CN113734120B - Vehicle control method and device and vehicle - Google Patents
Vehicle control method and device and vehicle Download PDFInfo
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- CN113734120B CN113734120B CN202010470669.2A CN202010470669A CN113734120B CN 113734120 B CN113734120 B CN 113734120B CN 202010470669 A CN202010470669 A CN 202010470669A CN 113734120 B CN113734120 B CN 113734120B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
Abstract
The disclosure relates to a vehicle control method, a vehicle control device and a vehicle, and relates to the technical field of electronic control, wherein the method comprises the following steps: the method comprises the steps of obtaining a target distance between a vehicle and an obstacle in front of the vehicle in running, controlling the vehicle to brake if the target distance is smaller than a first distance threshold value, obtaining target image information in front of the vehicle in running, sending the target image information to a control platform to enable the control platform to display the target image information, controlling the vehicle to normally run if a bypass instruction is received, wherein the bypass instruction is sent to the vehicle by the control platform under the condition that a first specified operation is detected. The vehicle is controlled according to the preset first distance threshold and the bypass instruction, the vehicle can be prevented from colliding in time, the vehicle can continue to run normally when the obstacle is misreported or eliminated, the emergency stop of the vehicle is reduced, and the real-time performance and the safety degree of vehicle control are improved.
Description
Technical Field
The disclosure relates to the technical field of electronic control, in particular to a vehicle control method and device and a vehicle.
Background
With the continuous development of automatic driving technology, more and more vehicles are equipped with automatic driving systems. In general, when an automatically driven vehicle runs on a road surface, road surface information in front of the running vehicle can be monitored in real time, so that the vehicle is prevented from colliding with an obstacle in front of the running vehicle, and the running safety of the vehicle is guaranteed. However, after the vehicle monitors the obstacle, the obstacle information needs to be sent to the control platform, so that the control platform judges whether to control the vehicle to decelerate or brake, the time for braking the vehicle is reduced, and under the condition that the obstacle is relatively close to the vehicle, the problem that the vehicle is not stopped in time exists, the vehicle is easy to collide, and the safety degree of vehicle running is reduced. When the vehicle monitors that the obstacles are eliminated, the vehicle is difficult to start in time, so that the vehicle is easy to stop emergently, and the driving safety of the vehicle and other vehicles on the road surface is seriously endangered.
Disclosure of Invention
The invention aims to provide a vehicle control method, a vehicle control device and a vehicle, which are used for solving the problem of low safety degree of vehicle running in the prior art.
In order to achieve the above object, according to a first aspect of an embodiment of the present disclosure, there is provided a control method of a vehicle, the method including:
acquiring a target distance between a vehicle and an obstacle in front of the vehicle in driving;
if the target distance is smaller than a first distance threshold value, controlling the vehicle to brake, and acquiring target image information in front of the vehicle in running;
sending the target image information to a control platform so that the control platform displays the target image information;
and if a bypass instruction is received, controlling the vehicle to normally run, wherein the bypass instruction is sent to the vehicle by the control platform under the condition that the control platform detects a first specified operation.
Optionally, the vehicle comprises a plurality of compartments; the acquiring of the target image information in front of the vehicle includes:
determining a direction of travel of the vehicle and an activated car;
determining a target compartment according to the driving direction and the activated compartment;
and taking the image information collected by the target compartment as the target image information.
Optionally, if a bypass instruction is received, controlling the vehicle to normally run includes:
if the bypass instruction is received, controlling a brake switch of the vehicle to be invalid so as to stop braking the vehicle;
and controlling a traction switch of the vehicle to be effective so that the vehicle runs normally.
Optionally, the method further comprises:
if the target distance is smaller than a second distance threshold, determining an alarm parameter according to the target distance, and sending alarm information according to the alarm parameter;
acquiring the target image information;
and sending the alarm information and the target image information to the control platform so that the control platform displays the alarm information and the target image information.
Optionally, the method further comprises:
and if a cancel instruction is received, stopping sending the alarm information, wherein the cancel instruction is sent to the vehicle by the control platform under the condition that a second specified operation is detected.
Optionally, the control platform is disposed on the vehicle, or disposed on a ground control center corresponding to the vehicle.
According to a second aspect of the embodiments of the present disclosure, there is provided a control apparatus of a vehicle, the apparatus including:
an acquisition module for acquiring a target distance between a vehicle and an obstacle ahead of the vehicle;
the control module is used for controlling the vehicle to brake and acquiring target image information in front of the vehicle in running if the target distance is smaller than a first distance threshold;
the sending module is used for sending the target image information to a control platform so that the control platform can display the target image information;
the control module is further used for controlling the vehicle to normally run if a bypass instruction is received, wherein the bypass instruction is sent to the vehicle by the control platform under the condition that the control platform detects a first specified operation.
Optionally, the vehicle comprises a plurality of compartments; the control module includes:
a first determination submodule for determining a traveling direction of the vehicle and an activated car;
the second determination submodule is used for determining a target compartment according to the driving direction and the activated compartment;
and the third determining submodule is used for taking the image information acquired by the target compartment as the target image information.
Optionally, the control module includes:
the first control submodule is used for controlling a brake switch of the vehicle to be invalid if the bypass instruction is received so as to stop braking the vehicle;
and the second control submodule is used for controlling a traction switch of the vehicle to be effective so as to enable the vehicle to run normally.
Optionally, the apparatus further comprises:
the alarm module is used for determining an alarm parameter according to the target distance and sending alarm information according to the alarm parameter if the target distance is smaller than a second distance threshold;
the control module is also used for acquiring the target image information;
the sending module is further configured to send the alarm information and the target image information to the control platform, so that the control platform displays the alarm information and the target image information.
Optionally, the alarm module is further configured to:
and if a cancel instruction is received, stopping sending the alarm information, wherein the cancel instruction is sent to the vehicle by the control platform under the condition that a second specified operation is detected.
Optionally, the control platform is disposed on the vehicle, or on a ground control center corresponding to the vehicle.
According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle having a processor disposed thereon for performing the steps of the method of any one of the first aspect of the embodiments of the present disclosure.
Through the technical scheme, firstly, the target distance between the vehicle and the obstacle in front of the vehicle in the disclosure is acquired, then the target distance is judged, if the target distance is smaller than a first distance threshold value, the vehicle is controlled to brake, the target image information in front of the vehicle is acquired, and then the target image information is sent to the control platform, so that the control platform displays the target image information, and finally, when a bypass instruction is received, the vehicle is controlled to normally run, wherein the bypass instruction is an instruction sent to the vehicle by the control platform under the condition that the control platform detects a first specified operation. The vehicle is controlled according to the preset first distance threshold and the bypass instruction, the vehicle can be prevented from colliding in time, the vehicle can continue to run normally when the obstacle is misreported or eliminated, the emergency stop of the vehicle is reduced, and the real-time performance and the safety degree of vehicle control are improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of controlling a vehicle according to an exemplary embodiment;
FIG. 2 is a block diagram of a vehicle shown in accordance with an exemplary embodiment;
FIG. 3 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;
FIG. 4 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;
FIG. 5 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;
FIG. 6 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;
FIG. 7 is a block diagram of a control device of a vehicle according to an exemplary embodiment;
FIG. 8 is a block diagram illustrating another vehicle control apparatus according to an exemplary embodiment;
FIG. 9 is a block diagram of another vehicle control apparatus according to an exemplary embodiment;
FIG. 10 is a block diagram illustrating another vehicle control apparatus according to an exemplary embodiment;
FIG. 11 is a block diagram of a vehicle shown in accordance with an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of methods and apparatus consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Before introducing the vehicle control method and apparatus and the vehicle provided by the present disclosure, an application scenario related to each embodiment of the present disclosure is first introduced. The application scenario may include a control platform and a vehicle. The Vehicle and the control platform may communicate with each other through any one of a WLAN (Wireless Local Area network, chinese), telematics (chinese: automotive information service), V2X (Vehicle to electrical, chinese: internet of vehicles), 4G (the 4th Generation mobile communication technology, chinese: fourth Generation mobile communication technology), and 5G (the 5th Generation mobile communication technology, chinese: fifth Generation mobile communication technology) to implement data transmission, and may implement data transmission through radar signals, wireless AP (Access Point, chinese: access Point), and the like, which is not limited in this disclosure. The control platform may be any terminal, for example, a mobile terminal such as a tablet computer, a smart television, a PDA (Personal Digital Assistant, chinese), a portable computer, a large screen monitor, or a fixed terminal such as a desktop computer. The vehicle may be an automobile, but is not limited to a conventional automobile, a pure electric automobile or a hybrid automobile, and may also be a train of rail traffic such as a train, a high-speed rail, a subway, a light rail, and the like.
Fig. 1 is a flowchart illustrating a control method of a vehicle according to an exemplary embodiment, as shown in fig. 1, the method including the steps of:
For example, after the vehicle is started, devices such as a radar (e.g., a millimeter wave radar, a microwave radar, etc.), a vehicle data recorder, a camera, etc. installed on the vehicle may be detected to check whether the devices can work normally. If a certain device is found to be incapable of working in the detection process, prompt information can be sent out so as to prompt a driver of the vehicle or a manager of the ground control center and the like that the vehicle cannot normally run. For example, a device that cannot normally operate may be displayed on an HMI (Human Machine Interface, chinese) of the vehicle, or information of the device that cannot normally operate may be transmitted to an administrator of the ground control center, so that the administrator notifies a serviceman to repair the device of the vehicle. If the radar, the automobile data recorder, the camera and other devices can work normally, the vehicle can be controlled to run directly, and the vehicle can also be controlled to run according to the operation of a driver or a manager, which is not limited by the disclosure. During the running of the vehicle, a target distance between the vehicle and an obstacle ahead of the vehicle in the running direction may be acquired by a radar provided on the vehicle. The obstacle may be another vehicle ahead of the vehicle, or may be a pedestrian, a road block, or the like. It should be noted that the front and the rear of the vehicle are both provided with radars, so that the distance between the vehicle and the obstacle in front of the front can be detected, and the distance between the vehicle and the obstacle behind the rear of the rear can also be detected. The target distance is the distance between the vehicle and the obstacle in front of the vehicle, i.e., when the vehicle is traveling forward, the target distance is the distance between the vehicle and the obstacle in front of the nose, and when the vehicle is traveling backward, the target distance is the distance between the vehicle and the obstacle behind the tail of the vehicle. After the target distance is obtained, the target distance may be determined by TCMS (Train Control and Management System, chinese), CCU (central Control Unit, chinese), MCU (micro controller Unit, chinese), ECU (Electronic Control Unit, chinese), BCM (Body Control Module, chinese), or the like.
And 102, if the target distance is smaller than the first distance threshold, controlling the vehicle to brake, and acquiring target image information in front of the vehicle in the running process.
And 103, sending the target image information to the control platform so that the control platform displays the target image information.
For example, if the target distance is greater than or equal to the preset first distance threshold, which indicates that the target distance between the vehicle and the obstacle can ensure safe driving of the vehicle, the target distance may be continuously determined to ensure driving safety of the vehicle. If the target distance is smaller than the first distance threshold value, which indicates that the target distance between the vehicle and the obstacle is not enough to ensure safe driving of the vehicle, the vehicle can be controlled to brake, and target image information in front of the vehicle in driving is acquired. For example, the running speed of the vehicle at the current time may be determined by the CCU, and then the vehicle is controlled to Brake by a BCU (english: brake Control Unit, chinese: brake Control Unit) according to a gear corresponding to the running speed, and in another implementation, the vehicle may also be controlled to perform emergency braking by the BCU directly, which is not limited in this disclosure. The target image information may be acquired by a camera system of the vehicle, the camera system may include a vehicle data recorder or a camera, and the number of the vehicle data recorder or the camera provided on the vehicle may be one or more, for example, one camera may be provided at each of the head and the tail of the vehicle, and when the vehicle travels forward (i.e., travels in the direction of the head of the vehicle), the image information acquired by the camera at the head of the vehicle may be used as the target image information, and when the vehicle travels backward (i.e., travels in the direction of the tail of the vehicle), the image information acquired by the camera at the tail of the vehicle may be used as the target image information. The target image information may be a video stream acquired in real time, or may be a continuous image acquired after processing the video stream. The camera system may include a storage unit (e.g., a network hard disk recorder), a switch, an image processing server, and the like, in addition to the drive recorder or the camera. The camera system can store image information acquired in real time by the automobile data recorder or the camera and the like through the storage unit, so that when a manager needs to analyze the driving state of the vehicle, a call instruction for acquiring the image information can be sent to the image processing server, after the image processing server receives the call instruction, the automobile data recorder or the camera indicated by the call instruction can be determined firstly, then the image information corresponding to the automobile data recorder or the camera in the storage unit is acquired through the switch, and the manager can complete analysis of the driving state of the vehicle according to the corresponding image information. After the target image information is obtained, the target image information can be sent to the control platform through a RIOM (Remote Input/Output Module, chinese) Module, and the control platform receives and displays the target image information.
In another implementation mode, the danger level of the vehicle can be judged according to a plurality of preset distance thresholds, corresponding alarm information is determined according to the danger level of the vehicle, after the alarm information is generated, target image information is acquired, and then the alarm information and the target image information are simultaneously sent to the control platform, so that the control platform receives and displays the alarm information and the target image information. For example, the risk level of the vehicle may be determined according to a first distance threshold and a preset second distance threshold, respectively, where the second distance threshold is greater than the first distance threshold. When the target distance is greater than or equal to the second distance threshold, which indicates that the vehicle is relatively far away from the obstacle, the danger level may be set to level 1, and the warning information at this time may be, for example, a warning message that a buzzer provided on the vehicle is controlled to alarm at a frequency of 2Hz, and the danger level is displayed through the HMI, for example, the HMI may continuously display "obstacle detection level 1 warning". When the target distance is less than the second distance threshold and greater than or equal to the first distance threshold, which indicates that the vehicle is relatively close to the obstacle but not enough for collision, the danger level may be set to level 2, and the alarm information may be, for example, a buzzer provided on the vehicle is controlled to alarm at a frequency of 4Hz and the danger level is displayed through an HMI, for example, the HMI may continuously display "obstacle detection level 2 alarm". When the target distance is less than the first distance threshold, which indicates that the vehicle is relatively close to the obstacle and the vehicle and the obstacle may collide with each other, the danger level may be set to 3 and the vehicle may be controlled to brake, and the alarm information at this time may be, for example, controlling a buzzer provided on the vehicle to continuously alarm and displaying the danger level through an HMI, for example, the HMI may continuously display "obstacle detection 3-level alarm". After receiving the alarm information and the target image information, the control platform can remind an operator to check the target image information according to the alarm information.
After receiving the target image information, the control platform can judge whether an obstacle exists or whether the obstacle is eliminated according to the target image information. For example, the control platform may determine whether an obstacle exists or whether the obstacle is eliminated according to a preset image recognition algorithm (e.g., sobel edge detection algorithm, canny edge detection algorithm, etc.) and an AI (english: artificial Intelligence) module. The operator of the control platform can also judge whether the obstacle exists or not or whether the obstacle is eliminated or not through the target image information. If the obstacle is detected to exist really, prompt information can be sent to the pavement maintenance personnel through the control platform to prompt the maintenance personnel to clear the obstacle. If no obstacle is detected or the obstacle is eliminated, the Control platform may directly send a bypass instruction to the Vehicle through a VOBC (Vehicle-mounted device controller), or may send the bypass instruction to the Vehicle through the VOBC when the first specific operation is detected. The first designated operation may be, for example, an operator presses a preset bypass switch, the bypass switch may be a physical switch on the control platform, or may be a physical switch on the key fob, or may be a virtual switch on the control platform, and the user presses or touches the bypass switch, that is, the bypass instruction is sent to the vehicle. Furthermore, the operator can send the bypass instruction to the vehicle after the sound acquisition device (such as a microphone) or the image acquisition device (such as a camera) of the control platform acquires the specified voice instruction or the specified gesture instruction by sending a specified voice instruction (such as turning on a bypass switch) or a specified gesture instruction (such as drawing an X gesture).
And 104, if a bypass instruction is received, controlling the vehicle to normally run, wherein the bypass instruction is sent to the vehicle by the control platform under the condition that the control platform detects the first specified operation.
For example, if the vehicle receives a bypass instruction sent by the control platform, the vehicle can be controlled to stop braking according to the bypass instruction, and the vehicle can be controlled to normally run. The control platform can be arranged on the vehicle and also can be arranged on a ground control center corresponding to the vehicle. When the control platform on the vehicle and the control platform on the ground control center send the command to the vehicle at the same time, the command sent by the control platform on the vehicle is preferentially executed.
Taking a three-marshalling train (i.e. the train consists of a head train, a middle train and a tail train) as an example, the structure can be as shown in fig. 2. The head car and the tail car are respectively provided with a buzzer, a bypass switch, a camera system, a CCU, an HMI, a VOBC, a RIOM, a BCU and a millimeter wave radar. The buzzer and the bypass switch can be connected with the RIOM through hard wires, and the hard wires are used for transmitting electric signals. The CCU, the HMI, the VOBC and the camera system CAN be connected with the RIOM through the Ethernet, the millimeter wave radar and the BCU CAN be connected with the RIOM through the CAN bus, and CAN also be connected with the RIOM through the Ethernet, the serial bus and the like.
In summary, in the disclosure, a target distance between a vehicle and an obstacle in front of the vehicle in the traveling direction is first obtained, then the target distance is determined, if the target distance is smaller than a first distance threshold, the vehicle is controlled to brake, target image information in front of the vehicle in the traveling direction is obtained, then the target image information is sent to a control platform, so that the control platform displays the target image information, and finally, when a bypass instruction is received, the vehicle is controlled to normally travel, wherein the bypass instruction is an instruction sent to the vehicle by the control platform when a first specified operation is detected. The vehicle is controlled according to the preset first distance threshold and the bypass instruction, the vehicle can be prevented from colliding in time, the vehicle can continue to run normally when the obstacle is misreported or eliminated, the emergency stop of the vehicle is reduced, and the real-time performance and the safety degree of vehicle control are improved.
FIG. 3 is a flow chart illustrating another method of controlling a vehicle, the vehicle including a plurality of cars, as shown in FIG. 3, according to an exemplary embodiment. Step 102 comprises:
at step 1021, the direction of travel of the vehicle and the activated car are determined.
In step 1022, a target car is determined based on the driving direction and the activated car.
And step 1023, taking the image information collected by the target compartment as target image information.
For example, when the vehicle has a plurality of cars (for example, the vehicle is a subway or a train), the driving direction of the vehicle and the activated car can be determined first. For example, when the driver activates a car by inputting a key, or by using a physical key, a preset button, or the like, the car may be determined as the activated car, which is not limited by the present disclosure. The activated compartment can be understood as a compartment where a driver is located during the running process of the vehicle, and can be a first compartment of the vehicle or a last compartment of the vehicle. If the vehicle has 10 carriages, all the carriages are sequentially arranged, and the carriage No. 1 of the vehicle is determined as a first carriage, and the carriage No. 10 of the vehicle is determined as a last carriage. After the direction of travel and the activated car are determined, a target car may be determined based on the direction of travel and the activated car.
Specifically, if car No. 1 is the activated car and the direction of travel of the vehicle is forward (i.e., forward of car No. 1), car No. 1 may be determined as the target car. If car number 1 is the activated car and the direction of travel of the vehicle is rearward (i.e., rearward of car number 1), car number 10 may be determined as the target car. If car number 10 is the activated car and the direction of travel of the vehicle is forward (i.e., forward of car number 10), car number 10 may be determined as the target car. If car 10 is the activated car and the direction of travel of the vehicle is to travel backwards (i.e., behind car 10), car 1 may be determined to be the target car. After the target compartment is determined, image information collected by a camera or a vehicle data recorder of the target compartment can be used as target image information.
FIG. 4 is a flow chart illustrating another method of controlling a vehicle, according to an exemplary embodiment, as shown in FIG. 4, step 104 includes:
and step 1041, if a bypass instruction is received, controlling a brake switch of the vehicle to be invalid so as to stop braking the vehicle.
And step 1042, controlling a traction switch of the vehicle to be effective so that the vehicle runs normally.
For example, the brake switch and the traction switch may be arranged in two directions of the same operating lever, for example, the traction switch may be turned on when the operating lever is forward, and the brake switch may be turned on when the operating lever is backward. After the vehicle is braked, if a bypass command is received, the brake switch of the vehicle can be controlled to be invalid so as to stop braking of the vehicle. The method for controlling the invalidation of the brake switch of the vehicle can be that the operating rod is bounced from the position of the brake switch to be positioned at the position vertical to the ground, or the vehicle ignores a signal which is sent by the brake switch and used for controlling the vehicle to brake so as to stop the vehicle from braking. And when the vehicle stops braking, the traction switch of the vehicle can be controlled to be effective so as to enable the vehicle to normally run. The effective way of controlling the traction switch of the vehicle can be to control the position of the operating rod which is vertical to the ground to turn the traction switch, and can also be to send out a signal for controlling the running of the vehicle so as to ensure the normal running of the vehicle. The brake switch and the traction switch may also be disposed on the same rotary switch, for example, the traction switch may be turned on when the rotary switch is rotated 45 ° to the left from the vertical position, and the brake switch may be turned on when the rotary switch is rotated 45 ° to the right from the vertical position, which is not limited in the present disclosure.
FIG. 5 is a flow chart illustrating another method of controlling a vehicle, according to an exemplary embodiment, as shown in FIG. 5, further comprising:
and 105, if the target distance is smaller than the second distance threshold, determining an alarm parameter according to the target distance, and sending alarm information according to the alarm parameter.
And step 106, acquiring target image information.
And step 107, sending the alarm information and the target image information to a control platform so that the control platform displays the alarm information and the target image information.
For example, after the target distance is obtained, the size of the target distance and the second distance threshold value may be further determined, and then the alarm parameter is determined according to the target distance according to a preset rule. The preset rule may be, for example, determining an alarm level corresponding to the target distance according to a magnitude relationship between the target distance and the second distance threshold, and then determining a corresponding alarm parameter according to the corresponding alarm level. The alarm parameters may include alarm frequency, alarm mode, alarm volume, etc. The alarm information may include a buzzer alarm, a voice alarm, an image alarm, a text alarm, etc. If the target distance is greater than or equal to the second distance threshold, which indicates that the distance between the vehicle and the obstacle is relatively long, the danger level may be set to level 1, the determined alarm parameter may be, for example, 2Hz, a buzzer alarm, or a text alarm, the sent alarm information may be that the buzzer on the vehicle alarms at a frequency of 2Hz, and the danger level is displayed through the HMI, for example, the HMI may continuously display "obstacle detection level 1 alarm". If the target distance is less than the second threshold, which indicates that the vehicle is closer to the obstacle, the danger level may be set to level 2, and the determined alarm parameter may be, for example, 4Hz, a buzzer alarm, or a text alarm, and the sent alarm information may be, for example, that a buzzer on the vehicle alarms at a frequency of 4Hz, and the danger level is displayed through the HMI, for example, the HMI may continuously display "obstacle detection level 2 alarms".
The second distance threshold may be the same as or different from the first distance threshold. If the second distance threshold is smaller than or equal to the first distance threshold, when the target distance is smaller than the first distance threshold, alarm information can be sent according to the determined alarm parameters according to preset rules, and the vehicle is controlled to brake. If the second distance threshold is larger than the first distance threshold, the alarm level corresponding to the target distance can be determined by respectively comparing the target distance with the first distance threshold and the second distance threshold, and then the corresponding alarm parameter is determined according to the corresponding alarm level. Specifically, when the target distance is greater than or equal to the second distance threshold, the danger level may be set to level 1, the determined alarm parameter may be, for example, 2Hz, a buzzer alarm, or a text alarm, and the sent alarm information may be that a buzzer on the vehicle alarms at a frequency of 2Hz, and the danger level is displayed through the HMI, for example, the HMI may continuously display "obstacle detection level 1 alarm". When the target distance is less than the second distance threshold and greater than or equal to the first distance threshold, the danger level may be set to level 2, the determined alarm parameter may be, for example, 4Hz, a buzzer alarm, a text alarm, and the alarm information may be that a buzzer on the vehicle alarms at a frequency of 4Hz and the danger level is displayed by the HMI, for example, the HMI may continuously display "obstacle detection level 2 alarm". When the target distance is smaller than the first distance threshold, it is indicated that the distance between the vehicle and the obstacle is relatively short, and the vehicle and the obstacle may collide, the danger level may be set to 3 levels and the vehicle may be controlled to brake, the determined alarm parameter may be, for example, continuous alarm, buzzer alarm, and text alarm, the sent alarm information may be that the buzzer on the vehicle continuously alarms, and the danger level is displayed through the HMI, for example, the HMI may continuously display "obstacle detection 3-level alarm". Therefore, after the alarm information is sent out, the target image information can be obtained again, and then the alarm information and the target image information are sent to the control platform, so that the control platform displays the alarm information and the target image information.
FIG. 6 is a flow chart illustrating another method of controlling a vehicle, according to an exemplary embodiment, further including, as shown in FIG. 6:
and step 108, if a cancel instruction is received, stopping sending alarm information, wherein the cancel instruction is sent to the vehicle by the control platform under the condition that a second specified operation is detected.
In an example, after the control platform receives the alarm information and the target image information, the control platform can prompt an operator to check the target image information through the alarm information. If the operator finds that the obstacle really exists, prompt information can be sent to the pavement maintenance personnel through the control platform to prompt the maintenance personnel to clear the obstacle. If the operator finds that no obstacle exists or the obstacle has been eliminated, a cancel instruction may be issued by the second specified operation. In the case that the second distance threshold is smaller than the first distance threshold, the second specified operation may be, for example, the operator pressing a preset bypass switch. The method and the device can be understood that after the control platform detects the operation of pressing the bypass switch, the control platform can send a cancel instruction to the vehicle while controlling the vehicle to normally run, and then when the vehicle receives the cancel instruction, the alarm information can be stopped to be sent according to the cancel instruction. In the case where the second distance threshold is greater than or equal to the first distance threshold, the second specified operation may be, for example, a preset stop switch being pressed by an operator. After the control platform detects the operation of pressing down the stop switch, can send cancellation instruction to the vehicle, so when the vehicle received cancellation instruction, just can stop sending alarm information according to cancellation instruction. The stop switch may be a physical switch on the control platform, a physical switch on the remote control key, a virtual switch on the control platform, or the like, which is not limited in the present disclosure.
Optionally, the control platform is disposed on the vehicle, or on a corresponding ground control center of the vehicle.
For example, the control platform may be disposed on the vehicle, and may also be disposed on a ground control center corresponding to the vehicle. If the control platform is arranged on the vehicle, the driver of the vehicle can directly control the vehicle. If the control platform is arranged on the ground control center corresponding to the vehicle, the grade of the ground control center needs to be judged, and only when the grade of the ground control center reaches a preset grade, an operator of the ground control center can control the vehicle through the control platform. When the control platform on the vehicle and the control platform on the ground control center send instructions to the vehicle at the same time, the instructions sent by the control platform on the vehicle are preferentially executed.
In summary, in the disclosure, a target distance between a vehicle and an obstacle in front of the vehicle in the traveling direction is first obtained, then the target distance is determined, if the target distance is smaller than a first distance threshold, the vehicle is controlled to brake, target image information in front of the vehicle in the traveling direction is obtained, then the target image information is sent to a control platform, so that the control platform displays the target image information, and finally, when a bypass instruction is received, the vehicle is controlled to normally travel, wherein the bypass instruction is an instruction sent to the vehicle by the control platform when a first specified operation is detected. The vehicle is controlled according to the preset first distance threshold and the bypass instruction, the vehicle can be prevented from colliding in time, the vehicle can continue to run normally when the obstacle is misreported or eliminated, the emergency stop of the vehicle is reduced, and the real-time performance and the safety degree of vehicle control are improved.
Fig. 7 is a block diagram illustrating a control apparatus of a vehicle according to an exemplary embodiment, and as shown in fig. 7, the apparatus 200 includes:
the system comprises an acquisition module 201 for acquiring a target distance between a vehicle and an obstacle in front of the vehicle in driving.
The control module 202 is configured to control the vehicle to brake if the target distance is smaller than a first distance threshold, and acquire target image information of the vehicle in front of the traveling direction.
And the sending module 203 is configured to send the target image information to the control platform, so that the control platform displays the target image information.
The control module 202 is further configured to control the vehicle to normally run if the bypass instruction is received, where the bypass instruction is sent to the vehicle by the control platform when the control platform detects the first specified operation.
Fig. 8 is a block diagram illustrating another control apparatus of a vehicle according to an exemplary embodiment, the vehicle including a plurality of compartments as shown in fig. 8. The control module 202 includes:
the first determining submodule 2021 determines the traveling direction of the vehicle and the activated car.
The second determination submodule 2022 is configured to determine a target car according to the driving direction and the activated car.
And the third determining submodule 2023 is configured to use the image information acquired by the target compartment as the target image information.
Fig. 9 is a block diagram illustrating another control apparatus of a vehicle according to an exemplary embodiment, and as shown in fig. 9, a control module 202 includes:
the first control sub-module 2024 is configured to control the brake switch of the vehicle to be disabled to stop braking if the bypass command is received.
And the second control submodule 2025 is used for controlling the traction switch of the vehicle to be effective so that the vehicle can run normally.
Fig. 10 is a block diagram showing another control apparatus of a vehicle according to an exemplary embodiment, and as shown in fig. 10, the apparatus 200 further includes:
and the alarm module 204 is configured to determine an alarm parameter according to the target distance and send out alarm information according to the alarm parameter if the target distance is smaller than the second distance threshold.
The control module 202 is further configured to obtain target image information.
And the sending module 203 is further configured to send the alarm information and the target image information to the control platform, so that the control platform displays the alarm information and the target image information.
Optionally, the alarm module 204 is further configured to:
and if a cancel instruction is received, stopping sending the alarm information, wherein the cancel instruction is sent to the vehicle by the control platform under the condition that a second specified operation is detected.
Optionally, the control platform is disposed on the vehicle, or on a corresponding ground control center of the vehicle.
With regard to the apparatus in the above-described embodiment, the specific manner in which each part performs the operation has been described in detail in the embodiment related to the method, and will not be described in detail here.
In summary, in the disclosure, a target distance between a vehicle and an obstacle in front of the vehicle in the traveling direction is first obtained, then the target distance is determined, if the target distance is smaller than a first distance threshold, the vehicle is controlled to brake, target image information in front of the vehicle in the traveling direction is obtained, then the target image information is sent to a control platform, so that the control platform displays the target image information, and finally, when a bypass instruction is received, the vehicle is controlled to normally travel, wherein the bypass instruction is an instruction sent to the vehicle by the control platform when a first specified operation is detected. The vehicle is controlled according to the preset first distance threshold value and the bypass instruction, the vehicle can be prevented from colliding in time, the vehicle can continue to run normally when the obstacle is misinformed or eliminated, the emergency stop of the vehicle is reduced, and the real-time performance and the safety degree of vehicle control are improved.
Fig. 11 is a block diagram illustrating a vehicle 300, as shown in fig. 11, according to an exemplary embodiment, including:
a processor 301 configured to perform the steps of the method of any one of the first aspect of the embodiments of the present disclosure.
With regard to the vehicle in the above-mentioned embodiment, the specific implementation of the processor has been described in detail in the embodiment related to the method, and will not be elaborated here.
In summary, in the disclosure, a target distance between a vehicle and an obstacle in front of the vehicle in the traveling direction is first obtained, then the target distance is determined, if the target distance is smaller than a first distance threshold, the vehicle is controlled to brake, target image information in front of the vehicle in the traveling direction is obtained, then the target image information is sent to a control platform, so that the control platform displays the target image information, and finally when a bypass instruction is received, the vehicle is controlled to normally travel, wherein the bypass instruction is an instruction sent to the vehicle by the control platform when a first specified operation is detected by the control platform. The vehicle is controlled according to the preset first distance threshold and the bypass instruction, the vehicle can be prevented from colliding in time, the vehicle can continue to run normally when the obstacle is misreported or eliminated, the emergency stop of the vehicle is reduced, and the real-time performance and the safety degree of vehicle control are improved.
Although the preferred embodiments of the present disclosure have been described in detail with reference to the accompanying drawings, the present disclosure is not limited to the specific details of the embodiments, and other embodiments of the present disclosure can be easily conceived by those skilled in the art within the technical spirit of the present disclosure after considering the description and practicing the present disclosure, and all fall within the protection scope of the present disclosure.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable way without contradiction, and in order to avoid unnecessary repetition, the disclosure does not need to be separately described in various possible combinations, and should be considered as the disclosure of the disclosure as long as the concepts of the disclosure are not violated.
Claims (10)
1. A control method of a vehicle, characterized by comprising:
acquiring a target distance between a vehicle and an obstacle in front of the vehicle in driving;
if the target distance is smaller than a first distance threshold value, controlling the vehicle to brake, and acquiring target image information in front of the vehicle in running;
sending the target image information to a control platform so that the control platform displays the target image information;
and if a bypass instruction is received, controlling the vehicle to normally run, wherein the bypass instruction is sent to the vehicle by the control platform under the condition that the control platform detects the first specified operation.
2. The method of claim 1, wherein the vehicle comprises a plurality of compartments; the acquiring of the target image information in front of the vehicle includes:
determining a driving direction of the vehicle and an activated car;
determining a target compartment according to the driving direction and the activated compartment;
and taking the image information collected by the target compartment as the target image information.
3. The method of claim 1, wherein controlling the vehicle to travel normally if a bypass command is received comprises:
if the bypass instruction is received, controlling a brake switch of the vehicle to be invalid so as to stop braking the vehicle;
and controlling a traction switch of the vehicle to be effective so that the vehicle runs normally.
4. The method of claim 1, further comprising:
if the target distance is smaller than a second distance threshold, determining an alarm parameter according to the target distance, and sending alarm information according to the alarm parameter;
acquiring the target image information;
and sending the alarm information and the target image information to the control platform so that the control platform displays the alarm information and the target image information.
5. The method of claim 4, further comprising:
and if a cancel instruction is received, stopping sending the alarm information, wherein the cancel instruction is sent to the vehicle by the control platform under the condition that a second specified operation is detected.
6. The method of any of claims 1-5, wherein the control platform is disposed on the vehicle or on a corresponding ground control center of the vehicle.
7. A control apparatus of a vehicle, characterized by comprising:
an acquisition module for acquiring a target distance between a vehicle and an obstacle ahead of the vehicle;
the control module is used for controlling the vehicle to brake and acquiring target image information in front of the vehicle in running if the target distance is smaller than a first distance threshold;
the sending module is used for sending the target image information to a control platform so that the control platform can display the target image information;
the control module is further configured to control the vehicle to normally run if a bypass instruction is received, where the bypass instruction is sent to the vehicle by the control platform when the control platform detects a first specified operation.
8. The apparatus of claim 7, further comprising:
the alarm module is used for determining an alarm parameter according to the target distance and sending alarm information according to the alarm parameter if the target distance is smaller than a second distance threshold;
the control module is also used for acquiring the target image information;
the sending module is further used for sending the alarm information and the target image information to the control platform so that the control platform can display the alarm information and the target image information.
9. The apparatus of claim 8, wherein the alarm module is further configured to:
and if a cancel instruction is received, stopping sending the alarm information, wherein the cancel instruction is sent to the vehicle by the control platform under the condition that a second specified operation is detected.
10. A vehicle, characterized in that a processor is provided on the vehicle for performing the steps of the method according to any of claims 1-6.
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| CN202010470669.2A CN113734120B (en) | 2020-05-28 | 2020-05-28 | Vehicle control method and device and vehicle |
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| CN202010470669.2A CN113734120B (en) | 2020-05-28 | 2020-05-28 | Vehicle control method and device and vehicle |
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| US9092986B2 (en) * | 2013-02-04 | 2015-07-28 | Magna Electronics Inc. | Vehicular vision system |
| CN203727351U (en) * | 2013-09-11 | 2014-07-23 | 北京汽车研究总院有限公司 | Emergency brake device when encountering barrier and car |
| CN107757583A (en) * | 2017-10-13 | 2018-03-06 | 奇瑞汽车股份有限公司 | A kind of low speed driving active brake method and system |
| CN110262521A (en) * | 2019-07-24 | 2019-09-20 | 北京智行者科技有限公司 | A kind of automatic Pilot control method |
| CN111198371A (en) * | 2020-03-03 | 2020-05-26 | 杭州中车数字科技有限公司 | Forward-looking obstacle detection system |
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