CN113830100A - 车辆及其控制方法 - Google Patents

车辆及其控制方法 Download PDF

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Publication number
CN113830100A
CN113830100A CN202011318757.7A CN202011318757A CN113830100A CN 113830100 A CN113830100 A CN 113830100A CN 202011318757 A CN202011318757 A CN 202011318757A CN 113830100 A CN113830100 A CN 113830100A
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China
Prior art keywords
vehicle
image data
accident
server
controller
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Pending
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CN202011318757.7A
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English (en)
Inventor
金东爀
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hyundai Motor Co
Kia Corp
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Hyundai Motor Co
Kia Motors Corp
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Publication of CN113830100A publication Critical patent/CN113830100A/zh
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    • 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
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    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
    • B60W60/00184—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to infrastructure
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    • B60T7/16—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle
    • B60T7/18—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle operated by wayside apparatus
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Abstract

一种车辆包括：通信器，安装在车辆上以与服务器进行无线通信；以及控制器，当车辆与事故目标车辆发生事故时，控制器操作通信器以向服务器发送事故接收请求信号和通过另一车辆获取的图像数据。当服务器基于图像数据生成车辆与事故目标车辆之间的故障率数据时，控制器操作通讯器从服务器接收故障率。

Description

车辆及其控制方法
与相关申请的交叉引用
本申请要求申请日为2020年6月24日提交的韩国专利申请第10-2020-0077389号的优先权，其申请通过引用并入本文。
技术领域
本发明涉及一种车辆及其控制方法，更具体地，本发明涉及一种车辆及其控制方法，能够在自动驾驶车辆发生事故时获取与另一车辆的故障率。
背景技术
随着汽车技术的发展，无人驾驶的自动驾驶车辆的发展有望得到迅速的发展。自动驾驶车辆依赖于安装在车辆上的传感器，并且还通过利用V2X(车辆到万物通信)通信来提高自动驾驶的完整性。
然而，自动驾驶车辆发送和接收的数据量是巨大的，并且道路环境包括许多不可预测的因素，因此像传统的非自动驾驶车辆一样，事故风险和事故后处理是不可避免的。在非自动驾驶车辆的情况下，驾驶员在事故发生时离开车辆，确定事故地点，并且给保险公司打电话。然而，此过程中停止的车辆可能引发二次事故，并且对交通流量产生不利影响。
发明内容
鉴于上述，本发明的一方面提供了一种发生事故时不需要由驾驶员进行事故后处理的车辆及其控制方法。根据本发明的一个方面，一种车辆可以包括：通信器，安装在车辆上，并且配置为与服务器进行无线通信；以及控制器，配置为：当车辆与事故目标车辆发生事故时，操作通信器向服务器发送事故接收请求信号和通过另一车辆获取的图像数据，并且当服务器基于图像数据生成车辆与事故目标车辆之间的故障率数据时，操作通信器从服务器接收故障率(fault ratio)。
控制器可以配置为：操作通信器向服务器发送距车辆处于预定半径内的另一车辆的图像数据。控制器还可以配置为：根据车辆行驶的道路的类型，来改变预定半径。控制器还可以配置为：当车辆与事故目标车辆发生事故时，操作车辆的制动装置停止车辆。控制器还可以配置为：确定车辆的可驾驶状态，并且当车辆处于可驾驶状态时，响应于接收图像数据和故障率数据中的至少一者，操作车辆移动到路肩。
控制器可以配置为：确定车辆的可驾驶状态，并且当车辆处于可驾驶状态时，响应于接收图像数据和故障率数据中的至少一者，操作车辆并且沿去往医院的路线引导车辆。控制器可以配置为：操作通信器直接从另一车辆接收图像数据。控制器可以配置为：当车辆事故发生在车辆的前部或后部时，从行驶在车辆的左侧或右侧的车辆请求图像数据。控制器可以配置为：当车辆事故发生在车辆的侧面时，从行使在车辆的前方或后方的车辆请求图像数据。
根据本发明的一个方面，一种与服务器进行无线通讯的车辆的控制方法，该方法可以包括：当车辆与事故目标车辆发生事故时，向服务器发送事故接收请求信号和通过另一车辆获取的图像数据；以及当服务器基于图像数据生成车辆与事故目标车辆之间的故障率数据时，从服务器接收故障率。
向服务器发送图像数据可以包括：向服务器发送距车辆处于预定半径内的另一车辆的图像数据。向服务器发送图像数据可以包括：根据车辆行驶的道路的类型，来改变预定半径。
该方法还可以包括：当车辆与事故目标车辆发生事故时，操作车辆的制动装置停止车辆。操作制动装置可以包括：确定车辆的可驾驶状态，并且当车辆处于可驾驶状态时，响应于接收图像数据和故障率数据中的至少一者，操作车辆移动到路肩。另外，操作制动装置可以包括：确定车辆的可驾驶状态，并且当车辆处于可驾驶状态时，响应于接收图像数据和故障率数据中的至少一者，操作车辆并且沿去往医院的路线引导车辆。
接收图像数据可以包括：操作通信器直接从另一车辆接收图像数据。向服务器发送图像数据可以包括：当车辆事故发生在车辆的前部或后部时，从行驶在车辆的左侧或右侧的其他车辆请求图像数据。另外，向服务器发送图像数据可以包括：当车辆事故发生在车辆的侧面时，从行驶在车辆的前方或后方的其他车辆请求图像数据。
根据本发明的一个方面，一种存储在非暂时性的计算机记录介质上的、与计算设备相结合的计算机程序，该计算机程序可以包括执行：当车辆与事故目标车辆发生事故时，向服务器发送事故接收请求信号和通过另一车辆获取的图像数据；以及当服务器基于图像数据生成车辆与事故目标车辆之间的故障率数据时，从服务器接收故障率。
附图说明
通过结合附图的示例性实施方式的下述描述，本发明的这些和/或其他方面将变得显而易见并且更容易理解：
图1示出根据示例性实施方式的、实现车辆和服务器的系统。
图2示出根据示例性实施方式的车辆的控制框图。
图3示出根据示例性实施方式的车辆控制的流程图。
图4示出根据示例性实施方式的车辆控制的流程图。
图5示出根据示例性实施方式的车辆收集图像数据的半径。
图6和图7示出根据示例性实施方式的、从车辆请求图像数据的信号的传输目标。
图8是根据示例性实施方式的、用于控制车辆的方法的流程图。
具体实施方式
应当理解的是，本文所使用的术语“车辆”或“车辆的”或者其他类似术语通常包括通常的机动车辆，例如包括运动型多用途车辆(SUV)、公共汽车、卡车、各种商用车辆在内的载客车辆，包括各种艇和船在内的水运工具，以及航空器等，并且包括混合动力车辆、电动车辆、插电式混合电动车辆、氢动力车辆和其他替代燃料车辆(例如，从除石油以外的资源取得的燃料)。
尽管示例性实施方式被描述为使用多个单元执行示例性过程，然而应当理解的是，示例性过程也可以通过一个或多个模块来执行。另外，可以理解的是，术语控制器/控制单元是指包括存储器和处理器的硬件装置，并且具体编程为执行本文所述的过程。存储器配置为存储模块，并且处理器具体地配置为执行所述模块，以执行以下进一步描述的一个或多个过程。
另外，本发明的控制逻辑可以实施为包含由处理器、控制器/控制单元等执行的可执行程序指令的计算机可读介质上的非暂时性计算机可读介质。计算机可读介质的示例包括但不限于ROM、RAM、光盘(CD)-ROM、磁带、软盘、闪存驱动器、智能卡和光数据存储装置。计算机可读记录介质还可以分布在网络连接的计算机系统中，使得例如通过远程信息处理服务器或控制器局域网(CAN)，以分布方式存储和执行计算机可读介质。
除非特别说明或从上下文中显而易见，否则本文所用的术语“约”应理解为在本领域的正常公差范围内，例如在平均值的2个标准偏差之内。“约”可以理解为处于所述值的10％、9％、8％、7％、6％、5％、4％、3％、2％、1％、0.5％、0.1％、0.05％或0.01％之内。除非另从上下文中清楚得知，否则本文提供的所有数值均由术语“约”来修正。
相同的参考数字始终指代相同的元件。本发明没有描述示例性实施方式的所有元件，并且在本发明所属技术领域的一般内容或实施方式之间重叠。本说明书没有描述本发明的示例性实施方式的所有元件，并且可以省略对本领域公知的内容的详细描述或对基本相同配置的冗余描述。本说明书中使用的术语“部件、模块、构件、块”可以以软件或硬件实现，并且多个“部件、模块、构件、块”可以实现为一个组件，一个“部件、模块、构件、块”也可以包括多个组件。
在整个说明书中，当元件被称为“连接”另一元件时，它可以直接或间接地连接到另一元件，并且“间接到”包括通过无线通信网络连接到其他元件。另外，当部件被称为“包括”某一组件时，意味着该部件还可以包括其它组件，而不排除其他组件，除非另有说明。
在整个说明书中，当构件位于另一构件“上”时，这不仅包括当一个构件与另一个构件接触时，而且还包括当两个构件之间存在另一构件时。术语第一、第二等用于区分一个部件与另一个部件，并且组件不受上述术语的限制。除非上下文明确指出例外，否则单数表示包括复数表示。在各步骤中，为了便于描述使用识别码，识别码不描述各步骤的顺序。可以不按规定的顺序执行各步骤，除非上下文明确地规定了特定的顺序。
在下文中，将参照附图描述本发明的工作原理和示例性实施方式。图1示出根据示例性实施方式的、实现车辆和服务器的系统。并且图2示出根据示例性实施方式的车辆的控制框图。
根据所公开的发明的系统可以包括：服务器3，配置为：通过网络4从第一车辆1收集图像数据并从多个第二车辆2-n获取图像数据和故障率数据，来检测事故的发生以及生成故障率。服务器3可以包括服务器通信器31和服务器控制器32，并且服务器通信器31可以配置为：与第一车辆1和多个第二车辆2-n进行无线通信，并且服务器控制器32可以配置为：基于通过服务器通信器31发送和接收的信息来生成故障率数据。
第一车辆1是在发生事故时从服务器3获取故障率数据，向服务器3发送事故请求信号并且使服务器3收集图像数据的车辆。第一车辆1可以配置为：通过向服务器3发送事故请求信号，来操作服务器3从第一车辆1附近的多个第二车辆2收集图像数据。因此，第一车辆1可以配置为向服务器3提供位置信息，并且使得服务器3能够收集距第一车辆1在预定半径内的多个第二车辆2的图像数据。
另外，第一车辆1可以配置为通过V2V(车辆到车辆)通信直接从多个第二车辆2-n收集图像数据，而不通过服务器3。特别地，第一车辆1可以配置为向服务器3直接发送收集的图像数据，使得服务器3可以基于图像数据生成故障率数据。第一车辆1可以包括驾驶员辅助系统100和车辆控制装置180。特别地，驾驶员辅助系统100对应于用于执行自动驾驶的系统的示例。另外，图2中描述的第一车辆1的配置也可以应用于第二车辆2的配置。
根据实施方式的第一车辆1包括驾驶员辅助系统100和车辆控制装置180。车辆控制装置180可以配置为：与加速装置(未示出)、减速装置(未示出)、转向装置(未示出)，以及制动装置(未示出)结合地执行控制车辆的驱动的操作。车辆控制装置180不使用诸如自动驾驶模式下驾驶员直接操纵的加速装置、减速装置、转向装置以及制动装置的控制信号，而是基于使用CAN(控制器局域网)通信输入的自动驾驶信号，来执行诸如加速装置、减速装置、转向装置和制动装置的操作。
驾驶员辅助系统100可以包括摄像机110(或其它成像装置)、前雷达120、多个拐角雷达130、激光雷达(LIDAR)140、全球定位系统(GPS)模块150，以及通信器160。摄像机110可以包括：前摄像机，配置为捕获朝向车辆1的前方的视野；以及横向摄像机，配置为确保朝向车辆1的侧面的视野(未示出)。前摄像机可以安装在车辆1的前挡风玻璃上。前摄像机可以配置为拍摄车辆1的前方并且获取车辆1前方的图像数据。车辆1前方的图像数据可以包括：与位于车辆1前方的其他车辆、行人、骑自行车的人、车道、路缘、护栏、行道树以及路灯中的至少一者有关的位置信息。
摄像机110可以配置为：通过捕获位于第一车辆或对象车辆前方的另一车辆的运动，来检测事故的发生。具体地，摄像机110可以配置为向控制器170提供图像数据，并且控制器170可以配置为：当在预定时间段或更长时间内没有检测到位于前方的另一车辆的运动时，处理图像数据以确定发生事故，并且确定事故车辆不能驾驶。摄像机110可以包括多个透镜和图像传感器。摄像机110可以配置为向控制器170发送车辆1的外部视野的图像数据。
前雷达120可以具有面向第一车辆1的前方的感测场120a。前雷达120可以安装在例如车辆1的格栅或保险杠上。前雷达120可以包括向：发射天线(或发射天线阵列)，朝向第一车辆1的前方放射发射波；以及接收天线(或接收天线阵列)，从障碍物接收反射的反射波。
前雷达120可以配置为：从由发射天线发射的发射无线电波以及由接收天线接收的反射无线电波，获取前雷达数据。前雷达数据可以包括位于车辆1(例如，第一车辆或对象车辆)前方的其他车辆或行人或骑自行车的人的位置信息和速度水平。前雷达120可以配置为：基于发射波与反射波之间的相位差(或时间差)来计算到障碍物的相对距离，并且基于发射波与反射波之间的频率差来计算障碍物的相对速度。前雷达120可以配置为将前雷达数据发送到控制器170。
多个拐角雷达130可以包括：安装在车辆1的右前侧的第一拐角雷达(未示出)、安装在车辆1的左前侧的第二拐角雷达(未示出)、安装在车辆1的右后侧的第三拐角雷达(未示出)，以及安装在车辆1的左后侧的第四拐角雷达(未示出)。第一拐角雷达(未示出)可以具有指向车辆1的右前侧的感测视野。第一拐角雷达(未示出)可以安装在车辆1的前保险杠的右侧。
第二拐角雷达(未示出)可以具有朝向车辆1的左前的感测视野，并且可以安装在车辆1的前保险杠的左侧。第三拐角雷达(未示出)可以具有朝向车辆1的右后的感测视野，并且可以安装在车辆1的后保险杠的右侧。第四拐角雷达(未示出)可以具有朝向车辆1的左后的检测视野，并且可以安装在车辆1的后保险杠的左侧。
第一拐角雷达、第二拐角雷达、第三拐角雷达和第四拐角雷达中的每一者可以包括发射天线和接收天线。第一拐角雷达、第二拐角雷达、第三拐角雷达和第四拐角雷达可以配置为分别获得第一拐角雷达数据、第二拐角雷达数据、第三拐角雷达数据和第四拐角雷达数据。第一拐角雷达数据可以包括位于车辆1的右前侧的其它车辆、行人或骑自行车者的距离信息和速度水平。第二拐角雷达数据可以包括位于车辆1的左前的障碍物的距离信息和速度水平。第三拐角雷达数据和第四拐角雷达数据可以包括位于车辆1的右后和车辆1的左后的障碍物的距离信息和速度信息。
第一拐角雷达、第二拐角雷达、第三拐角雷达和第四拐角雷达可以配置为分别向控制器170发送第一拐角雷达数据、第二拐角雷达数据、第三拐角雷达数据和第四拐角雷达数据。即，前雷达和拐角雷达是障碍物检测单元，并且可以配置为检测车辆的前侧以及左侧和右侧的障碍物，并且向控制器170发送与检测的障碍物有关的障碍物信息。特别地，障碍物信息可以包括障碍物的位置信息，并且障碍物的位置信息可以包括障碍物的距离信息和方向信息。
LIDAR 140可以安装在车辆1上，以具有车辆1的外部视野。例如，LIDAR 140可以安装在前保险杠、散热器格栅、发动机罩、车顶、门、侧镜、尾门、行李箱盖或翼子板上。GPS模块150可以配置为检测车辆位置信息和时间信息。在检测到来自卫星的距离信息以及测量距离信息时的时间信息之后，GPS模块150可以配置为：通过将三角学应用于检测到的距离信息，根据纬度、经度和高度，来检测三维位置信息，并且将位置信息和时间信息提供给控制器170。
通信器160可以配置为与服务器3通信，以发送和接收各种类型的信息。通信器160可以配置为接收由GPS模块150接收的位置信息，并且基于位置信息确定当前区域。另外，通信器160可以配置为确定车辆1在当前区域内行驶在哪个车道中，并且将车道信息提供给控制器170。
通信器160可以包括：用于车辆之间无线通信的V2V通信模块(未示出)，以及用于车辆与道路基础设施之间无线通信的V2I通信模块(未示出)。通信器160不限于此，并且还可以包括：用于在车辆与行人之间通信的车辆到行人(V2P)通信模块，以及用于在车辆与个人终端之间通信的车辆到漫游设备(V2N)通信模块。
控制器170可以包括：图像信号处理器(处理摄像机110的图像数据的处理器171)；和/或处理雷达120和雷达130的雷达数据的数字信号处理器；和/或产生制动信号的微控制单元(微控制单元，MCU)。当在执行自动驾驶模式的同时从摄像机110接收图像信息(即，图像数据)时，控制器170可以配置为执行图像处理以识别道路的车道，并且基于所识别的车道的位置信息来识别本车辆行驶的本车道。另外，响应于确定识别出本车道的两个车道并且两个车道均被识别，控制器170可以配置为基于两个均被识别的车道执行自动驾驶。控制器170还可以配置为执行图像处理，以获得关于车辆正在行驶的车道的信息。
控制器170可以配置为：基于摄像机110的图像数据和前雷达120的前雷达数据，来检测车辆1前方的障碍物(例如，其他车辆、行人、骑自行车者、路缘、护栏、行道树、路灯等)。具体地，控制器170可以配置为：基于前雷达120的前雷达数据，获取车辆1前方的障碍物的位置信息(例如，距离和方向)以及速度信息(例如，相对速度)。控制器170可以配置为：基于摄像机110的图像数据，获取车辆1前方的障碍物的位置信息(例如，方向)和类型信息(例如，障碍物是另一车辆、还是行人、或骑自行车的人、或路缘、或护栏、或行道树、或路灯等)。
存储器172可以配置为：存储用于处理图像数据的程序和/或数据，以及用于处理雷达数据的程序和/或数据，以及用于生成由处理器171生成的制动信号和/或警告信号的程序和/或数据。存储器172可以配置为：临时存储从摄像机110接收的图像数据和/或从雷达120和雷达130接收的雷达数据，并且将图像数据和/或雷达数据的处理结果临时存储在存储器172中。
存储器172可以实现为非易失性存储器设备(例如，高速缓存、只读存储器(ROM)、可编程ROM(PROM)、可擦除可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)以及闪存)或易失性存储器设备(例如，随机存取存储器(RAM))或存储介质(例如，硬盘驱动器(HDD,HardDisk Drive)和CD-ROM)中的至少一者，但不限于此。
图3和图4示出根据示例性实施方式的车辆控制的流程图。参照图3，第一车辆或对象车辆1可以配置为：检测事故(301)，并且向服务器3发送事故请求信号(accidentrequest signal)(302)。此时，为了使服务器3确定第一车辆1与事故目标车辆之间的故障率，第一车辆1可以配置为与事故请求信号一起发送事故位置的位置信息。
当服务器3获取第一车辆1的位置信息时(303)，服务器3可以配置为：向位于第一车辆1周围的多个第二车辆2发送请求图像数据的信号。此时，多个第二车辆2中的至少一些第二车辆可以配置为向服务器3发送图像数据(305)。当服务器3接收到图像数据时，服务器3可以配置为基于图像数据生成故障率数据。图像数据是指在第一车辆1与事故目标车辆之间的碰撞之后立即拍摄的数据，并且图像数据可以对应于从允许计算两者之间的故障率的各种角度拍摄的图像信息。服务器3可以配置为：分析由第二车辆2从第一车辆1的外部获得的图像数据，并且通过应用预先存储的模拟程序和当前的交通规则来计算两者之间的故障。另外，服务器3可以配置为实时地向专家请求图像数据，以通过由专家评估的故障率来生成故障率数据。服务器3可以配置为向第一车辆1发送生成的故障率数据发送(306)。
同时，根据图3的控制是服务器3响应于从第一车辆1接收事故的请求而从多个第二车辆2获取图像数据的方法。然而，在根据示例性实施方式的车辆1中，第一车辆1可以配置为通过V2V通信直接从多个第二车辆2获取图像数据，而不通过服务器3。
参照图4，第一车辆1可以配置为：检测事故(401)，并且向服务器3发送事故请求信号(402Request Accident Reception请求事故接收)。另外，在检测到发生事故之后，第一车辆1可以配置为向第一车辆1周围的多个第二车辆2发送请求图像数据的信号(403)。同时，接收图像数据请求的第二车辆2必须处于能够捕获第一车辆1与事故目标车辆之间的事故前后的情况的位置。特别地，第一车辆1请求图像数据的对象可以受到各种标准的限制。将参照图5至7就这点进行描述。
图5示出根据示例性实施方式的车辆收集图像数据的半径。并且，图6和图7示出根据示例性实施方式的、从车辆请求图像数据的信号的传输目标。根据示例性实施方式的车辆1可以配置为向预定半径内的另一车辆发送请求图像数据的信号。参照图5，为了从预定半径(第一半径，R1)内的车辆2-1获取图像数据，车辆1可以配置为向车辆2-1发送请求信号。另外，如果没有从预定半径内的另一车辆接收到图像数据，则车辆1可以配置为改变到比第一半径R1宽的第二半径R2以确保图像数据。
另外，根据示例性实施方式，可以根据第一车辆1行驶的道路的类型来改变预定半径。例如，在高速公路上，因为与一般道路或非高速道路相比，高速道路具有相对较大数量的车道和较高的行驶速度，所以预定半径可以具有比一般道路更大的值。同时，第一车辆1可以配置为：除调整请求信号的传输半径之外，还调整传输方向。因此，第一车辆1可以配置为：从在能够充分捕获第一车辆1与事故目标车辆之间的碰撞画面的位置处的第二车辆2获得图像数据。
参照图6，当第一车辆1在第一车辆1前部与事故目标车辆O发生碰撞事故时，第一车辆1可以配置为向右侧的车辆2-1发送请求图像数据的信号，以获取包括与事故目标车辆O碰撞的过程的图像数据。根据一个示例性实施方式，当第一车辆1的事故发生在第一车辆或对象车辆1的前部或后部时，对象车辆1可以配置为从相对于对象车辆1从左侧或右侧行驶的车辆2-1(例如，第二车辆)请求图像数据。
参照图7，当第一车辆1在第一车辆1的侧面与事故目标车辆O发生碰撞事故时，第一车辆1可以配置为向后方的车辆2-2发送请求图像数据的信号，以获得包括与事故目标车辆O碰撞的过程的图像数据。根据一个示例性实施方式，当第一车辆1的事故发生在第一车辆1的侧面时，第一车辆1可以配置为从相对于第一车辆1从前方或后方行驶的车辆2-2请求图像数据。
第二车辆2可以配置为响应于第一车辆1的请求图像数据的信号向第一车辆1提供图像数据(404)。然而，与图4不同的是，第二车辆2可以配置为向第一车辆1提供图像数据，并且同时或选择性地向服务器3提供图像数据。第一车辆1可以配置为向服务器3发送图像数据(405)。
当服务器3接收到图像数据时，服务器3可以配置为基于图像数据生成故障率数据(406)。图像数据是指在第一车辆1与事故目标车辆之间的碰撞之后立即拍摄的数据，并且图像数据可以对应于从允许计算两者之间的故障率的各种角度拍摄的图像信息。服务器3可以配置为：分析由第二车辆2从第一车辆1的外部获得的图像数据，并且通过应用预先存储的模拟程序和当前的交通规则来计算两者之间的故障。另外，服务器3可以配置为实时地向专家请求图像数据，以通过由专家评估的故障率来生成故障率数据。服务器3可以配置为向第一车辆1发送生成的故障率数据(407)。
图8是根据示例性实施方式的、用于控制车辆的方法的流程图。车辆1可以配置为：检测事故(801)，并且确定是否接收到图像数据和故障率数据中的至少一者(802)。因此，可以确定发生事故的车辆1的驾驶员是否已经确保了用于将来保险处理等的必要数据。具体地，车辆1可以配置为从行驶在对象车辆1附近的其他车辆接收事故状况的视频数据，或者接收由服务器3基于由其他车辆提供的视频数据生成的故障率数据。
当车辆1接收到图像数据和故障率数据中的至少一者时，可以(通过控制器)确定车辆1是否处于可驾驶状态(803)，并且响应于确定车辆1处于由于损坏程度大于一定程度而不能驾驶的状态，可以操作通信器以呼叫应急车辆(804)。相反，响应于确定车辆1处于可驾驶状态，并且通过检测乘员受伤的发生(805)，可以设置稍后驾驶的路线。
当与事故目标车辆的碰撞仅是较轻程度时，车辆1可以配置为操作车辆控制装置以行驶到原目的地或停到路肩(806)。另外，当与事故目标车辆的碰撞大于一定程度时，车辆1可以配置为将目的地改变为医院以将乘员引导到附近的医院，并且操作车辆控制装置以到达目的地(807)。
同时，公开的示例性实施方式可以由存储可由计算机执行的指令的非暂时性记录介质的形式实现。指令可以以程序代码的形式存储，并且当由处理器执行时，可以生成程序模块以执行所公开的实施方式的操作。记录介质可以实现为非暂时性计算机可读记录介质。
非暂时性计算机可读记录介质包括所有类型的、存储可由计算系统读取数据的记录介质。计算机可读记录介质的示例包括只读存储器(ROM)、随机存取存储器(RAM)、磁带、磁盘、闪存、光学数据存储设备等。
尽管已经示出和描述了本发明的示例性实施方式，但是本领域技术人员应当理解的是，在不脱离本发明的原理和精神的前提下，可以改变这些示例性实施方式，本发明的范围在权利要求书等中限定。
根据本发明的一方面，可以提供一种车辆及其控制方法，能够通过根据车辆的速度来改变传感器的检测范围和功耗从而提供高效的自动驾驶。
根据本发明的一个方面，因为不需要由驾驶员在事故之后进行处理，所以可以防止二次事故和交通拥堵。另外，根据本发明的一个方面，因为事故现场的信息是从外部获得的，所以可以在将来的保险处理中计算更精确的故障率。

Claims (20)

1.一种车辆，包括：
通信器，安装在所述车辆上并配置为与服务器进行无线通信；
控制器，配置为：当所述车辆与事故目标车辆发生事故时，操作所述通信器以向所述服务器发送事故接收请求信号和由另一车辆获取的图像数据，以及当所述服务器基于所述图像数据生成所述车辆与所述事故目标车辆之间的故障率数据时，操作所述通信器以从所述服务器接收故障率。
2.根据权利要求1所述的车辆，其中，所述控制器配置为：操作所述通信器以向所述服务器发送距所述车辆处于预定半径内的所述另一车辆的图像数据。
3.根据权利要求2所述的车辆，其中，所述控制器配置为：根据所述车辆所行驶的道路的类型来改变所述预定半径。
4.根据权利要求1所述的车辆，其中，所述控制器配置为：当所述车辆与所述事故目标车辆发生事故时，操作所述车辆的制动装置以停止所述车辆。
5.根据权利要求4所述的车辆，其中，所述控制器配置为：确定所述车辆的可驾驶状态，以及当所述车辆处于可驾驶状态时，响应于接收到所述图像数据和所述故障率数据中的至少一者，操作所述车辆以移动到路肩。
6.根据权利要求4所述的车辆，其中，所述控制器配置为：确定所述车辆的可驾驶状态，并且当所述车辆处于可驾驶状态时，响应于接收到所述图像数据和所述故障率数据中的至少一者，操作所述车辆并且沿去往医院的路线引导车辆。
7.根据权利要求1所述的车辆，其中，所述控制器配置为：操作所述通信器以直接从所述另一车辆接收所述图像数据。
8.根据权利要求1所述的车辆，其中，所述控制器配置为：当车辆事故发生在所述车辆的前部或后部时，从行驶在所述车辆的左侧或右侧的车辆请求图像数据。
9.根据权利要求1所述的车辆，其中，所述控制器配置为：当车辆事故发生在所述车辆的侧面时，从行驶在所述车辆的前方或后方的车辆请求图像数据。
10.一种与服务器进行无线通讯的车辆的控制方法，所述方法包括以下步骤：
当所述车辆与事故目标车辆发生事故时，由控制器向所述服务器发送事故接收请求信号和由另一车辆获取的图像数据；以及
当所述服务器基于所述图像数据生成所述车辆与所述事故目标车辆之间的故障率数据时，由所述控制器从所述服务器接收故障率。
11.根据权利要求10所述的方法，其中，向所述服务器发送所述图像数据包括：将距所述车辆处于预定半径内的另一车辆的图像数据发送到所述服务器。
12.根据权利要求11所述的方法，其中，向所述服务器发送所述图像数据包括：根据所述车辆所行驶的道路的类型来改变所述预定半径。
13.根据权利要求10所述的方法还包括：当所述车辆与所述事故目标车辆发生事故时，操作所述车辆的制动装置以停止所述车辆。
14.根据权利要求13所述的方法，其中，操作所述制动装置包括：确定所述车辆的可驾驶状态，以及当所述车辆处于可驾驶状态时，响应于接收到所述图像数据和所述故障率数据中的至少一者，操作所述车辆以移动到路肩。
15.根据权利要求13所述的方法，其中，操作所述制动装置包括：确定所述车辆的可驾驶状态，以及当所述车辆处于可驾驶状态时，响应于接收到所述图像数据和所述故障率数据中的至少一者，操作所述车辆并且沿去往医院的路线引导所述车辆。
16.根据权利要求10所述的方法，其中，接收所述图像数据包括：操作通信器直接从所述另一车辆接收图像数据。
17.根据权利要求10所述的方法，其中，向所述服务器发送所述图像数据包括：当车辆事故发生在所述车辆的前部或后部时，从行驶在所述车辆的左侧或右侧的车辆请求图像数据。
18.根据权利要求10所述的方法，其中，向所述服务器发送所述图像数据包括：当车辆事故发生在所述车辆的侧面时，从行驶在所述车辆的前方或后方的车辆请求图像数据。
19.一种记录介质，存储有与计算设备相结合的计算机程序，所述计算机程序执行以下步骤：
当车辆与事故目标车辆发生事故时，向服务器发送事故接收请求信号和由另一车辆获取的图像数据；以及
当所述服务器基于所述图像数据生成所述车辆与所述事故目标车辆之间的故障率数据时，从所述服务器接收所述故障率。
20.根据权利要求19所述的记录介质，其中，向所述服务器发送所述图像数据包括：操作通信器直接从所述另一车辆接收图像数据。
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