accessible obstacle to be the other brake mode;
if the vehicle speed is in a second vehicle speed range, reducing the vehicle to a preset safe speed, and limiting the brake mode when the vehicle passes through the accessible obstacle to be other brake modes, wherein the minimum vehicle speed of the second vehicle speed range is greater than or equal to the maximum vehicle speed of the first vehicle speed range;
and if the vehicle speed is in a third vehicle speed range, reducing the speed of the vehicle by adopting a first brake mode, and limiting the brake mode when the vehicle passes through the accessible obstacle to be other brake modes, wherein the minimum vehicle speed of the third vehicle speed range is greater than or equal to the maximum vehicle speed of the second vehicle speed range.
5. The vehicle running control method according to claim 4, wherein if the vehicle speed is in a third vehicle speed range, decelerating the vehicle using the first brake mode and limiting the brake mode when the vehicle passes through the passable obstacle to the other brake mode, specifically comprises:
if the vehicle speed is in a third vehicle speed range, and when the passing obstacle is detected, the distance between the vehicle and the passing obstacle is larger than a preset first distance threshold value, reducing the vehicle to a preset safe speed by adopting a first braking mode, and limiting the braking mode when the vehicle passes through the passing obstacle to be other braking modes;
if the vehicle speed is in a third vehicle speed range, and when the passable obstacle is detected, the distance between the vehicle and the passable obstacle is smaller than or equal to a preset first distance threshold value, adopting a first braking mode to continuously reduce the speed of the vehicle until the distance between the vehicle and the passable obstacle is smaller than or equal to a preset second distance threshold value, and limiting the braking mode when the vehicle passes through the passable obstacle to be other braking modes, wherein the second distance is smaller than the first distance threshold value.
6. The vehicle running control method according to claim 5, wherein if the vehicle speed is in a third vehicle speed range and the distance between the vehicle and the passable obstacle is less than or equal to a preset first distance threshold when the passable obstacle is detected, adopting the first braking mode to continuously decelerate the vehicle until the distance between the vehicle and the passable obstacle is less than or equal to a preset second distance threshold, and limiting the braking mode when the vehicle passes the passable obstacle to be the other braking mode, specifically comprises:
if the vehicle speed is in a third vehicle speed range, and when the passable obstacle is detected, the distance between the vehicle and the passable obstacle is smaller than or equal to a preset first distance threshold value, adopting a first braking mode to continuously reduce the speed of the vehicle until the distance between the vehicle and the passable obstacle is smaller than or equal to a preset second distance threshold value, limiting the braking mode when the vehicle passes through the passable obstacle to be other braking modes, and detecting the vehicle speed when the vehicle passes through the passable obstacle;
and if the vehicle speed when passing the passing obstacle is greater than the safe speed, prompting parking check.
7. The vehicle running control method according to claim 2, further comprising making an alarm prompt if the vehicle speed is equal to or greater than an alarm vehicle speed threshold and the obstacle type that can pass through the obstacle is a risky type.
8. The vehicle running control method according to any one of claims 1 to 7, further comprising prompting that the steering system is abnormal if a deviation phenomenon of the vehicle is detected while normal running.
9. A vehicle travel control electronic apparatus characterized by comprising: at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to:
the vehicle travel control method according to any one of claims 1 to 8 is executed.
10. A storage medium storing computer instructions for executing all the steps of a vehicle running control method according to any one of claims 1 to 8 when the computer instructions are executed by a computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110209348.1A CN112937562B (en) | 2021-02-24 | 2021-02-24 | Vehicle travel control method, electronic device, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110209348.1A CN112937562B (en) | 2021-02-24 | 2021-02-24 | Vehicle travel control method, electronic device, and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112937562A true CN112937562A (en) | 2021-06-11 |
| CN112937562B CN112937562B (en) | 2022-10-28 |
Family
ID=76246087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110209348.1A Active CN112937562B (en) | 2021-02-24 | 2021-02-24 | Vehicle travel control method, electronic device, and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112937562B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114148301A (en) * | 2021-12-20 | 2022-03-08 | 岚图汽车科技有限公司 | Vehicle brake control method, device, equipment and readable storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0911870A (en) * | 1995-07-03 | 1997-01-14 | Toyota Motor Corp | Vehicle travel control device |
| EP2883769A2 (en) * | 2013-12-12 | 2015-06-17 | Robert Bosch Gmbh | Method and device for the lateral guidance of a motor vehicle, in particular for assisting evasive action |
| US20160009276A1 (en) * | 2014-07-09 | 2016-01-14 | Alcatel-Lucent Usa Inc. | In-The-Road, Passable Obstruction Avoidance Arrangement |
| CN109229105A (en) * | 2017-06-27 | 2019-01-18 | 奥迪股份公司 | Driving assistance system and method |
| CN110461677A (en) * | 2017-03-30 | 2019-11-15 | 本田技研工业株式会社 | Vehicle control system, control method for vehicle and vehicle control program |
| DE102020005763A1 (en) * | 2020-09-21 | 2020-11-26 | Daimler Ag | Method for controlling a vehicle |
-
2021
- 2021-02-24 CN CN202110209348.1A patent/CN112937562B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0911870A (en) * | 1995-07-03 | 1997-01-14 | Toyota Motor Corp | Vehicle travel control device |
| EP2883769A2 (en) * | 2013-12-12 | 2015-06-17 | Robert Bosch Gmbh | Method and device for the lateral guidance of a motor vehicle, in particular for assisting evasive action |
| US20160009276A1 (en) * | 2014-07-09 | 2016-01-14 | Alcatel-Lucent Usa Inc. | In-The-Road, Passable Obstruction Avoidance Arrangement |
| CN110461677A (en) * | 2017-03-30 | 2019-11-15 | 本田技研工业株式会社 | Vehicle control system, control method for vehicle and vehicle control program |
| CN109229105A (en) * | 2017-06-27 | 2019-01-18 | 奥迪股份公司 | Driving assistance system and method |
| DE102020005763A1 (en) * | 2020-09-21 | 2020-11-26 | Daimler Ag | Method for controlling a vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114148301A (en) * | 2021-12-20 | 2022-03-08 | 岚图汽车科技有限公司 | Vehicle brake control method, device, equipment and readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112937562B (en) | 2022-10-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102991504B (en) | Method for determining and prewarning lane change safety of drivers | |
| EP2451682B1 (en) | Method for correctly carrying out autonomous emergency braking in a road vehicle | |
| CN106408878A (en) | Vehicle anticollision pre-warning system considering driver fatigue state and response capability | |
| CN107458376A (en) | A kind of self-adapting cruise control method, device and automobile | |
| CN103723143A (en) | Vehicle control method and vehicle control system for safety driving under zero tire pressure | |
| CN105774794A (en) | Automobile driving safety device | |
| CN106864437A (en) | A kind of emergency brake of vehicle system and its control method | |
| CN104477113A (en) | Control method, system and automobile | |
| CN105774803A (en) | Driving control system and dynamic decision control method thereof | |
| CN112026761A (en) | Automobile auxiliary driving method based on data sharing | |
| CN102963298A (en) | Abnormal behavior monitoring method based on sight detection | |
| CN103164885A (en) | Driving behavior control system | |
| CN203172620U (en) | Device for lane changing safety judging and forewarning for driver | |
| CN115782905B (en) | Automatic driving safety degree quantification system for driving vehicle | |
| CN112937562B (en) | Vehicle travel control method, electronic device, and storage medium | |
| CN106740837A (en) | A kind of automatic Pilot lorry control system based on Freeway Conditions | |
| WO2021104833A1 (en) | Method and device for promoting driving safety of vehicle | |
| CN114489004B (en) | Unmanned test method and system thereof | |
| CN114387821B (en) | Vehicle collision early warning method, device, electronic equipment and storage medium | |
| CN109895766B (en) | Active obstacle avoidance system of electric automobile | |
| CN111591294B (en) | Early warning method for vehicle lane change in different traffic environments | |
| WO2024099136A1 (en) | Tramcar safety protection apparatus and control method and apparatus therefor, and medium | |
| US11217093B2 (en) | Electronic communication device, related monitoring apparatus, supervision installation, communication method and computer program | |
| JP5013175B2 (en) | TRAVEL CONTROL DEVICE AND METHOD, PROGRAM, AND RECORDING MEDIUM | |
| KR20220089138A (en) | Road Dangerous Object Recognition Apparatus and Method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |