CN114802218A

CN114802218A - Vehicle running control system and method

Info

Publication number: CN114802218A
Application number: CN202110112423.2A
Authority: CN
Inventors: 张娜伟; 董伟佳; 韩金; 原则
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2021-01-27
Filing date: 2021-01-27
Publication date: 2022-07-29

Abstract

The invention is suitable for the technical field of vehicle control, and provides a vehicle running control system and method, which comprises the following steps: the system comprises a vehicle pre-driving state acquisition unit, a vehicle driving state acquisition unit and a vehicle driving state acquisition unit, wherein the vehicle pre-driving state acquisition unit is used for acquiring vehicle pre-driving state information and/or driver state information; the vehicle running condition acquisition unit is used for acquiring vehicle running condition information; the control unit is used for determining the driving behavior of the vehicle according to the received vehicle pre-driving state information and/or the driver state information and the vehicle running condition information; and the processing unit is used for monitoring the corresponding blind area information according to the driving behavior of the vehicle, so that the blind area image corresponding to the vehicle can be displayed according to the driving behavior of the vehicle, the occurrence of traffic accidents is reduced or avoided, and the driving safety of the vehicle is improved.

Description

Vehicle running control system and method

Technical Field

The invention belongs to the technical field of vehicle control, and particularly relates to a vehicle driving control system and method.

Background

In order to improve driving safety, development of various safe driving assistance systems has been started. The driving blind area refers to a dead angle generated by the sight line of a driver when driving a motor vehicle and a place which cannot be realized, the right side of the vehicle has a larger view blind area than the left side, and the probability of accidents on the right side of the vehicle is higher under the same traffic condition. The right front blind area monitoring system equipped for the current vehicle mainly comprises an ultrasonic radar, a control module and the like, the working condition of the system is determined by the physical characteristics of ultrasonic waves, a certain blind area and possibility of false alarm exist in the detection range, and the requirement of people on high-safety driving performance of the vehicle cannot be met.

Disclosure of Invention

In view of this, the embodiment of the present invention provides a system and a method for controlling vehicle driving, which aim to solve the problems of a blind area and false alarm in the detection range of a vehicle monitoring system in the prior art.

To achieve the above object, a first aspect of an embodiment of the present invention provides a control system for vehicle travel, including: the system comprises a vehicle pre-running state acquisition unit, a vehicle running condition acquisition unit, a control unit and a processing unit; the control unit is respectively connected with the vehicle pre-running state acquisition unit, the vehicle running condition acquisition unit and the processing unit;

the vehicle pre-driving state acquisition unit is used for acquiring vehicle pre-driving state information and/or driver state information and sending the acquired vehicle pre-driving state information and/or the driver state information to the control unit;

the vehicle running condition acquisition unit is used for acquiring vehicle running condition information and sending the acquired running condition information to the control unit;

the control unit is used for determining the driving behavior of the vehicle according to the received vehicle pre-driving state information and/or the driver state information and the vehicle running condition information;

and the processing unit is used for monitoring corresponding blind area information according to the driving behavior of the vehicle.

As another embodiment of the present application, the vehicle pre-travel state information includes: road information in front of the vehicle and signal information of a signal lamp for left turning or right turning of the vehicle;

the driver state information includes: a driver face image;

the vehicle pre-running state acquisition unit comprises: the system comprises a navigation module, a combined switch module and an indoor mapping module;

the navigation module is used for acquiring road information in front of a vehicle;

the combined switch module is used for collecting signal information of a signal lamp for left turning or right turning of the vehicle;

and the indoor projection module is used for acquiring facial images of the driver.

As another embodiment of the present application, the vehicle right direction running state information includes: vehicle speed and vehicle wheel left or right turn;

the vehicle operation condition acquisition unit comprises: the device comprises a wheel speed acquisition module and a steering wheel corner acquisition module;

the wheel speed acquisition module is used for acquiring the speed of the vehicle;

and the steering wheel corner acquisition module is used for acquiring the left corner or the right corner of the vehicle wheel.

The device comprises a first judging module, a second judging module and an operation module;

the first judgment module is connected with the vehicle pre-driving state acquisition unit and used for judging whether the vehicle drives in the left direction or whether the vehicle drives in the right direction according to the vehicle pre-driving state information and/or the driver state information and obtaining a first result;

the second judgment module is respectively connected with the first judgment module and the vehicle running condition acquisition unit and is used for judging the current driving condition of the vehicle according to the vehicle running condition information when the first result is that the vehicle runs in the left direction or the right direction;

the operation module is used for determining the driving behavior of the vehicle according to the current running working condition of the vehicle.

As another embodiment of the present application, the processing unit includes an off-board acquisition subunit;

the vehicle exterior acquisition subunit is used for acquiring corresponding vehicle exterior obstacle information according to the driving behavior of the vehicle and sending the acquired vehicle exterior obstacle information to the control unit;

the control unit further comprises a third judgment module, and the third judgment module is used for judging whether to alarm or not according to the information of the obstacles outside the vehicle, which is acquired by the acquisition subunit outside the vehicle.

As another embodiment of this application, the sub-unit is gathered for the radar outside the car, the radar is used for surveying the regional obstacle information that corresponds to vehicle on the left side of the vehicle, regional and the regional area in front of the left side of the vehicle left side rear of vehicle, or the radar is used for surveying the regional obstacle information that corresponds to vehicle on the right side of the vehicle, regional and the regional area in front of the right side of the vehicle right side rear of vehicle.

As another embodiment of the application, the processing unit further comprises an output subunit, and the output subunit is used for collecting corresponding images of left or right blind areas of the vehicle according to the driving behavior of the vehicle and displaying the images through the display module.

A second aspect of an embodiment of the present invention provides a control method of vehicle travel, including:

respectively collecting vehicle pre-running state information and/or driver state information and vehicle running condition information;

determining the driving behavior of the vehicle according to the collected vehicle pre-driving state information and/or the driver state information and the vehicle running condition information;

and monitoring corresponding blind area information according to the driving behavior of the vehicle.

the driver state information includes: a driver face image;

the vehicle right direction running state information includes: vehicle speed and vehicle wheel left or right turn;

the step of determining the driving behavior of the vehicle according to the collected vehicle pre-driving state information and/or the driver state information and the vehicle running condition information comprises the following steps:

judging whether the vehicle runs leftwards or whether the vehicle runs rightwards according to the vehicle pre-running state information and/or the driver state information;

when the vehicle is judged to run leftwards or rightwards, judging the current running condition of the vehicle according to the vehicle running condition information;

and determining the driving behavior of the vehicle according to the current running condition of the vehicle.

As another embodiment of the present application, the driving behavior of the vehicle includes:

when the vehicle speed is greater than or equal to a first preset vehicle speed and the left turning angle of the vehicle wheel is greater than a first angle and less than or equal to a second angle, determining that the vehicle runs at a high speed and a left lane change is required; when the vehicle speed is greater than or equal to a first preset vehicle speed and the right turning angle of the vehicle wheel is greater than a first angle and less than or equal to a second angle, determining that the vehicle runs at a high speed and a right lane change is required;

when the vehicle speed is lower than a first preset vehicle speed and the left corner of the vehicle wheel is larger than a first angle and is smaller than or equal to a second angle, determining that the vehicle runs in an urban area and a left lane change is required; when the vehicle speed is lower than a first preset vehicle speed and the right corner of the vehicle wheel is larger than a first angle and is smaller than or equal to a second angle, determining that the vehicle runs in an urban area and needs to change lanes on the right;

when the vehicle speed is lower than a first preset vehicle speed and the left turning angle of the vehicle wheel is larger than a second angle and smaller than a third angle, determining that the vehicle is to turn left; when the vehicle speed is lower than a first preset vehicle speed, and the right turning angle of the vehicle wheel is larger than a second angle and smaller than a third angle, determining that the vehicle is to turn right;

when the vehicle speed is lower than a second preset vehicle speed and the left corner of the vehicle wheel is larger than a third angle, determining that the vehicle is to turn left; when the vehicle speed is lower than a second preset vehicle speed and the right turning angle of the vehicle wheel is larger than a third angle, determining that the vehicle is about to turn right;

determining that the vehicle is to go straight when the left or right turn of the vehicle wheel is less than or equal to a first angle.

Compared with the prior art, the embodiment of the invention has the following beneficial effects: compared with the prior art, the invention collects the pre-driving state information of the vehicle and/or the state information of the driver through the pre-driving state collecting unit of the vehicle, the running condition collecting unit of the vehicle collects the running condition information of the vehicle, the control unit determines the driving behavior of the vehicle according to the received pre-driving state information of the vehicle and/or the state information of the driver and the running condition information of the vehicle, and the processing unit monitors the corresponding blind area information according to the driving behavior of the vehicle, so that the corresponding blind area image of the vehicle can be displayed according to the driving behavior of the vehicle, thereby reducing or avoiding the occurrence of traffic accidents and improving the running safety of the vehicle.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a schematic diagram of a control system for vehicle travel provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of a control system for vehicle travel according to another embodiment of the present invention;

FIG. 3 is a schematic diagram of a right side blind zone partition of a vehicle according to an embodiment of the present invention;

fig. 4 is an exemplary diagram of a control method for vehicle running according to an embodiment of the present invention;

fig. 5 is a schematic diagram of a terminal device according to an embodiment of the present invention.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

In order to explain the technical means of the present invention, the following description will be given by way of specific examples.

Fig. 1 is a schematic diagram of a control system for vehicle driving according to an embodiment of the present invention, which may include: the system comprises a vehicle pre-running state acquisition unit 1, a vehicle running condition acquisition unit 2, a control unit 3 and a processing unit 4; the control unit 3 is respectively connected with the vehicle pre-running state acquisition unit 1, the vehicle running condition acquisition unit 2 and the processing unit 4;

the vehicle pre-driving state acquisition unit 1 is configured to acquire vehicle pre-driving state information and/or driver state information, and send the acquired vehicle pre-driving state information and/or driver state information to the control unit 3;

the vehicle running condition acquisition unit 2 is used for acquiring vehicle running condition information and sending the acquired vehicle running condition information to the control unit 3;

the control unit 3 is used for determining the driving behavior of the vehicle according to the received vehicle pre-driving state information and/or the driver state information and the vehicle running condition information;

and the processing unit 4 is used for monitoring corresponding blind area information according to the driving behavior of the vehicle.

Optionally, the vehicle pre-driving state information includes: road information in front of the vehicle and signal information of a signal lamp for left turn or right turn of the vehicle; the driver state information includes: an image of the face of the driver.

As shown in fig. 2, the vehicle pre-travel state acquisition unit 1 includes: the system comprises a navigation module 11, a combination switch module 12 and an indoor mapping module 13;

the navigation module 11 is used for acquiring road information in front of a vehicle; alternatively, the navigation module 11 may be a GPS navigation module, which may be integrated on the multimedia host.

The combined switch module 12 is used for collecting signal information of a signal lamp for left turning or right turning of the vehicle;

and the indoor projection module 13 is used for acquiring a face image of the driver. Optionally, the facial image of the driver is collected, and whether the eyes of the driver turn to the direction of the left rearview mirror or the direction of the right rearview mirror is detected, so that whether the driver needs to drive left or right is judged.

Optionally, the vehicle right-direction driving state information includes: vehicle speed and vehicle wheel left or right hand angle.

As shown in fig. 2, the vehicle operation condition collecting unit 2 includes: a wheel speed acquisition module 21 and a steering wheel angle acquisition module 22.

The wheel speed acquisition module 21 is used for acquiring the speed of the vehicle;

and the steering wheel corner acquisition module 22 is used for acquiring the left corner or the right corner of the vehicle wheel.

Alternatively, the wheel speed acquisition module 21 may be a wheel speed sensor, and the steering wheel angle acquisition module 22 may be a steering wheel angle sensor. It should be noted that the steering wheel angle sensor may collect a steering wheel angle signal, and convert the steering wheel angle signal into a left wheel angle or a right wheel angle.

Optionally, as shown in fig. 2, the control unit 3 includes a first determining module 31, a second determining module 32, and an operation module 33;

the first judging module 41 is connected to the vehicle pre-driving state collecting unit 1, and is configured to judge whether the vehicle is driving in a left direction or whether the vehicle is driving in a right direction according to the vehicle pre-driving state information and/or the driver state information, and obtain a first result.

Optionally, as shown in fig. 2, the first determining module 31 is respectively connected to the navigation module 11, the combination switch module 12 and the indoor mapping module 13, and respectively detects whether there is only a left-turn road in road information in front of the vehicle, or whether the vehicle turns on a left-turn signal lamp, or whether the eyes of the driver in the facial image of the driver turn to the left-view mirror direction; or respectively detecting whether only a right-turn road exists in road information in front of the vehicle, or whether the vehicle starts a right-turn signal lamp, or whether the eyes of the driver in the face image of the driver turn to the direction of the right rearview mirror.

When determining whether the vehicle is traveling in the left direction, the first result may include any one of the following results: the road information in front of the vehicle only includes a left-turn road, or the vehicle turns on a left-turn signal lamp, or the eyes of the driver in the face image of the driver turn to the direction of a left rearview mirror. The first result is sent to the operation module 33 and the second determination module 32.

When determining whether the vehicle is traveling in the right direction, the first result may include any one of the following results: the road information in front of the vehicle only comprises a right-turn road, or the vehicle starts a right-turn signal lamp, or the eyes of the driver in the face image of the driver turn to the direction of the right rear view mirror. The first result is sent to the operation module 33 and the second determination module 32.

The second judging module 32 is connected to the first judging module 31 and the vehicle operating condition collecting unit 2, respectively, and is configured to judge a current operating condition of the vehicle according to the vehicle operating condition information when the first result is that the vehicle is driven in a left direction or a right direction.

Optionally, as shown in fig. 2, the second determining module 32 is connected to the wheel speed acquiring module 21 and the steering wheel angle acquiring module 22, respectively, and detects whether the vehicle speed or the vehicle angle meets the current driving condition.

Optionally, when the vehicle speed is greater than or equal to a first preset vehicle speed and the left corner of the vehicle wheel is greater than a first angle and less than or equal to a second angle, determining that the vehicle meets a driving condition that the vehicle is driven at a high speed and a left lane change is to be performed; when the vehicle speed is greater than or equal to a first preset vehicle speed, and the right corner of the vehicle wheel is greater than a first angle and less than or equal to a second angle, determining that the vehicle meets the running condition that the vehicle runs at a high speed and needs to change lanes on the right;

when the vehicle speed is lower than a first preset vehicle speed and the left corner of the vehicle wheel is larger than a first angle and is smaller than or equal to a second angle, determining that the vehicle meets the driving working condition of driving in an urban area and needing to perform left lane changing; when the vehicle speed is lower than a first preset vehicle speed and the right corner of the vehicle wheel is larger than a first angle and is smaller than or equal to a second angle, determining that the vehicle meets the driving working condition of driving in the urban area and needing right lane changing;

when the vehicle speed is lower than a first preset vehicle speed, and the left turning angle of the vehicle wheel is larger than a second angle and smaller than a third angle, determining that the vehicle conforms to a running condition of left turning; when the vehicle speed is lower than a first preset vehicle speed, and the right turning angle of the vehicle wheel is larger than a second angle and smaller than a third angle, determining that the vehicle conforms to the running condition of the right turning;

when the vehicle speed is lower than a second preset vehicle speed and the left corner of the vehicle wheel is larger than a third angle, determining that the vehicle meets the running condition of left turning; when the vehicle speed is lower than a second preset vehicle speed and the right corner of the vehicle wheel is larger than a third angle, determining that the vehicle meets the running condition of right turning;

and when the left corner or the right corner of the vehicle wheel is smaller than or equal to a first angle, determining that the vehicle conforms to the running condition of going straight.

The determined second result is sent to the operation module 33.

The operation module 33 is respectively connected to the first determination module 31 and the second determination module 32, and is configured to determine a driving behavior of the vehicle according to a current driving condition of the vehicle.

Optionally, as shown in fig. 2, the control unit 3 may further include a storage module 34;

the storage module 34 is connected to the operation module 33, and is configured to store the driving behavior of the vehicle determined by the operation module 33.

Optionally, the processing unit 4 comprises an off-board acquisition subunit 41;

the vehicle external acquisition subunit 41 is connected with the control unit 3;

the vehicle exterior collecting subunit 41 is configured to collect corresponding vehicle exterior obstacle information according to a driving behavior of a vehicle, and send the collected vehicle exterior obstacle information to the control unit 3;

the control unit 3 further includes a third determining module 35, where the third determining module 35 is configured to determine whether to alarm according to the information of the obstacle outside the vehicle, acquired by the vehicle outside acquiring subunit 41.

Alternatively, the off-vehicle acquisition subunit 41 may be a radar, as shown in fig. 3, and the radar is configured to detect obstacle information of a vehicle corresponding area on the right side of the vehicle (area B), an area in front of the right side of the vehicle (area a), and an area behind the right side of the vehicle (area C). The obstacle may be an obstacle or another vehicle. Alternatively, the detection range of the radar may be a range of 50cm, i.e. a range 50cm wide on the right side of the vehicle. Optionally, the radar may be further configured to detect obstacle information of a vehicle corresponding to a left side of the vehicle (zone B '), a vehicle left front zone (zone a '), and a vehicle left rear zone (zone C '), which are based on the same principle as detecting the vehicle right corresponding zone.

Optionally, the processing unit 4 further includes an output subunit 42, where the output subunit 42 is configured to collect and display a corresponding left or right blind area image of the vehicle according to the driving behavior of the vehicle.

The output sub-unit 42 may include an image collecting module 421 and a display module 422, the image collecting module 421 is respectively connected to the control unit 3 and the display module 422, and the image collecting module 421 is configured to collect corresponding images of left or right blind areas of the vehicle and synthesize the collected images. The display module 422 is used for displaying the collected images of the left and right sides or the blind areas of the side of the vehicle and displaying the synthesized images.

Optionally, the image acquisition module is a 360-degree around-looking system and includes a plurality of cameras arranged on the left side of the vehicle, a plurality of cameras arranged on the right side of the vehicle, and a corresponding controller.

Optionally, when it is determined that the vehicle meets a driving condition that the vehicle is driven at a high speed and a left lane change is to be performed, and when it is determined that an obstacle exists in the B ' area according to the distance information, the third determining module 35 performs a first alarm, the image collecting module 421 collects an image of the B ' area and an image of the C ' area, and the display module 422 displays the images; when it is determined that no obstacle exists in the B ' region according to the distance information, the image acquisition module 421 acquires the C ' region image and displays the C ' region image by the display module 422; when the vehicle is determined to meet the driving condition that the vehicle is driven at a high speed and a right lane change is required, and when the obstacle exists in the area B according to the distance information, the third judgment module 35 gives a first alarm, the image acquisition module 421 acquires the image of the area B and the image of the area C, and the display module 422 displays the images; when it is determined that no obstacle exists in the area B according to the distance information, the image acquisition module 421 acquires the image of the area C and displays the image by the display module 422.

Optionally, when it is determined that the vehicle meets the driving condition of driving in an urban area and performing a left lane change, and it is determined that an obstacle exists in the B ' area according to the distance information, the third determining module 35 performs a second alarm, the image collecting module 421 collects an image of the B ' area and an image of the C ' area, and the display module 422 displays the images; when it is determined that no obstacle exists in the B ' region according to the distance information, the image acquisition module 421 acquires the C ' region image and displays the C ' region image by the display module 422; when the vehicle is determined to meet the driving condition of driving in the urban area and performing right lane change and when the obstacle exists in the area B is determined according to the distance information, the third judgment module 35 performs a second alarm, the image acquisition module 421 acquires the image of the area B and the image of the area C, and the display module 422 displays the images; when it is determined that no obstacle exists in the area B according to the distance information, the image capturing module 421 captures an image of the area C and displays the image on the display module 422.

Optionally, when it is determined that the vehicle conforms to a driving condition of a left turn and it is determined that an obstacle exists in the area a 'according to the distance information, the third determining module 35 performs a second alarm, the image collecting module 421 collects an image of the area a', an image of the area B ', and an image of the area C', and the display module 422 displays the images; when it is determined that no obstacle exists in the area a ' according to the distance information, the image acquisition module 421 acquires the image of the area B ' and the image of the area C ' and displays the images by the display module 422; when the vehicle is determined to meet the driving condition of turning right and the obstacle exists in the area A according to the distance information, the third judgment module 35 gives a second alarm, the image acquisition module 421 acquires the image of the area A, the image of the area B and the image of the area C, and the display module 422 displays the images; when it is determined that no obstacle exists in the area a according to the distance information, the image acquisition module 421 acquires the image of the area B and the image of the area C and displays the images by the display module 422.

Optionally, when it is determined that the vehicle meets a driving condition that a left turn is to be performed, and it is determined that an obstacle exists in any one of the areas a ', B', or C 'according to the distance information, the third determining module 35 performs a first alarm, the image collecting module 421 collects an image of the area a', an image of the area B ', and an image of the area C', and the display module 422 displays the images; when it is determined that no obstacle exists in the area a ', the area B' and the area C 'according to the distance information, the image acquisition module 421 acquires an image of the area a', an image of the area B 'and an image of the area C', and the display module 422 displays the images; when it is determined that the vehicle meets a driving condition that a right turn is to be performed, and when it is determined that an obstacle exists in any one of the areas a, B, or C according to the distance information, the third determining module 35 performs a first alarm, and the image collecting module 421 collects an image of the area a, an image of the area B, and an image of the area C, and the display module 422 displays the images; when it is determined that no obstacle exists in the area a, the area B, and the area C according to the distance information, the image acquisition module 421 acquires an image of the area a, an image of the area B, and an image of the area C, and the display module 422 displays the images.

Optionally, when it is determined that the vehicle meets the driving condition of going straight, no alarm is given and no image is collected for display.

Optionally, the first alarm and the second alarm are different in alarm mode. The first alarm may be a buzzer alarm and the second alarm may be a display lamp flashing alarm.

Alternatively, the first preset vehicle speed may be 40km/h and the second preset vehicle speed may be 10 km/h. The first angle may be 3 °, the second angle may be 10 °, and the third angle may be 30 °.

According to the vehicle driving control system, the vehicle pre-driving state information and/or the driver state information collected by the vehicle pre-driving state collection unit are collected, the vehicle running condition information is collected, the control unit determines the driving behavior of the vehicle according to the received vehicle pre-driving state information and/or the driver state information and the vehicle running condition information, the processing unit monitors the corresponding blind area information according to the driving behavior of the vehicle, and therefore the corresponding blind area condition can be displayed according to the driving behavior of the vehicle, the control unit gives an alarm according to different conditions, the occurrence of traffic accidents is reduced or avoided, and the vehicle running safety is improved.

As shown in fig. 4, a control method for vehicle driving according to an embodiment of the present invention is implemented by using the control system for vehicle driving according to any of the embodiments described above, and the control method for vehicle driving includes the following steps.

Step 401, respectively collecting vehicle pre-driving state information and/or driver state information and vehicle operation condition information.

In the step, the pre-driving state information and the driver state information of the vehicle are collected in the driving state of the vehicle. Wherein the vehicle pre-travel state information includes: road information in front of the vehicle and signal information of a left-turn or right-turn signal lamp of the vehicle. Alternatively, the information of the road in front of the vehicle may be collected by the navigation module in fig. 2, and the signal information of the signal lamp for turning left or right of the vehicle may be collected by the combination switch module in fig. 2.

The driver state information includes: an image of the face of the driver. The driver face image may be captured by the indoor mapping module in fig. 2.

The vehicle running condition information comprises: vehicle speed and vehicle wheel left or right turn; alternatively, the vehicle speed may be acquired by a wheel speed acquisition module in fig. 2, and the wheel speed acquisition module may be a wheel speed sensor. The left or right turning angle of the vehicle wheel can be collected by the steering wheel turning angle collecting module in fig. 2, and the steering wheel turning angle collecting module can be a steering wheel turning angle sensor. It should be noted that the steering wheel angle sensor may collect a steering wheel angle signal, and convert the steering wheel angle signal into a left or right wheel angle.

Step 402, determining the driving behavior of the vehicle according to the collected vehicle pre-driving state information and/or the driver state information and the vehicle running condition information.

Optionally, this step may include:

judging whether the vehicle is going to run in the left direction or not or judging whether the vehicle is going to run in the right direction or not according to the vehicle pre-running state information and/or the driver state information;

and determining the driving behavior of the vehicle according to the current running working condition of the vehicle.

Optionally, the condition for determining that the vehicle is traveling in the left direction may include:

and when only a left-turn road exists in the road information in front of the vehicle, or the vehicle turns on a left-turn signal lamp, or any condition in the direction that the eyes of the driver turn to the left rearview mirror in the face image of the driver is met, determining that the vehicle meets the condition of going to the left.

Similarly, the condition for judging that the vehicle runs in the right direction may include:

and when only a right-turn road exists in the road information in front of the vehicle, or the vehicle turns on a right-turn signal lamp, or any condition in the direction that the eyes of the driver turn to the right rear view mirror in the face image of the driver is met, determining that the vehicle meets the condition of going to right-turn.

Optionally, the driving behavior of the vehicle may include:

when the vehicle speed is greater than or equal to a first preset vehicle speed and the left turning angle of the vehicle wheel is greater than a first angle and less than or equal to a second angle, determining that the vehicle runs at a high speed and a left lane change is required; when the vehicle speed is greater than or equal to a first preset vehicle speed, and the right corner of the vehicle wheel is greater than a first angle and less than or equal to a second angle, determining that the vehicle runs at a high speed and a right lane change is required;

And step 403, monitoring corresponding blind area information according to the driving behavior of the vehicle.

Optionally, for convenience of description, different areas on the right side of the vehicle may be named, as shown in fig. 3, an area on the right side of the vehicle corresponding to the vehicle is an area B, an area in front of the right side of the vehicle is an area a, and an area behind the right side of the vehicle is an area C. The images of different areas of the right side of the vehicle may include: the system comprises a B area image of an area on the right side of the vehicle corresponding to the vehicle, an A area image of an area in front of the right side of the vehicle and a C area image of an area behind the right side of the vehicle.

Similarly, different areas on the left side of the vehicle can be named, the area on the left side of the vehicle corresponding to the vehicle is the area B ', the area in front of the left side of the vehicle is the area A ', and the area behind the left side of the vehicle is the area C '. The images of different areas of the left side of the vehicle may include: the image of the area B ' of the left side of the vehicle corresponding to the vehicle, the image of the area A ' of the area in front of the left side of the vehicle and the image of the area C ' of the area behind the left side of the vehicle.

Optionally, monitoring the corresponding blind area information according to the driving behavior of the vehicle may include: and acquiring and displaying corresponding vehicle blind area images according to the driving behaviors of the vehicles.

Optionally, when it is determined that the vehicle meets a driving condition that the vehicle is driven at a high speed and a left lane change is to be performed, and when it is determined that an obstacle exists in the B ' area according to the distance information, performing a first alarm, and acquiring an image of the B ' area and an image of the C ' area for display; and when the B 'area is determined to have no obstacle according to the distance information, acquiring the C' area image for displaying. When the vehicle is determined to accord with the driving working condition that the vehicle is driven at a high speed and needs to change lanes to the right, and when the obstacle exists in the area B according to the distance information, performing first alarm, and acquiring an image of the area B and an image of the area C for displaying; and when the fact that no barrier exists in the area B is determined according to the distance information, acquiring an image of the area C for displaying.

Alternatively, here the first preset vehicle speed may be 40 km/h. The first angle may be 3 ° and the second angle may be 10 °; the first alarm may be an alarm using a buzzer. That is, when the vehicle speed is greater than or equal to 40km/h and the left rotation angle of the vehicle wheel is greater than 3 ° and less than or equal to 10 °, the driving condition of the vehicle at this time is characterized by: the vehicle speed is high, the left corner of the vehicle wheel is small, the visual field is wide, the vehicle can be determined to be running at a high speed and a left lane change is carried out, the main danger comes from the rear vehicle at the time, and therefore the C' area image needs to be presented. In order to improve safety, when the B ' area is detected to have obstacles, the B ' area image and the C ' area image are displayed, and a buzzer alarms. When the vehicle speed is greater than or equal to 40km/h and the right corner of the vehicle wheel is greater than 3 degrees and less than or equal to 10 degrees, the vehicle running condition at the moment is characterized in that: the vehicle speed is high, the right turning angle of the vehicle wheels is small, the visual field is wide, the vehicle can be determined to be running at a high speed and a right lane change is carried out, and at the moment, the main danger comes from the rear vehicle, so the C area image needs to be presented. In order to improve safety, when the B area is detected to have obstacles, the B area image and the C area image are displayed, and a buzzer alarms.

Optionally, when it is determined that the vehicle meets a driving condition that the vehicle is driven in an urban area and a left lane change is to be performed, and when it is determined that an obstacle exists in the B ' area according to the distance information, performing a second alarm, and acquiring an image of the B ' area and an image of the C ' area for display; when the fact that no obstacle exists in the area B 'is determined according to the distance information, acquiring an image of the area C' for displaying; when the vehicle is determined to accord with the driving working condition that the vehicle drives in the urban area and needs to change lanes to the right, and when the obstacle exists in the area B according to the distance information, performing second alarm, and acquiring an image in the area B and an image in the area C for displaying; and when the fact that no barrier exists in the area B is determined according to the distance information, acquiring an image of the area C for displaying.

Here, the second alarm may be a display lamp blinking alarm. That is, when the vehicle speed is less than 40km/h and the left corner of the vehicle wheel is greater than 3 ° and less than or equal to 10 °, the driving condition of the vehicle at this time is characterized by: in the vehicle speed, the left corner of the vehicle wheel is small, the visual field is wide, the vehicle can be determined to be a left lane change in the urban area at the ordinary speed, and the main danger comes from the vehicle behind at the moment, so that the C' area image needs to be presented. Because urban traffic is congested, when the B ' area is detected to have obstacles, the B ' area image and the C ' area image are displayed, and the alarm is given in a display lamp flashing mode, so that the influence of frequent alarm of a buzzer on driving is prevented. When the vehicle speed is less than 40km/h and the right corner of the vehicle wheel is more than 3 degrees and less than or equal to 10 degrees, the vehicle running condition at the moment is characterized in that: in the vehicle speed, the right corner of the vehicle wheel is small, the visual field is wide, the vehicle can be determined to be a right lane change in the normal speed driving in the urban area at the moment, and the main danger comes from the vehicle behind at the moment, so the C area image needs to be presented. Because urban traffic is congested, when the B area is detected to have obstacles, the B area image and the C area image are displayed, and the alarm is given in a display lamp flashing mode, so that the influence of frequent alarm of a buzzer on driving is prevented.

Optionally, when it is determined that the vehicle conforms to a driving condition that a left turn is to be performed and when it is determined that an obstacle exists in the area a 'according to the distance information, performing a second alarm, and acquiring an image of the area a', an image of the area B ', and an image of the area C' for display; and when the A ' area is determined to have no obstacle according to the distance information, acquiring the B ' area image and the C ' area image for displaying. When the vehicle is determined to accord with the driving working condition of turning right and the obstacle exists in the area A according to the distance information, performing second alarm, and acquiring an area A image, an area B image and an area C image for displaying; and when the A area is determined to have no obstacle according to the distance information, acquiring the B area image and the C area image for displaying.

The third angle may here be 30. When the vehicle turns left, the speed is low, the visual field is moderate, so that the B 'area image and the C' area image are presented. When the A 'area is detected to have the obstacle, the display screen flickers for early warning, the phenomenon that driving is influenced by frequent buzzer alarming is prevented, and an A' area image, a B 'area image and a C' area image are presented. When the vehicle turns right, the speed is low, the visual field is moderate, and therefore the B area image and the C area image are displayed. When the A area is detected to have the obstacle, the display screen flickers for early warning, the driving is prevented from being influenced by frequent buzzer alarming, and an A area image, a B area image and a C area image are presented.

Optionally, when it is determined that the vehicle meets a driving condition that a left turn is to be performed, and when it is determined that an obstacle exists in any one of the areas a ', B', or C 'according to the distance information, performing a first alarm, and acquiring an image of the area a', an image of the area B ', and an image of the area C' for display; and when determining that no obstacle exists in the area A ', the area B' and the area C 'according to the distance information, acquiring an image of the area A', an image of the area B 'and an image of the area C' for display. When the vehicle is determined to accord with the driving working condition that the vehicle is about to turn right, and when any one of the areas A, B or C is determined to have an obstacle according to the distance information, performing first alarm, and acquiring an area A image, an area B image and an area C image for displaying; and when it is determined that no obstacle exists in the area A, the area B and the area C according to the distance information, acquiring an area A image, an area B image and an area C image for displaying.

When the vehicle turns left, the visual field is poor, so that an image of an area A ', an image of an area B ' and an image of an area C ' are presented, and when an obstacle exists in any area, a buzzer alarms. When the vehicle turns around right, the visual field is poor, so an image in the area A, an image in the area B and an image in the area C are presented, and when an obstacle exists in any area, a buzzer alarms.

Optionally, when the vehicle is determined to accord with the running condition of going straight, no alarm is given and no image is collected for display;

it should be noted that the first alarm and the second alarm are different in alarm manner, and the alarm manner is merely an exemplary illustration, and the present invention is not limited to the alarm manner.

The control method for vehicle running comprises the steps of respectively collecting vehicle pre-running state information and/or driver state information and vehicle running condition information; the driving behavior of the vehicle is determined according to the collected vehicle pre-driving state information and/or the driver state information and the vehicle running condition information, and the corresponding blind area information is monitored according to the driving behavior of the vehicle, so that the image of the corresponding blind area of the vehicle can be displayed according to the driving behavior of the vehicle, and the control unit gives an alarm according to different conditions, thereby reducing or avoiding the occurrence of traffic accidents and improving the driving safety of the vehicle.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

Fig. 5 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 5, the terminal device 500 of this embodiment includes: a processor 501, a memory 502 and a computer program 503, such as a warning program for right-hand driving of a vehicle, stored in said memory 502 and operable on said processor 501. The processor 501 implements the steps in the above-described control method embodiment for vehicle travel, for example, steps 401 to 402 shown in fig. 4, when executing the computer program 503, and the processor 501 implements the functions of the respective modules in the above-described device embodiments, for example, the functions of the units or modules shown in fig. 1 or 2, when executing the computer program 503.

Illustratively, the computer program 503 may be partitioned into one or more program modules that are stored in the memory 502 and executed by the processor 501 to implement the present invention. The one or more program modules may be a series of computer program instruction segments capable of performing specific functions for describing the execution process of the computer program 503 in the warning device or terminal apparatus 500 for right-hand driving of the vehicle. For example, the computer program 503 may be divided into a vehicle pre-driving state acquisition unit 1, a vehicle operating condition acquisition unit 2, a control unit 3, and an output unit 4, and specific functions of the modules are shown in fig. 1, which are not described in detail herein.

The terminal device 500 may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device may include, but is not limited to, a processor 501, a memory 502. Those skilled in the art will appreciate that fig. 5 is merely an example of a terminal device 500 and is not intended to limit the terminal device 500 and may include more or fewer components than those shown, or some components may be combined, or different components, for example, the terminal device may also include input output devices, network access devices, buses, etc.

The Processor 501 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 502 may be an internal storage unit of the terminal device 500, such as a hard disk or a memory of the terminal device 500. The memory 502 may also be an external storage device of the terminal device 500, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 500. Further, the memory 502 may also include both an internal storage unit and an external storage device of the terminal device 500. The memory 502 is used for storing the computer programs and other programs and data required by the terminal device 500. The memory 502 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.

Claims

1. A control system for vehicle travel, characterized by comprising: the system comprises a vehicle pre-running state acquisition unit, a vehicle running condition acquisition unit, a control unit and a processing unit; the control unit is respectively connected with the vehicle pre-running state acquisition unit, the vehicle running condition acquisition unit and the processing unit;

2. The control system of vehicle running according to claim 1, wherein the vehicle pre-running state information includes: road information in front of the vehicle and signal information of a signal lamp for left turning or right turning of the vehicle;

the driver state information includes: a driver face image;

3. The vehicle travel control system of claim 1, wherein the vehicle operating condition information includes: vehicle speed and vehicle wheel left or right turn;

4. The control system for vehicle running according to any one of claims 1-3, wherein the control unit includes a first judgment module, a second judgment module, and an operation module;

the second judgment module is respectively connected with the first judgment module and the vehicle running condition acquisition unit and is used for judging the current running condition of the vehicle according to the vehicle running condition information when the first result is that the vehicle runs in the left direction or the right direction;

5. The vehicle trip control system of claim 4, wherein the processing unit comprises an off-board acquisition subunit;

6. The system for controlling running of a vehicle according to claim 5, wherein the off-board collection subunit is a radar for detecting obstacle information of a vehicle corresponding to a region on the left side of the vehicle, a region in front of the left side of the vehicle, and a region behind the left side of the vehicle, or for detecting obstacle information of a vehicle corresponding to a region on the right side of the vehicle, a region in front of the right side of the vehicle, and a region behind the right side of the vehicle.

7. The vehicle driving control system according to claim 5, wherein the processing unit further comprises an output subunit, and the output subunit is configured to collect and display the corresponding left or right blind area image of the vehicle through the display module according to the driving behavior of the vehicle.

8. A control method of vehicle travel, characterized by comprising:

9. The method of controlling running of a vehicle according to claim 8, wherein the vehicle pre-running state information includes: road information in front of the vehicle and signal information of a signal lamp for left turning or right turning of the vehicle;

the driver state information includes: a driver face image;

the operation condition information comprises: vehicle speed and vehicle wheel left or right turn;

10. The control method of vehicle running according to claim 9, wherein the driving behavior of the vehicle includes: