CN113119946A - Control method and device for safe running of vehicle and vehicle - Google Patents
Control method and device for safe running of vehicle and vehicle Download PDFInfo
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- CN113119946A CN113119946A CN201911367026.9A CN201911367026A CN113119946A CN 113119946 A CN113119946 A CN 113119946A CN 201911367026 A CN201911367026 A CN 201911367026A CN 113119946 A CN113119946 A CN 113119946A
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
Abstract
The application provides a control method for safe driving of a vehicle, wherein the method comprises the following steps: acquiring the steering angle of a steering wheel on a vehicle and the current speed of the vehicle; determining lateral displacement information of the vehicle according to the steering angle and the current vehicle speed; recognizing an obstacle on the side of the vehicle, and acquiring relative position information between the obstacle and the vehicle; and determining whether a danger exists according to the lateral displacement information and the relative position information so as to perform steering safety control on the vehicle. This application can acquire the lateral displacement information that matches with it through the steering angle and the current speed of a motor vehicle of the steering wheel who acquires, then acquires the relative position information between the barrier of vehicle side and the vehicle to according to lateral displacement information and relative position information, turn to safety control to the vehicle, no longer rely on radar range finding as the only means of judging whether the vehicle has the danger of turning to, solve the suggestion hysteresis that prior art exists, passive suggestion, complex operation and the big technical problem of potential safety hazard.
Description
Technical Field
The present application relates to the field of vehicle control technologies, and in particular, to a method and an apparatus for controlling safe driving of a vehicle, and a vehicle.
Background
Vehicle steering is one of the most common driving behaviors during driving of a vehicle. However, as vehicles become more popular in everyday life and road conditions become more complex, the behavior of turning the vehicle becomes more challenging and difficult for drivers to grasp. Especially for novice drivers, due to inexperience, unskilled operation and the like, the distance between an obstacle on the side of the vehicle and the vehicle cannot be accurately pre-judged, so that safety accidents such as scratch, collision and the like occur in the steering process of the vehicle.
In the related art at the present stage, in order to solve the problem that the distance between the obstacle and the vehicle is not accurately determined, a radar is usually disposed on the vehicle to identify the distance between the obstacle and the vehicle, and a driver can adjust the steering operation or perform a reverse operation again according to the distance.
However, when safety control is performed on vehicle steering through the prior art, because the radar cannot acquire the distance between the obstacle and the vehicle in time, the technical problems of prompt lag, passive prompt, complex operation and large potential safety hazard are often caused.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present application is to provide a control method for safe driving of a vehicle, so as to solve the technical problems of prompt lag, passive prompt, complex operation and large potential safety hazard in the prior art.
A second object of the present application is to provide a control device for safe driving of a vehicle.
A third object of the present application is to propose a vehicle.
A fourth object of the present application is to provide an electronic device.
A fifth object of the present application is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present application provides a control method for safe driving of a vehicle, including the following steps: acquiring a steering angle of a steering wheel on the vehicle and a current speed of the vehicle; determining lateral displacement information of the vehicle according to the steering angle and the current vehicle speed; identifying an obstacle on the side of the vehicle, and acquiring relative position information between the obstacle and the vehicle; and determining whether a danger exists according to the lateral displacement information and the relative position information so as to perform steering safety control on the vehicle.
According to an embodiment of the application, the determining whether a danger exists according to the lateral displacement information and the relative position information to perform steering safety control on the vehicle comprises: extracting distance information of the obstacle and the vehicle from the relative position, and identifying whether the vehicle body of the vehicle has a steering danger or not according to the lateral displacement information and the distance information; extracting an azimuth angle between the obstacle and the vehicle from the relative position, and identifying whether the head of the vehicle has a steering danger or not according to the azimuth angle; and when one of the vehicle body and the vehicle head has steering danger, steering safety control is carried out on the vehicle.
According to an embodiment of the application, identifying whether a steering hazard exists in a body of the vehicle according to the lateral displacement information and the distance information comprises: comparing the lateral displacement information of the vehicle with the distance information of the relative position information, and identifying that a first distance between the obstacle and the vehicle in the distance information is smaller than the lateral displacement information, determining that the vehicle body has a steering danger; acquiring a set angle threshold corresponding to the steering angle and the current vehicle speed; and comparing the azimuth angle with the set angle threshold value, and determining that the locomotive has a steering danger if the azimuth angle is identified to be smaller than the set angle threshold value.
According to an embodiment of the present application, further comprising: collecting the surrounding environment of the vehicle, and simulating the driving scene of the vehicle based on the collected environment information and the driving information of the vehicle; and displaying the driving scene and the steering safety control of the vehicle on a display device of the vehicle.
The embodiment of the first aspect of the application provides a control method for safe driving of a vehicle, and the lateral displacement information of the vehicle matched with the steering angle of a steering wheel on the vehicle and the current speed of the vehicle can be acquired, then the relative position information between an obstacle on the side of the vehicle and the vehicle is acquired, whether danger exists or not is determined according to the lateral displacement information and the relative position information, then the vehicle is subjected to steering safety control, radar ranging is not relied any more, the only means for judging whether the vehicle has steering danger or not is adopted, and the technical problems of lagging prompt, passive prompt, complex operation and large potential safety hazard existing in the prior art are solved.
In order to achieve the above object, a second aspect of the present application provides a control device for safe driving of a vehicle, including: the first acquisition module is used for acquiring the steering angle of a steering wheel on the vehicle and the current speed of the vehicle; the determining module is used for determining the lateral displacement information of the vehicle according to the steering angle and the current vehicle speed; the second acquisition module is used for identifying an obstacle on the side surface of the vehicle and acquiring relative position information between the obstacle and the vehicle; and the safety control module is used for determining whether danger exists according to the lateral displacement information and the relative position information so as to perform steering safety control on the vehicle.
According to an embodiment of the application, the safety control module is further configured to: extracting distance information of the obstacle and the vehicle from the relative position, and identifying whether the vehicle body of the vehicle has a steering danger or not according to the lateral displacement information and the distance information; extracting an azimuth angle between the obstacle and the vehicle from the relative position, and identifying whether the head of the vehicle has a steering danger or not according to the azimuth angle; and when one of the vehicle body and the vehicle head has steering danger, steering safety control is carried out on the vehicle.
According to an embodiment of the application, the safety control module is further configured to: comparing the lateral displacement information of the vehicle with the distance information of the relative position information, and identifying that a first distance between the obstacle and the vehicle in the distance information is smaller than the lateral displacement information, determining that the vehicle body has a steering danger; acquiring a set angle threshold corresponding to the steering angle and the current vehicle speed; and comparing the azimuth angle with the set angle threshold value, and determining that the locomotive has a steering danger if the azimuth angle is identified to be smaller than the set angle threshold value.
According to an embodiment of the application, the apparatus further comprises: a display module to: collecting the surrounding environment of the vehicle, and simulating the driving scene of the vehicle based on the collected environment information and the driving information of the vehicle; and displaying the driving scene and the steering safety control information of the vehicle on a display device of the vehicle.
The embodiment of the second aspect of the application provides a control device for safe driving of a vehicle, the lateral displacement information of the vehicle matched with the steering angle of a steering wheel on the vehicle and the current speed of the vehicle can be acquired, then the relative position information between an obstacle on the side of the vehicle and the vehicle is acquired, whether danger exists or not is determined according to the lateral displacement information and the relative position information, then the vehicle is subjected to steering safety control, radar ranging is not relied on any more to serve as a unique means for judging whether the vehicle has steering danger or not, and the technical problems of lagging prompt, passive prompt, complex operation and large potential safety hazard in the prior art are solved.
To achieve the above object, an embodiment of a third aspect of the present application proposes a vehicle including: the embodiment of the second aspect of the application provides a control device for safe running of a vehicle.
To achieve the above object, a fourth aspect of the present application provides an electronic device, including: a memory, a processor; the processor reads the executable program codes stored in the memory to run programs corresponding to the executable program codes, so as to realize the control method for safe driving of the vehicle.
To achieve the above object, a fifth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the control method for safe driving of a vehicle.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a control method for safe driving of a vehicle according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an electric power steering system provided in an embodiment of the present application;
fig. 3 is a schematic view of an installation position of a radar of a vehicle according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an installation position of a radar of another vehicle according to an embodiment of the present application;
FIG. 5 is a flowchart of another control method for safe driving of a vehicle according to an embodiment of the present application;
fig. 6 is a display schematic diagram of a display device of a vehicle according to an embodiment of the present application;
FIG. 7 is a flowchart of another control method for safe driving of a vehicle according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a control device for safe driving of a vehicle according to an embodiment of the present application;
FIG. 9 is a schematic structural diagram of a vehicle according to an embodiment of the present disclosure;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The following describes a safe driving method and device for a vehicle and the vehicle according to an embodiment of the present application with reference to the drawings.
In the process of steering the vehicle, different vehicle speeds and different steering angles of the steering wheel may cause different steering results of the vehicle, and the vehicle may collide with an obstacle on the side of the vehicle due to an excessively high vehicle speed or an inappropriate steering angle of the steering wheel. Therefore, in the method and the device, the vehicle speed and the steering angle of the steering wheel can be obtained in real time in the vehicle turning process, whether the steering danger occurs at the next moment or not can be predicted according to the current vehicle speed and the current steering angle of the steering wheel, and corresponding prompt is given to a driver in real time according to the prediction result.
Therefore, the method and the device can actively and timely predict the steering condition of the vehicle at the next moment, and provide warning for the driver when the steering danger of the vehicle is recognized, namely the accident is possible to happen at the next moment, so that the accident is avoided, and the driving safety of the vehicle in the steering process is ensured.
Fig. 1 is a flowchart of a control method for safe driving of a vehicle according to an embodiment of the present application. As shown in fig. 1, the method specifically comprises the following steps:
s101, obtaining the steering angle of a steering wheel on the vehicle and the current speed of the vehicle.
It should be noted that, as shown in fig. 2, a vehicle generally includes a brake system and a steering system, wherein the steering system includes a steering wheel and a steering column. An Electric Power Steering (EPS) system of a vehicle generally includes a vehicle speed sensor, a Steering angle sensor, an EPS controller, and the like, where the EPS controller may perform relevant processing and operation on signals detected by the vehicle speed sensor and the Steering angle sensor to obtain a vehicle speed and a Steering angle of a Steering wheel of the vehicle.
Alternatively, the steering angle of the steering wheel on the vehicle and the current vehicle speed of the vehicle may be acquired by the EPS.
And S102, determining the lateral displacement information of the vehicle according to the steering angle and the current vehicle speed.
Optionally, after the steering angle and the current vehicle speed are obtained, a preset mapping relationship between the steering angle and the lateral displacement information of the vehicle and the current vehicle speed may be queried, so as to obtain the lateral displacement information of the vehicle corresponding to the steering angle and the current vehicle speed. Wherein the lateral displacement information is a minimum required lateral displacement for safe steering of the vehicle.
S103, identifying the obstacle on the side of the vehicle, and acquiring relative position information between the obstacle and the vehicle.
Optionally, an image capturing device is disposed on the vehicle, and after the lateral displacement information of the vehicle is determined, the image capturing device may be used to identify an obstacle located on a side of the vehicle. Wherein, image acquisition device can set for according to actual conditions. For example, a camera, an infrared sensor, or the like may be used.
Further, after an obstacle on the side of the vehicle is identified, relative position information between the obstacle and the vehicle may be acquired. Optionally, the vehicle is provided with some acquisition devices related to the relative position information, for example, radars and the like, the relative position information between the obstacle and the vehicle may be acquired by the radars, and the radars may report the acquired relative position information to the vehicle in real time or periodically. Wherein the relative position information includes: a first distance between an obstacle to the side of the vehicle and the vehicle, and an azimuth angle of the obstacle to the vehicle.
As an example, as shown in fig. 3(a), radars may be installed on the left side of the head and the left side of the body of the vehicle, respectively, while as shown in fig. 3(b), radars may be installed on the right side of the head and the right side of the body of the vehicle, respectively, all of which are used to acquire relative position information between the obstacle and the vehicle.
It should be noted that when the vehicle turns left, only the radars on the left side of the vehicle head and the left side of the vehicle body need to be started to acquire the relative position information between the obstacle and the vehicle; when the vehicle turns to the right, only need open the radar on locomotive right side, automobile body right side, acquire the relative position information between barrier and the vehicle, when the realization is to the acquirement of relative position information, can also play the effect that reduces the energy consumption.
And S104, determining whether a danger exists according to the lateral displacement information and the relative position information so as to perform steering safety control on the vehicle.
Optionally, after the lateral displacement information and the relative position information are obtained, whether a steering danger exists on the body and the head of the vehicle can be respectively identified according to the lateral displacement information and the relative position information, and the identification result is analyzed. If one of the vehicle body and the vehicle head has steering danger, steering safety control can be performed on the vehicle; if neither the vehicle body nor the vehicle head has steering danger, the lateral displacement information and the relative position information of the vehicle can be continuously acquired.
Therefore, the lateral displacement information of the vehicle matched with the steering angle of the steering wheel on the vehicle and the current speed of the vehicle can be acquired, then the relative position information between the obstacle and the vehicle is acquired, whether danger exists or not is determined according to the lateral displacement information and the relative position information, then the vehicle is subjected to steering safety control, radar ranging is not relied on to be used as a unique means for judging whether the vehicle has steering danger or not, and the technical problems of lagging prompt, passive prompt, complex operation and large potential safety hazard in the prior art are solved.
It should be noted that, in the present application, before attempting to acquire the steering angle of the steering wheel on the vehicle and the current vehicle speed of the vehicle, the control command of the driver may be monitored to determine whether the steering angle and the current vehicle speed need to be acquired.
Optionally, the working state of a turn signal lamp on the vehicle may be detected, and if the turn signal lamp is detected and obtained, the turn angle and the current vehicle speed may be obtained; otherwise, the working state of the steering lamp can be continuously detected.
Optionally, the interactive operation on the steering wheel on the vehicle may be monitored, and if it is detected that the driver clicks a corresponding key, the steering angle and the current vehicle speed may be obtained; otherwise, the working state of the steering lamp can be continuously detected.
Therefore, the method and the device can monitor according to the control instruction of the driver, automatically identify whether to start to acquire the steering angle and the current vehicle speed, reduce the operation of the driver in the driving process and greatly reduce the potential safety hazard.
In practical application, when the vehicle turns, distances between the vehicle body and the vehicle head and an obstacle on the side surface of the vehicle are different, and the distance changes are asynchronous, so that when the vehicle is tried to be steered and safely controlled according to lateral displacement information and relative position information, whether the vehicle body and the vehicle head of the vehicle have steering danger or not needs to be identified according to the lateral displacement information and the relative position information of the vehicle.
As a possible implementation manner, first distances between the obstacle and the vehicle may be extracted from the relative position information, respectively, and then the first distances are compared with the lateral displacement information, and if it is recognized that the first distances are smaller than the lateral displacement information, it is determined that the vehicle body has a steering risk, that is, the vehicle has a steering risk;
if it is identified that the first distance is greater than or equal to the lateral displacement information, the azimuth angle of the vehicle may be further identified. Optionally, the azimuth angles of the obstacle and the vehicle may be extracted from the relative position information, then the direction angle is compared with a set angle threshold, and if the identified azimuth angle is smaller than the set angle threshold, it is determined that the vehicle head has a steering risk, that is, the vehicle has a steering risk; if the identified azimuth angle is larger than or equal to the set angle threshold value, the locomotive is determined to be not in the steering danger currently, namely the vehicle is not in the steering danger currently.
Further, the safety control information of the decelerating running and turning steering wheel can be generated and displayed when the steering danger exists at least one of the head and the body of the vehicle, so that the steering safety control of the vehicle can be realized. Alternatively, the safety control information may be displayed on a display screen of the vehicle.
Therefore, according to the method and the device, whether steering danger exists on the body and the head of the vehicle can be respectively identified according to the lateral displacement information and the relative position information of the vehicle, and when the steering danger exists in one direction, the vehicle is safely controlled to steer, so that the body and the head of the vehicle cannot be in accident during the steering process of the vehicle; the visual safety control information can prompt the driver effectively in time, and further ensures the driving safety in the vehicle steering process.
It should be noted that, in order to make the acquired first distance more accurate, in the present application, as shown in fig. 4, radars may be disposed on A, B, C pillars on both sides of the vehicle body, and the acquired plurality of distance values are analyzed to determine the first distance between the obstacle and the vehicle. Fig. 4(a) is a schematic diagram of the radar installation position on the left side of the vehicle, and fig. 4(b) is a schematic diagram of the radar installation position on the right side of the vehicle.
Alternatively, the smallest of all the acquired distance values may be selected as the first distance between the obstacle and the vehicle. For example, when the vehicle tries to turn left, three distance values of 1.5m, 1.2m, 1.3m, and three are collected at the A, B, C pillar on the left side of the vehicle body, respectively, the smallest distance value of 1.2 can be used as the first distance between the obstacle and the vehicle.
Alternatively, all the acquired distance values may be calculated by an algorithm such as weighted fusion, and one fused distance value is acquired as the first distance between the obstacle and the vehicle. For example, when the vehicle tries to turn left, three distance values of 1.5m, 1.2m, 1.3m and three weight coefficients of a, b and c are collected at A, B, C pillars on the left side of the vehicle body, and the first distance is 1.5 a +1.2 b +1.3 c.
Alternatively, an average value of the acquired plurality of distance values may be calculated, and the average value may be used as the first distance between the obstacle and the vehicle. For example, when the vehicle attempts to turn left, three distance values of 1.5m, 1.2m, 1.3m, and 1.5m (1.5+1.2+1.3)/3 m are respectively collected at the A, B, C pillar on the left side of the vehicle body, and the first distance is 1 m.
Therefore, the plurality of radars are arranged, a plurality of distance values can be acquired, the first distance between the obstacle and the vehicle is determined through calculation, the acquired first distance is more accurate, and the steering process of the vehicle can be more accurately controlled.
Further, in the application, after the steering danger of the vehicle is recognized and safety control is performed, the lateral displacement information of the vehicle and the relative position information between the obstacle and the vehicle can be continuously monitored, so that the whole steering process of the vehicle is continuously recognized and steering safety control is performed in real time.
As a possible implementation manner, as shown in fig. 5, the method specifically includes the following steps:
s201, continuously monitoring the lateral displacement information of the vehicle and the relative position information between the obstacle and the vehicle.
S202, judging whether the vehicle has steering danger or not according to the continuously monitored lateral displacement information and the relative position information.
It should be noted that, for the descriptions of steps S201 to S202, reference may be made to the relevant descriptions in the above embodiments, and details are not repeated here.
If it is recognized that the vehicle has a steering risk, step S203 may be performed; if it is recognized that the vehicle is not currently in danger of turning, step S204 may be performed.
And S203, continuously displaying the steering safety control information.
And S204, ending the steering safety control.
Therefore, after the steering danger of the vehicle is recognized and safety control is carried out, the lateral displacement information of the vehicle and the relative position information between the obstacle and the vehicle can be monitored in real time, and after the steering danger of the vehicle is recognized, the steering safety control information is continuously displayed; after the fact that the vehicle is not in steering danger is identified, steering safety control is finished, driving safety of the vehicle in the whole steering process is guaranteed, and meanwhile the control method for safe driving of the vehicle is more intelligent.
It should be noted that, in the application, the surrounding environment of the vehicle can be collected, the driving scene of the vehicle is simulated based on the collected environment information and the driving information of the vehicle, then the driving scene and the steering safety control information of the vehicle are displayed on the display device of the vehicle, the safety control information can be clearly and effectively visualized, the more comprehensive vehicle running condition is presented to the driver, meanwhile, the warning is timely and effectively given to the driver, and the driving safety in the vehicle steering process is further ensured.
For example, when the vehicle tries to turn around to the left at the intersection, the first distance between the fence and the vehicle is recognized to be smaller than the lateral displacement information, namely the vehicle is in a steering danger, and the vehicle is subjected to steering safety control. Thus, as shown in fig. 6, the driving scene of the vehicle and the steering safety control information can be displayed on the display screen.
In order to realize the embodiment, the embodiment of the application also provides a flow chart of another control method for safe driving of the vehicle. As shown in fig. 7, the method specifically includes the following steps:
s301, obtaining the steering angle of a steering wheel on the vehicle and the current speed of the vehicle.
S302, obtaining the steering angle of a steering wheel on the vehicle and the current speed of the vehicle.
And S303, identifying the obstacle on the side of the vehicle, and acquiring relative position information between the obstacle and the vehicle.
And S304, determining whether a danger exists according to the lateral displacement information and the relative position information so as to perform steering safety control on the vehicle.
And S305, continuously monitoring the lateral displacement information of the vehicle and the relative position information between the obstacle and the vehicle.
And S306, judging whether the vehicle has steering danger or not according to the continuously monitored lateral displacement information and the relative position information.
And S307, continuously displaying the steering safety control information.
And S308, ending the steering safety control.
It should be noted that, for the descriptions of steps S301 to S308, reference may be made to the relevant descriptions in the above embodiments, and details are not repeated here.
Therefore, the lateral displacement information of the vehicle matched with the steering angle of the steering wheel on the vehicle and the current speed of the vehicle can be acquired, then the relative position information between the obstacle on the side surface of the vehicle and the vehicle is acquired, the vehicle is safely controlled to steer according to the lateral displacement information and the relative position information, radar ranging is not relied any more to be used as a unique means for judging whether the vehicle has steering danger, and the technical problems of lagging prompt, passive prompt, complex operation and large potential safety hazard in the prior art are solved.
In order to realize the embodiment, the application also provides a control device for safe running of the vehicle.
Fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application. As shown in fig. 8, a control device 100 for safe traveling of a vehicle according to an embodiment of the present invention includes: the first obtaining module 11 is configured to obtain a steering angle of a steering wheel on the vehicle and a current vehicle speed of the vehicle; the determining module 12 is configured to determine lateral displacement information of the vehicle according to the steering angle and the current vehicle speed; a second obtaining module 13, configured to identify an obstacle located on a side of the vehicle, and obtain relative position information between the obstacle and the vehicle; and the safety control module 14 is used for determining whether a danger exists according to the lateral displacement information and the relative position information so as to perform steering safety control on the vehicle.
Wherein, the safety control module 14 is further configured to: extracting distance information of the obstacle and the vehicle from the relative position information, and identifying whether the vehicle body of the vehicle has a steering danger or not according to the lateral displacement information and the distance information; extracting an azimuth angle between the obstacle and the vehicle from the relative position information, and identifying whether the head of the vehicle has a steering danger or not according to the azimuth angle; and when one of the vehicle body and the vehicle head has steering danger, steering safety control is carried out on the vehicle.
Further, the safety control module 14 is further configured to: comparing the lateral displacement information of the vehicle with the distance information of the relative position information, and identifying that a first distance between the obstacle and the vehicle in the distance information is smaller than the lateral displacement information, determining that the vehicle body has a steering danger; acquiring a set angle threshold corresponding to the steering angle and the current vehicle speed; and comparing the azimuth angle with the set angle threshold value, and determining that the locomotive has a steering danger if the azimuth angle is identified to be smaller than the set angle threshold value.
Further, the apparatus further comprises: a display module 15 for: collecting the surrounding environment of the vehicle, and simulating the driving scene of the vehicle based on the collected environment information and the driving information of the vehicle; displaying the driving scene and the steering safety control information of the vehicle on a display device of the vehicle
It should be noted that the explanation of the foregoing embodiment of the method for safely driving a vehicle is also applicable to the control device for safely driving a vehicle in this embodiment, and will not be described herein again.
Therefore, the lateral displacement information of the vehicle matched with the steering angle of the steering wheel on the vehicle and the current speed of the vehicle can be acquired, then the relative position information between the obstacle and the vehicle is acquired, whether danger exists or not is determined according to the lateral displacement information and the relative position information, then the vehicle is subjected to steering safety control, radar ranging is not relied on to be used as a unique means for judging whether the vehicle has steering danger or not, and the technical problems of lagging prompt, passive prompt, complex operation and large potential safety hazard in the prior art are solved.
In order to implement the above embodiment, the present application further proposes a vehicle 300, as shown in fig. 9, including a safe driving apparatus 100 of a vehicle, implementing the control method for safe driving of the vehicle.
In order to implement the foregoing embodiments, the present application further proposes an electronic device 200, as shown in fig. 10, which includes a memory 21, a processor 22 and a computer program stored in the memory 21 and operable on the processor 22, and when the processor executes the computer program, the electronic device implements the foregoing control method for safe driving of the vehicle.
In order to implement the above-described embodiments, the present application also proposes a non-transitory computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements the aforementioned control method for safe travel of a vehicle.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A control method for safe driving of a vehicle, characterized by comprising the steps of:
acquiring a steering angle of a steering wheel on the vehicle and a current speed of the vehicle;
determining lateral displacement information of the vehicle according to the steering angle and the current vehicle speed;
identifying an obstacle on the side of the vehicle, and acquiring relative position information between the obstacle and the vehicle;
and determining whether a danger exists according to the lateral displacement information and the relative position information so as to perform steering safety control on the vehicle.
2. The method of claim 1, wherein the determining whether a hazard exists for steering safety control of the vehicle based on the lateral displacement information and the relative position information comprises:
extracting distance information of the obstacle and the vehicle from the relative position information, and identifying whether the vehicle body of the vehicle has a steering danger or not according to the lateral displacement information and the distance information;
extracting an azimuth angle between the obstacle and the vehicle from the relative position information, and identifying whether the head of the vehicle has a steering danger or not according to the azimuth angle; and when one of the vehicle body and the vehicle head has steering danger, steering safety control is carried out on the vehicle.
3. The method of claim 2, wherein identifying whether a steering hazard is present in a body of the vehicle based on the lateral displacement information and the distance information comprises:
comparing the lateral displacement information of the vehicle with the distance information of the relative position information, and identifying that a first distance between the obstacle and the vehicle in the distance information is smaller than the lateral displacement information, determining that the vehicle body has a steering danger;
acquiring a set angle threshold corresponding to the steering angle and the current vehicle speed;
and comparing the azimuth angle with the set angle threshold value, and determining that the locomotive has a steering danger if the azimuth angle is identified to be smaller than the set angle threshold value.
4. The method according to any one of claims 1-3, further comprising:
collecting the surrounding environment of the vehicle, and simulating the driving scene of the vehicle based on the collected environment information and the driving information of the vehicle;
and displaying the driving scene and the steering safety control of the vehicle on a display device of the vehicle.
5. A control device for safe travel of a vehicle, characterized by comprising:
the first acquisition module is used for acquiring the steering angle of a steering wheel on the vehicle and the current speed of the vehicle;
the determining module is used for determining the lateral displacement information of the vehicle according to the steering angle and the current vehicle speed;
the second acquisition module is used for identifying an obstacle on the side surface of the vehicle and acquiring relative position information between the obstacle and the vehicle;
and the safety control module is used for determining whether danger exists according to the lateral displacement information and the relative position information so as to perform steering safety control on the vehicle.
6. The apparatus of claim 5, wherein the safety control module is further configured to:
extracting distance information of the obstacle and the vehicle from the relative position, and identifying whether the vehicle body of the vehicle has a steering danger or not according to the lateral displacement information and the distance information;
extracting an azimuth angle between the obstacle and the vehicle from the relative position, and identifying whether the head of the vehicle has a steering danger or not according to the azimuth angle;
and when one of the vehicle body and the vehicle head has steering danger, steering safety control is carried out on the vehicle.
7. The apparatus of claim 6, wherein the safety control module is further configured to:
comparing the lateral displacement information of the vehicle with the distance information of the relative position information, and identifying that a first distance between the obstacle and the vehicle in the distance information is smaller than the lateral displacement information, determining that the vehicle body has a steering danger;
acquiring a set angle threshold corresponding to the steering angle and the current vehicle speed;
and comparing the azimuth angle with the set angle threshold value, and determining that the locomotive has a steering danger if the azimuth angle is identified to be smaller than the set angle threshold value.
8. The apparatus of any of claims 5-7, further comprising: a display module to:
collecting the surrounding environment of the vehicle, and simulating the driving scene of the vehicle based on the collected environment information and the driving information of the vehicle;
and displaying the driving scene and the steering safety control information of the vehicle on a display device of the vehicle.
9. A vehicle characterized by comprising a control device for safe running of the vehicle according to claim 5.
10. An electronic device comprising a memory, a processor;
wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the control method for safe traveling of the vehicle according to any one of claims 1 to 4.
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| CN201911367026.9A CN113119946A (en) | 2019-12-26 | 2019-12-26 | Control method and device for safe running of vehicle and vehicle |
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| CN201911367026.9A CN113119946A (en) | 2019-12-26 | 2019-12-26 | Control method and device for safe running of vehicle and vehicle |
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