CN114104043A - Method and device for controlling vehicle and vehicle - Google Patents
Method and device for controlling vehicle and vehicle Download PDFInfo
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- CN114104043A CN114104043A CN202010865472.9A CN202010865472A CN114104043A CN 114104043 A CN114104043 A CN 114104043A CN 202010865472 A CN202010865472 A CN 202010865472A CN 114104043 A CN114104043 A CN 114104043A
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Abstract
The disclosure relates to a method and a device for controlling a vehicle and the vehicle, wherein the method comprises the following steps: acquiring a target route for vehicle driving; determining a target cruising interval according to the target route, wherein the target cruising interval comprises a target cruising distance between the current position of the vehicle and a target parking position; and controlling the vehicle to brake or adaptively cruise according to the target cruise distance and a preset brake distance, wherein the preset brake distance is a preset distance traveled from the start of braking to the stop of the vehicle. That is, the braking or adaptive cruise of the vehicle can be controlled according to the target route of the vehicle and the corresponding preset braking distance of the vehicle, so that the vehicle can be flexibly switched between the braking and the adaptive cruise according to the preset braking distance of the vehicle, and the safety of the adaptive cruise of the vehicle can be improved.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a method and an apparatus for controlling a vehicle, and a vehicle.
Background
The CBTC (Communication Based Train Control System) is a Train automatic Control System Based on wireless Communication, and adopts advanced Communication and computer technologies to continuously Control and monitor Train operation, so as to replace a conventional Train signal System for realizing Train operation Control Based on a track circuit.
However, the CBTC system mainly determines the vehicle position interval by means of the axle counting and the transponder to obtain the section where the vehicle is located, and this way cannot determine the vehicle position interval in real time, so that a plurality of vehicles may collide during adaptive cruise in the same section, and the safety of the adaptive cruise is low.
Disclosure of Invention
In order to solve the above problems, the present disclosure provides a method and an apparatus for controlling a vehicle, and a vehicle.
In a first aspect, the present disclosure provides a method of controlling a vehicle, the method comprising: acquiring a target route for vehicle driving; determining a target cruising interval according to the target route, wherein the target cruising interval comprises a target cruising distance between the current position of the vehicle and a target parking position; and controlling the vehicle to brake or adaptively cruise according to the target cruise distance and a preset brake distance, wherein the preset brake distance is a preset distance traveled from the start of braking to the stop of the vehicle.
In a second aspect, the present disclosure provides an apparatus for controlling a vehicle, the apparatus comprising: the route acquisition module is used for acquiring a target route for vehicle running; the interval determining module is used for determining a target cruising interval according to the target route, wherein the target cruising interval comprises a target cruising distance between the current position of the vehicle and a target parking position; and the control module is used for controlling the vehicle to brake or adaptively cruise according to the target cruise distance and a preset brake distance, wherein the preset brake distance is a preset distance from the beginning of braking to the stop of the vehicle.
In a third aspect, the present disclosure provides an apparatus for controlling a vehicle, comprising: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method of the first aspect of the disclosure.
In a fourth aspect, the present disclosure provides a vehicle including the apparatus for controlling a vehicle according to the third aspect of the present disclosure.
By the technical scheme, the target route of the vehicle is obtained; determining a target cruising interval according to the target route, wherein the target cruising interval comprises a target cruising distance between the current position of the vehicle and a target parking position; and controlling the vehicle to brake or adaptively cruise according to the target cruise distance and a preset brake distance, wherein the preset brake distance is a preset distance traveled from the start of braking to the stop of the vehicle. That is, the braking or adaptive cruise of the vehicle can be controlled according to the target route of the vehicle and the corresponding preset braking distance of the vehicle, so that the vehicle can be flexibly switched between the braking and the adaptive cruise according to the preset braking distance of the vehicle, and the safety of the adaptive cruise of the vehicle can be 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 of a method of controlling a vehicle provided by an embodiment of the present disclosure;
FIG. 2 is a flow chart of a second method of controlling a vehicle provided by an embodiment of the present disclosure;
FIG. 3 is a schematic view of a cruise range provided by an embodiment of the present disclosure;
FIG. 4 is a schematic view of another cruise interval provided by the disclosed embodiment;
FIG. 5 is a flowchart of a third method of controlling a vehicle provided by an embodiment of the present disclosure;
FIG. 6 is a flowchart of a fourth method of controlling a vehicle provided by the disclosed embodiment;
FIG. 7 is a flow chart of a fifth method of controlling a vehicle provided by the disclosed embodiment;
FIG. 8 is a flow chart of a sixth method of controlling a vehicle provided by an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of an apparatus for controlling a vehicle according to an embodiment of the present disclosure;
fig. 10 is a block diagram of an apparatus for controlling a vehicle according to an embodiment of the present disclosure;
fig. 11 is a schematic structural diagram of a vehicle according to an embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the description that follows, the terms "first," "second," and the like are used for descriptive purposes only and are not intended to indicate or imply relative importance nor order to be construed.
First, an application scenario of the present disclosure will be explained. The present disclosure may be applied to a scenario of controlling Adaptive Cruise of a vehicle, and ACC (Adaptive Cruise Control) is a function in which a vehicle can autonomously adjust a driving speed to adapt to an actual traffic condition. At present, self-adaptive cruise of vehicles can be realized through a CBTC (communication based train control) system, the CBTC system judges the position of a section by means of a shaft meter between two platforms, the positions of transponders on two sides of the platforms are calibrated, the accurate position of the vehicle cannot be obtained in real time in the mode, and when two vehicles exist in the same section (the range between the two shaft meters), potential safety hazards exist, so that the safety of the self-adaptive cruise is low.
In order to solve the above problems, the present disclosure provides a method and an apparatus for controlling a vehicle, and a vehicle, which may control braking or adaptive cruise of the vehicle according to a target route traveled by the vehicle and a preset braking distance corresponding to the vehicle, so that the vehicle may be controlled to flexibly switch between braking and adaptive cruise according to the preset braking distance of the vehicle, thereby improving safety of adaptive cruise of the vehicle.
The present disclosure is described below with reference to specific examples.
Fig. 1 is a flowchart of a method for controlling a vehicle, which may be a rail vehicle, according to an embodiment of the present disclosure. As shown in fig. 1, the method includes:
s101, acquiring a target route for vehicle running.
The target route may be determined by a track vector map, the track vector map may include track nodes that are positioned by fusion based on a laser radar, a GNSS (Global Navigation Satellite System), an inertial Navigation, and the like, and the track nodes may include a switch point, a platform point, and the like, which is not limited in this disclosure. The track vector map can be obtained in a fusion positioning mode without manual intervention, so that the labor cost can be saved. In addition, the track vector map can be globally matched with a track construction map, and a more accurate track vector map can be obtained.
It should be noted that the track vector map may be obtained in advance, for example, the vehicle may be controlled to travel from a starting point of a route to an end point of the route, and during the vehicle traveling, track nodes on the route, such as a switch point and a platform point, may be obtained through a laser radar of the vehicle; in addition, road condition information such as the gradient and the curvature of the line can be acquired through related mapping technology, and therefore a track vector map containing all track nodes and the road condition information can be created in a multi-sensor fusion mode.
In this step, after the vehicle is started, a connection request for requesting establishment of a communication connection with the server may be sent to the server. The server can obtain the pre-stored target route after determining that the communication connection is established with the vehicle, and sends the target route to the vehicle, and the vehicle can load the target route after receiving the target route sent by the server. The server may be a ground control center or a switch controller, which is not limited in this disclosure.
And S102, determining a target cruising interval according to the target route.
The target cruise zone may include a target cruise distance between a current position of the vehicle and a target parking position, where the target parking position may be an end point of the target cruise zone or a stop point within the target cruise zone, and the disclosure is not limited thereto.
It should be noted that, after the target route is loaded, the vehicle may be detected to determine whether the vehicle has a fault. For example, the vehicle may be controlled to enter a self-checking mode, and a self-checking result may be sent to the server, where the self-checking result may include a self-checking normal state and a self-checking abnormal state, the self-checking normal state indicates that the vehicle may run normally, and the self-checking abnormal state indicates that the vehicle has a fault and cannot run normally. The server can send task information to the vehicle after determining that the vehicle self-check is normal, the vehicle can determine whether the working state of the positioning module of the vehicle is normal or not after receiving the task information, and the server can determine a target cruising interval according to the target route under the condition that the working state of the positioning module of the vehicle is determined to be normal.
In one possible implementation manner, current first position information of the vehicle and current second position information of other vehicles except the vehicle can be acquired, whether the first position information and the second position information are overlapped or not is determined, and in the case that the first position information and the second position information are not overlapped, a target cruising interval is determined according to the target route.
For example, the vehicle may obtain current first location information of the vehicle through a Positioning module, where the Positioning module may include a GPS (Global Positioning System), a GNSS, and the like, and obtain, from a server, current second location information of other vehicles in the track System except the vehicle, where the second location information may include a plurality of vehicles, and in a case where there are a plurality of other vehicles, the second location information also includes a plurality of vehicles, compare the first location information with each second location information, determine whether the first location information and the second location information overlap, and if the first location information and each second location information overlap, indicate that the first location information or the second location information is wrong, and the location information of the vehicle needs to be obtained again; if not, the first position information is correct. Here, whether there is another vehicle overlapping the first position information may be determined by the coordinates corresponding to the first position information, for example, if the coordinate information of another vehicle is included in the coordinate interval between the head and the tail of the vehicle, it indicates that there is another vehicle overlapping the position information of the vehicle.
The current second location information of other vehicles may be acquired from a server, for example, the vehicle may send a location information request message to the server, the server sends the stored location information of all vehicles to the vehicle after receiving the location information request message, and in addition, the server may also periodically send the stored location information of all vehicles to each vehicle, which is not limited in this disclosure.
It should be noted that, during the driving process of each vehicle, the current location information of the vehicle may be periodically reported to the server, for example, the period may be 200ms, and after receiving the current location information sent by the vehicle, the server may store the current location information according to the identifier of the vehicle.
In this step, after the vehicle acquires the target route and determines that the vehicle self-check is normal and the working state of the positioning module of the vehicle is normal, the target cruising interval may be determined according to the current position of the vehicle and the target route. For example, an interval between the current position and the end point of the target route, that is, the target cruise interval, may be determined according to the coordinates of the current position of the vehicle and the coordinates of the end point of the target route. In addition, if the current position of the vehicle is the starting point of the target route, the section between the starting point of the target route and the end point of the target route is the target cruise section.
And S103, controlling the vehicle to brake or adaptively cruise according to the target cruise distance and the preset brake distance.
The preset braking distance may be a preset distance traveled by the vehicle from the start of braking to the stop, and the preset braking distance may be determined according to a preset traveling speed of the vehicle, for example, the preset braking distance may be set to 50m if the preset traveling speed is 20km/h, and the preset braking distance may be set to 80m if the preset traveling speed is 30 km/h.
In this step, after determining the target cruising distance, the vehicle may obtain the preset braking distance, determine whether the vehicle needs to be braked according to the target cruising distance and the preset braking distance, and if it is determined that the vehicle needs to be braked, control the vehicle to be braked; if it is determined that the vehicle does not require braking, the vehicle may be controlled for adaptive cruise. Here, when the vehicle is adaptively cruising, the safety protection module of the vehicle may calculate a safe operation speed curve, the automatic operation module may generate an operation command according to the safe operation speed curve, and the vehicle controller may implement adaptive cruising according to the operation command.
By adopting the method, the vehicle can be controlled to brake or adaptively cruise according to the target running route of the vehicle and the preset brake distance corresponding to the vehicle, so that the vehicle can be controlled to flexibly switch between braking and adaptive cruise according to the preset brake distance of the vehicle, and the safety of the adaptive cruise of the vehicle can be improved.
Fig. 2 is a flowchart of a second method of controlling a vehicle provided by an embodiment of the present disclosure. As shown in fig. 2, the method includes:
s201, acquiring a target route for the vehicle to run.
The target route may be determined by a track vector map, which may include track nodes located by using a laser radar, where the track nodes may include a switch point, a platform point, and the like, which is not limited by the present disclosure. The track vector map can be obtained in a fusion positioning mode without manual intervention, so that the labor cost can be saved.
And S202, determining a target cruising interval according to the target route.
The target cruise zone may include a target cruise distance between a current position of the vehicle and a target parking position, where the target parking position may be an end point of the target cruise zone or a stop point within the target cruise zone, and the disclosure is not limited thereto.
S203, executing a step S204 under the condition that the target cruising distance is greater than the preset braking distance; in the case where the target cruising distance is less than or equal to the preset braking distance, step S205 is executed.
The preset braking distance may be a preset distance traveled by the vehicle from the start of braking to the stop, and the preset braking distance may be determined according to a preset traveling speed of the vehicle, for example, the preset braking distance may be set to 50m if the preset traveling speed is 20km/h, and the preset braking distance may be set to 80m if the preset traveling speed is 30 km/h.
It should be noted that, considering that the current driving road condition of the vehicle is different from the road condition when the preset braking distance is obtained, the actual braking distance of the vehicle deviates from the preset braking distance; in addition, the target cruise distance may be periodically obtained, and there may be a case where the target cruise distance obtained last time is greater than the preset brake distance and the target cruise distance obtained this time is smaller than the preset brake distance, so that the vehicle may not be parked at the end point of the target cruise zone corresponding to the target cruise distance when the target cruise distance is smaller than the preset brake distance, and therefore, the preset brake distance may be a brake distance greater than a distance traveled by the vehicle from the start of braking to the parking, for example, if the obtained distance traveled by the vehicle from the start of braking to the parking is 50m, the preset brake distance may be 60m, and thus, the vehicle may be prevented from exiting the target cruise zone to cause a safety hazard.
In this step, after determining the target cruising distance, the vehicle may obtain the preset braking distance, and determine whether the vehicle needs to be braked according to the target cruising distance and the preset braking distance. Here, if the target cruising distance is greater than the preset braking distance, it indicates that the vehicle does not need to be braked; if the target cruising distance is smaller than or equal to the preset braking distance, the vehicle is required to be braked, and if the vehicle is not braked, the final stop end of the vehicle is beyond the final stop end of the target cruising interval. For example, fig. 3 is a schematic diagram of a cruise range provided by an embodiment of the present disclosure, and as shown in fig. 3, a range included by a position of a vehicle head and a terminal T is the target cruise range, a distance between the position of the vehicle head and the terminal T is the target cruise distance, s is the preset brake distance, and the target cruise distance is greater than the preset brake distance, so that the vehicle can continue to adaptively cruise in the target cruise range. Fig. 4 is a schematic view of another cruise zone provided by the embodiment of the present disclosure, and as shown in fig. 4, the target cruise distance is smaller than the preset braking distance, so that the vehicle needs to be immediately braked, otherwise, the final stop position of the vehicle may be right of the terminal point T, which may cause a safety hazard.
And S204, controlling the vehicle to cruise adaptively.
In this step, in the case where it is determined that the target cruising distance is greater than the preset braking distance, adaptive cruising may be performed in accordance with the current traveling speed of the vehicle.
And S205, controlling the vehicle brake.
In this step, when it is determined that the target cruising distance is less than or equal to the preset braking distance, the current running speed of the vehicle may be obtained first, the deceleration corresponding to the vehicle may be determined according to the current running speed and the target cruising distance, and the braking of the vehicle may be controlled according to the deceleration.
By adopting the method, the target cruising distance can be determined according to the target route, and the adaptive cruising or braking of the vehicle can be controlled according to the target cruising distance and the preset braking distance, so that the flexible switching between the braking and the adaptive cruising can be controlled according to the preset braking distance of the vehicle, and the safety of the adaptive cruising of the vehicle can be improved.
Fig. 5 is a flowchart of a third method for controlling a vehicle according to an embodiment of the disclosure. As shown in fig. 5, the method includes:
s501, acquiring a target route for vehicle running.
The target route may be determined by a track vector map, which may include track nodes located by using a laser radar, where the track nodes may include a switch point, a platform point, and the like, which is not limited by the present disclosure. The track vector map can be obtained in a fusion positioning mode without manual intervention, so that the labor cost can be saved.
And S502, determining a target cruising interval according to the target route.
The target cruise zone may include a target cruise distance between a current position of the vehicle and a target parking position, where the target parking position may be an end point of the target cruise zone or a stop point within the target cruise zone, and the disclosure is not limited thereto.
And S503, when at least one turnout exists in the target cruise section and the target turnout is in an unlocked state, setting the target position as a new target parking position.
The target switch is a switch closest to the current position of the vehicle in at least one switch, the target position may be located between the vehicle and the position of the target switch, and the distance from the target switch is a preset distance, and the preset distance may be predetermined according to a preset driving speed of the vehicle, for example, the preset distance may be 100 m. The states of the target switch may include a locked state indicating that the target switch is available for use by the vehicle and an unlocked state indicating that the target switch is not available for use by the vehicle.
In this step, after the target cruise interval is determined, whether a switch exists in the target cruise interval may be determined according to a track vector map corresponding to the target cruise interval. If at least one turnout exists in the target cruise interval, the state of the target turnout closest to the current position of the vehicle can be further acquired. In one possible implementation, the vehicle may send a switch status request message to a server, the switch status request message including a vehicle identification of the vehicle and a current location of the vehicle; and receiving the state of the target turnout determined by the server according to the vehicle identification and the current position of the vehicle.
After receiving the vehicle identifier sent by the vehicle and the current position of the vehicle, the server may determine the switch identifier of the target switch closest to the current position according to the current position of the vehicle, and then may obtain the state of the target switch according to the switch identifier, where the state may include a locked state and an unlocked state.
Further, the server may send the state of the target switch to the vehicle after acquiring the state of the target switch, and the vehicle may acquire the preset distance when determining that the state of the target switch is the unlocked state, and determine the target position according to the position of the target switch and the preset distance, and use the target position as the new target parking position.
It should be noted that, after receiving the switch state request message sent by the vehicle, the server may determine whether the target switch is locked by the vehicle, set the state of the target switch to the locked state if it is determined that the target switch is locked by the vehicle, and set the state of the target switch to the unlocked state if it is determined that the target switch is not locked by the vehicle.
It is considered that the server needs to transmit the state of the target switch to each vehicle after receiving the switch state request message transmitted by the vehicle. In another possible implementation manner, the vehicle may send a switch information acquisition request to the server, where the switch information acquisition request is used to request switch information of the target switch, and the switch information includes a state of the target switch and an identifier of a vehicle that can use the target switch; and receiving the turnout information of the target turnout sent by the server, and acquiring the new target parking position according to the turnout information.
And S504, updating the target cruise interval according to the new target parking position to obtain a first updated cruise interval.
In this step, after the new target parking position is determined, the target cruise zone may be updated according to the new target parking position, for example, the end point of the target cruise zone may be updated to the new target parking position, and the updated target cruise zone is the first updated cruise zone.
And S505, controlling the vehicle brake in the first updating cruise interval.
In this step, after the first updated cruise zone is obtained, the deceleration corresponding to the vehicle may be determined according to the first updated cruise distance corresponding to the first updated cruise zone and the current running speed of the vehicle, and the vehicle may be controlled to brake in the first updated cruise zone according to the deceleration.
It should be noted that, when the state of the target switch is the unlocked state, there are two cases, one is that the target switch is not locked by any vehicle but the vehicle is far from the target switch, for example, the distance between the vehicle and the target switch is greater than the switch switching distance, and the target switch is not allowed to be locked for the vehicle, and the other is that the target switch is locked by other vehicles, and the vehicle cannot use the target switch. Therefore, after the vehicle travels for a period of time, when the vehicle is close to the target switch, for example, when the distance of the vehicle from the target switch is less than or equal to the switch switching distance, or the target switch is unlocked by another vehicle, the target switch may be locked with respect to the vehicle, so that the state of the target switch may be switched from the unlocked state to the locked state.
In a possible implementation manner, when the state of the target switch is the unlocked state, after the vehicle receives the state of the target switch determined by the server according to the vehicle identifier and the current position of the vehicle, and when the state of the target switch is the unlocked state, the vehicle may further reacquire the state of the target switch after a preset time period to obtain a new state of the target switch, and control the vehicle to brake or adaptively cruise according to the new state of the target switch.
For example, the vehicle may send a switch status request message to the server after a preset period of time, so that the server may determine the status of a new target switch according to the new location of the vehicle and send the status of the new target switch to the vehicle. After receiving the state of the new target switch sent by the server, the vehicle may control the vehicle to cruise adaptively if the state of the new target switch is determined to be the locked state, and may execute steps S503 to S505 if the state of the new target switch is determined to be the unlocked state.
The server can determine a target turnout closest to the current position of the vehicle after receiving a turnout state request message sent by the vehicle, determine whether the target turnout is locked by other vehicles, acquire a preset turnout switching distance under the condition that the target turnout is not locked by any vehicle, wherein the turnout switching distance comprises a distance which can be traveled by the vehicle in a turnout locking time period, and then determine the distance between the vehicle and the target turnout according to the new position of the vehicle and the position of the target turnout. If the distance between the vehicle and the target turnout is less than or equal to the turnout switching distance, the target turnout can be locked aiming at the vehicle, and the state of the target turnout is set to be a locking state; if the distance between the vehicle and the target turnout is greater than the turnout switching distance, the vehicle is far away from the target turnout, the target turnout does not need to be locked for the vehicle, and the state of the target turnout is set to be the unlocked state. Therefore, the target turnout can be provided for other vehicles to be preferentially used before the vehicle uses the target turnout, the problem of occupation competition of the vehicle on the turnout can be avoided, and the utilization rate of the turnout is improved.
The switch distance may be determined according to a maximum driving speed of the vehicle and a switch time, and for example, a product of the maximum driving speed and the switch time is the switch distance.
By adopting the method, the state of the target turnout in the target cruising interval can be obtained from the server, and the vehicle brake is controlled according to the state of the target turnout in the vehicle running process, so that the continuity and the safety of the vehicle passing through the turnout can be ensured, and the server can update the state of the target turnout according to the current position of the vehicle, thereby improving the utilization rate of the turnout.
Fig. 6 is a flowchart of a fourth method for controlling a vehicle according to an embodiment of the disclosure. As shown in fig. 6, the method includes:
s601, acquiring a target route for vehicle running.
The target route may be determined by a track vector map, which may include track nodes located by using a laser radar, where the track nodes may include a switch point, a platform point, and the like, which is not limited by the present disclosure. The track vector map can be obtained in a fusion positioning mode without manual intervention, so that the labor cost can be saved.
And S602, determining a target cruising interval according to the target route.
The target cruise zone may include a target cruise distance between a current position of the vehicle and a target parking position, where the target parking position may be an end point of the target cruise zone or a stop point within the target cruise zone, and the disclosure is not limited thereto.
And S603, acquiring the obstacle distance between the vehicle and the obstacle when the target cruise zone comprises the obstacle.
The obstacle may comprise a stationary obstacle, such as a block on a track, or a moving obstacle, such as an adjacent car traveling in front of the vehicle.
S604, acquiring the type of the obstacle when the distance of the obstacle is less than or equal to the preset anti-collision distance.
Wherein, the preset anti-collision distance may be greater than or equal to the preset braking distance.
In this step, after the obstacle distance between the vehicle and the obstacle is obtained, the preset anti-collision distance may be obtained, and it is determined whether the obstacle distance is less than or equal to the preset anti-collision distance. If it is determined that the obstacle distance is less than or equal to the preset collision avoidance distance, the type of the obstacle may be further obtained, and the type of the obstacle may include a stationary obstacle and a moving obstacle.
In one possible implementation, a first travel speed of the obstacle may be obtained, and the type of the obstacle may be determined based on the first travel speed of the obstacle. Determining the type of the obstacle as a static obstacle under the condition that the first running speed is less than or equal to a preset minimum speed threshold value; and determining the type of the obstacle as a moving obstacle under the condition that the first running speed is greater than the preset minimum speed threshold value. The preset minimum speed threshold may be 0, and in order to avoid detection errors, the preset minimum speed threshold may also be set to a smaller value, for example, 3 km/h.
And S605, controlling the vehicle to brake or adaptively cruise according to the type of the obstacle.
If the type of the obstacle is a stationary obstacle, it indicates that the obstacle is in a stationary state or the traveling speed is particularly slow, and the vehicle needs to be braked to avoid collision with the obstacle; if the obstacle is a moving obstacle, the obstacle is in a moving state, and the vehicle can cruise in an adaptive mode according to the running speed of the moving obstacle.
In this step, after the obstacle distance is obtained, the target cruise zone may be updated according to the obstacle distance to obtain a second updated cruise zone, and the vehicle braking or the adaptive cruise may be controlled in the second updated cruise zone according to the type of the obstacle. After the obstacle distance is obtained, the end point of the target cruise zone can be updated according to the current position of the vehicle and the obstacle distance, and the second updated cruise zone is obtained.
When the type of the obstacle is a stationary obstacle, the corresponding deceleration of the vehicle may be determined according to the obstacle distance and the current running speed of the vehicle, and the vehicle braking may be controlled in the second updated cruise interval according to the deceleration. In the case where the type of the obstacle is a moving obstacle, the second travel speed may be acquired based on the first travel speed, and the vehicle may be controlled to adaptively cruise in the second updated cruise zone in accordance with the second travel speed. For example, the second travel speed may be equal to the first travel speed, such that the vehicle may maintain a current obstacle distance from the obstacle at all times; the second driving speed may also be less than the first driving speed, so that the distance between the vehicle and the obstacle is further and further, and the vehicle can be prevented from colliding with the obstacle.
By adopting the method, the target cruise interval can be updated according to the position and the running speed of the obstacle during the running process of the vehicle, and the vehicle is controlled to brake or adaptively cruise in the updated target cruise interval. Therefore, the adaptive cruise interval of the vehicle can be dynamically adjusted, the vehicle collision is prevented, and the driving safety can be improved.
Fig. 7 is a flowchart of a fifth method for controlling a vehicle according to an embodiment of the disclosure. As shown in fig. 7, the method includes:
s701, acquiring a target route for vehicle running.
The target route may be determined by a track vector map, which may include track nodes located by using a laser radar, where the track nodes may include a switch point, a platform point, and the like, which is not limited by the present disclosure. The track vector map can be obtained in a fusion positioning mode without manual intervention, so that the labor cost can be saved.
And S702, determining a target cruising interval according to the target route.
The target cruise zone may include a target cruise distance between a current position of the vehicle and a target parking position, where the target parking position may be an end point of the target cruise zone or a stop point within the target cruise zone, and the disclosure is not limited thereto.
And S703, taking the target position as a new target parking position when at least one turnout exists in the target cruise interval and the target turnout is in an unlocked state.
Wherein the target switch is a switch closest to the current position of the vehicle among at least one switch.
And S704, updating the target cruise interval according to the new target parking position to obtain a first updated cruise interval.
S705, under the condition that the first updating cruise zone comprises the obstacle, acquiring the obstacle distance between the vehicle and the obstacle.
And S706, acquiring the type of the obstacle under the condition that the distance between the obstacle and the preset anti-collision distance is less than or equal to the preset anti-collision distance.
And S707, controlling the vehicle to brake or adaptively cruise according to the type of the obstacle.
By adopting the method, the vehicle brake or the adaptive cruise can be controlled according to the turnout information and the obstacle information in the target cruise interval, so that the safety and the continuity of the adaptive cruise can be further ensured while the flexibility of the adaptive cruise is improved.
Fig. 8 is a flowchart of a sixth method for controlling a vehicle according to an embodiment of the disclosure. As shown in fig. 8, the method includes:
s801, acquiring a target route for vehicle running.
The target route may be determined by a track vector map, which may include track nodes located by using a laser radar, where the track nodes may include a switch point, a platform point, and the like, which is not limited by the present disclosure. The track vector map can be obtained in a fusion positioning mode without manual intervention, so that the labor cost can be saved.
And S802, determining a target cruising interval according to the target route.
The target cruise zone may include a target cruise distance between a current position of the vehicle and a target parking position, where the target parking position may be an end point of the target cruise zone or a stop point within the target cruise zone, and the disclosure is not limited thereto.
S803, if the target cruising distance is larger than the preset braking distance, executing the step S804 to the step S813; if the target cruising distance is less than or equal to the preset braking distance, steps S814 to S820 are performed.
And S804, controlling the vehicle to adaptively cruise.
And S805, when at least a switch exists in the target cruise section and the target switch is in the unlocked state, setting the target position as a new target parking position.
Wherein the target switch is a switch closest to the current position of the vehicle among at least one switch.
And S806, updating the target cruise interval according to the new target parking position to obtain a first updated cruise interval.
And S807, controlling the vehicle brake in the first updating cruise interval.
And S808, determining whether an anti-collision alarm is received or not under the condition that the adjacent vehicle exists in the vehicle.
And S809, acquiring the barrier distance between the vehicle and the barrier under the condition of receiving the anti-collision alarm.
And S810, updating the target cruise interval according to the obstacle distance to obtain a second updated cruise interval.
And S811, controlling the vehicle brake in the second updating cruise interval.
And S812, acquiring the first running speed of the adjacent vehicle under the condition that the anti-collision alarm is not received.
And S813, controlling the vehicle to adaptively cruise in the second updating cruise interval according to the second running speed.
Wherein the second travel speed is less than or equal to the first travel speed.
And S814, controlling the vehicle to brake.
And S815, when at least a turnout exists in the target cruise section and the target turnout is in an unlocked state, setting the target position as a new target parking position.
Wherein the target switch is a switch closest to the current position of the vehicle among at least one switch.
And S816, updating the target cruise interval according to the new target parking position to obtain a first updated cruise interval.
And S817, acquiring the barrier distance between the vehicle and the barrier under the condition that the anti-collision alarm is received.
And S818, updating the target cruise interval according to the obstacle distance to obtain a second updated cruise interval.
S819, controlling the vehicle braking in the second updated cruise zone.
By adopting the method, the vehicle can be controlled to brake or cruise adaptively according to the current position of the vehicle, the target cruising interval, the turnout information in the target cruising interval, the adjacent vehicle information and the anti-collision information, so that the safety and the continuity of the adaptive cruise can be further ensured while the flexibility of the adaptive cruise is improved.
Fig. 9 is a schematic structural diagram of an apparatus for controlling a vehicle according to an embodiment of the present disclosure. As shown in fig. 9, the apparatus includes:
a route obtaining module 901, configured to obtain a target route for vehicle driving;
an interval determination module 902, configured to determine a target cruise interval according to the target route, where the target cruise interval includes a target cruise distance between a current position of the vehicle and a target parking position;
and the control module 903 is used for controlling the vehicle to brake or adaptively cruise according to the target cruise distance and a preset brake distance, wherein the preset brake distance is a preset distance traveled by the vehicle from the start of braking to the stop of the vehicle.
Optionally, the control module 903 is specifically configured to: controlling the vehicle to adaptively cruise under the condition that the target cruise distance is greater than the preset brake distance; or, in the case where the target cruising distance is less than or equal to the preset braking distance, controlling the vehicle to brake.
Through the device, the vehicle can be controlled to brake or adaptively cruise according to the target running route of the vehicle and the preset brake distance corresponding to the vehicle, so that the vehicle can be controlled to flexibly switch between braking and adaptive cruise according to the preset brake distance of the vehicle, and the safety of the adaptive cruise of the vehicle can be improved.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 10 is a block diagram of an apparatus 1000 for controlling a vehicle according to an embodiment of the present disclosure. For example, the apparatus 1000 may be provided as an apparatus. Referring to fig. 10, the apparatus 1000 includes a processor 1022, which may be one or more in number, and a memory 1032 for storing computer programs executable by the processor 1022. The computer programs stored in memory 1032 may include one or more modules that each correspond to a set of instructions. Further, the processor 1022 may be configured to execute the computer program to perform the method of rendering a web page described above.
Additionally, the apparatus 1000 may also include a power component 1026 and a communication component 1050, the power component 1026 may be configured to perform power management of the apparatus 1000, and the communication component 1050 may be configured to enable communication of the apparatus 1000, e.g., wired or wireless communication. The device 1000 may also include an input/output (I/O) interface 1058. The device 1000 may operate based on an operating system stored in the memory 1032, such as Windows ServerTM，Mac OS XTM，UnixTM，LinuxTMAnd so on.
In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the method of rendering a web page described above is also provided. For example, the computer readable storage medium may be the memory 1032 comprising program instructions executable by the processor 1022 of the device 1000 to perform the method of rendering a web page described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the method of rendering a web page as described above when executed by the programmable apparatus.
Fig. 11 is a schematic structural diagram of a vehicle according to an embodiment of the present disclosure. As shown in fig. 11, the vehicle includes the above-described apparatus for controlling the vehicle.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure. It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (13)
1. A method of controlling a vehicle, the method comprising:
acquiring a target route for vehicle driving;
determining a target cruising interval according to the target route, wherein the target cruising interval comprises a target cruising distance between the current position of the vehicle and a target parking position;
and controlling the vehicle to brake or adaptively cruise according to the target cruise distance and a preset brake distance, wherein the preset brake distance is a preset distance traveled from the start of braking to the stop of the vehicle.
2. The method according to claim 1, wherein said controlling said vehicle braking or adaptive cruise as a function of said target cruise distance and a preset braking distance comprises:
under the condition that the target cruising distance is larger than the preset braking distance, controlling the vehicle to cruise in an adaptive mode; alternatively, the first and second electrodes may be,
and controlling the vehicle to brake under the condition that the target cruising distance is smaller than or equal to the preset brake distance.
3. The method according to claim 1, wherein in a case where at least one switch exists in the target cruise zone and the state of a target switch is an unlocked state, the target switch is a switch closest to a current position of the vehicle among the at least one switch, the method further comprising:
taking a target position as a new target parking position, wherein the target position is located between the vehicle and the position of the target turnout and is a preset distance away from the target turnout;
updating the target cruise interval according to the new target parking position to obtain a first updated cruise interval;
controlling the vehicle braking in the first updated cruise interval.
4. The method of claim 3, wherein prior to said assuming the target position as the new target parking position, the method further comprises:
sending a turnout state request message to a server, wherein the turnout state request message comprises a vehicle identification of the vehicle and the current position of the vehicle;
and receiving the state of the target turnout determined by the server according to the vehicle identification and the current position of the vehicle.
5. The method of claim 4, wherein after receiving the state of the target switch determined by the server according to the vehicle identification and the current position of the vehicle, in the case that the state of the target switch is an unlocked state, the method further comprises:
re-acquiring the state of the target turnout after a preset time period to obtain a new state of the target turnout;
and controlling the vehicle to brake or adaptively cruise according to the state of the new target turnout.
6. The method according to claim 1, wherein in case the target cruise interval comprises an obstacle, the method further comprises:
acquiring the obstacle distance between the vehicle and the obstacle;
acquiring the type of the obstacle under the condition that the distance between the obstacles is smaller than or equal to a preset anti-collision distance, wherein the preset anti-collision distance is larger than or equal to the preset braking distance;
controlling the vehicle braking or adaptive cruise according to the type of the obstacle.
7. The method of claim 6, wherein the types of obstacles comprise stationary obstacles and moving obstacles, and the obtaining the type of obstacle comprises:
acquiring a first driving speed of the obstacle;
determining the type of the obstacle according to the first running speed of the obstacle.
8. The method of claim 7, wherein the determining the type of the obstacle from the first travel speed of the obstacle comprises:
determining the type of the obstacle to be a stationary obstacle if the first travel speed is less than or equal to a preset minimum speed threshold; alternatively, the first and second electrodes may be,
determining the type of the obstacle as a moving obstacle if the first travel speed is greater than the preset minimum speed threshold.
9. The method of claim 7, wherein said controlling the vehicle braking or adaptive cruise, depending on the type of obstacle, comprises:
updating the target cruise interval according to the obstacle distance to obtain a second updated cruise interval;
controlling the vehicle braking or adaptive cruise within the second updated cruise interval depending on the type of obstacle.
10. The method according to claim 9, wherein said controlling the vehicle braking or adaptive cruise within the second updated cruise interval according to the type of obstacle comprises:
controlling the vehicle braking in the second update cruise interval if the type of obstacle is a stationary obstacle; alternatively, the first and second electrodes may be,
controlling the vehicle to adaptively cruise within the second updated cruise interval at a second driving speed in the case that the type of the obstacle is a moving obstacle; the second travel speed is less than or equal to the first travel speed.
11. The method according to any one of claims 1 to 10, wherein before said determining a target cruise interval according to said target route, said method further comprises:
acquiring current first position information of the vehicle and current second position information of other vehicles except the vehicle;
determining whether the first location information and the current location information overlap;
the determining a target cruise zone according to the target route includes:
and under the condition that the first position information and the second position information do not overlap, determining a target cruise interval according to the target route.
12. An apparatus for controlling a vehicle, characterized by comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 11.
13. A vehicle characterized by comprising the apparatus for controlling a vehicle according to claim 12.
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| CN202010865472.9A CN114104043A (en) | 2020-08-25 | 2020-08-25 | Method and device for controlling vehicle and vehicle |
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| CN202010865472.9A CN114104043A (en) | 2020-08-25 | 2020-08-25 | Method and device for controlling vehicle and vehicle |
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