CN114872623B - Vehicle control method, device, equipment and medium - Google Patents

Vehicle control method, device, equipment and medium Download PDF

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Publication number
CN114872623B
CN114872623B CN202210625733.9A CN202210625733A CN114872623B CN 114872623 B CN114872623 B CN 114872623B CN 202210625733 A CN202210625733 A CN 202210625733A CN 114872623 B CN114872623 B CN 114872623B
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China
Prior art keywords
vehicle
tire
vehicles
information
fleet
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CN202210625733.9A
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Chinese (zh)
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CN114872623A (en
Inventor
张祖豪
沙飞
王超
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Tianjin Mainline Technology Co ltd
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Tianjin Mainline Technology Co ltd
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Priority to CN202210625733.9A priority Critical patent/CN114872623B/en
Publication of CN114872623A publication Critical patent/CN114872623A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
    • B60C23/02—Signalling devices actuated by tyre pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
    • B60C23/02—Signalling devices actuated by tyre pressure
    • B60C23/04—Signalling devices actuated by tyre pressure mounted on the wheel or tyre
    • B60C23/0408—Signalling devices actuated by tyre pressure mounted on the wheel or tyre transmitting the signals by non-mechanical means from the wheel or tyre to a vehicle body mounted receiver
    • B60C23/0479—Communicating with external units being not part of the vehicle, e.g. tools for diagnostic, mobile phones, electronic keys or service stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
    • B60C23/02—Signalling devices actuated by tyre pressure
    • B60C23/04—Signalling devices actuated by tyre pressure mounted on the wheel or tyre
    • B60C23/0486—Signalling devices actuated by tyre pressure mounted on the wheel or tyre comprising additional sensors in the wheel or tyre mounted monitoring device, e.g. movement sensors, microphones or earth magnetic field sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
    • B60C23/06—Signalling devices actuated by deformation of the tyre, e.g. tyre mounted deformation sensors or indirect determination of tyre deformation based on wheel speed, wheel-centre to ground distance or inclination of wheel axle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84—Data processing systems or methods, management, administration

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The embodiment of the application provides a vehicle control method, a device, equipment and a medium, relates to the technical field of intelligent driving, and can be applied to business scenes such as ports, highway freight transportation, urban distribution, mines, airports and the like. The method comprises the following steps: controlling a target vehicle to run on other lanes adjacent to the lane where the fleet is currently located, wherein the target vehicle is a vehicle in the fleet; the method comprises the steps of acquiring collected image information of each other vehicle tire in a motorcade and/or point cloud characteristic information of the tire surface, determining whether the tire is abnormal according to the image information and/or the point cloud characteristic information, and effectively detecting the tire in the vehicle running process, so that the state of the vehicle tire is determined in time, and the running safety of the vehicle is improved.

Description

Vehicle control method, device, equipment and medium
Technical Field
The present application relates to the field of intelligent driving technologies, and in particular, to a vehicle control method, apparatus, device, and medium.
Background
During running, the vehicle can accelerate, decelerate and stop through the friction between the tire and the ground. However, the tire must have a tolerance degree as a rubber product, and the tire must be worn during long-time running of the vehicle, so that the tire is at risk of blowout. The tire burst not only can cause damage to the vehicle, but also can cause influence to the vehicle driving beside, thereby causing traffic accidents.
In order to save fuel consumption and to monitor each other during long-time driving, vehicles can form a vehicle team to travel, and the vehicles can help each other when a fault vehicle appears in the vehicle team. Generally, vehicles approaching the same destination or a driving road are formed into a fleet before the vehicles start from a starting point, and how to detect tires of the vehicles during driving of the fleet is a problem to be solved.
Disclosure of Invention
The embodiment of the application provides a vehicle control method, device, equipment and medium, which are used for solving the problem of detecting tires in the running process of a vehicle.
In a first aspect, the present application provides a vehicle control method, the method comprising:
Controlling a first target vehicle to run on other lanes adjacent to the lane where a fleet is currently located, wherein the first target vehicle is a vehicle in the fleet;
Controlling the first target vehicle to run to a position horizontal to the other vehicles aiming at each other vehicle in the vehicle team, and acquiring currently acquired image information of the other vehicle tires and/or point cloud characteristic information of the other vehicle tires;
And according to the image information and/or the point cloud characteristic information, under the condition that the tire of the other vehicle is abnormal, sending first prompt information of the tire abnormality to the other vehicles in the motorcade, wherein the first prompt information comprises identification information of the tire abnormality vehicle.
By the method, the first target vehicle is controlled to run on the other lanes adjacent to the lane where the vehicle team is currently located, and when the first target vehicle runs to the position horizontal to each other vehicle, whether the tires of the other vehicles are abnormal or not is determined according to the image information of the tires of the other vehicles and/or the point cloud characteristic information of the tires of the other vehicles, the appearance of the tires of the vehicles can be reflected due to the image information and the point cloud characteristic information, the problem that some sensors cannot display can be displayed, the tires can be effectively detected in the running process of the vehicles, so that the states of the tires of the vehicles can be timely determined, and the running safety of the vehicles is improved.
In one possible embodiment, the process of determining tire anomalies of the other vehicle according to the image information and the point cloud feature information includes:
determining fusion characteristics of tires of the other vehicles according to the image information, the point cloud characteristic information and a preset fusion algorithm; and determining whether there is an abnormality in the tires of the other vehicle based on the fusion characteristics.
By means of the method, the image information and the point cloud characteristic information are fused based on the preset fusion algorithm, the state of the tire of the other vehicle can be displayed more accurately, whether the tire of the other vehicle is abnormal or not is determined, the appearance of the tire of the vehicle is detected in the running process of the vehicle without stopping inspection, the vehicle inspection time is saved, the running efficiency of the vehicle is improved, whether the tire of the other vehicle is abnormal or not is determined based on the fusion characteristic, and the accuracy of tire state detection is further improved.
In one possible embodiment, the method further comprises:
after determining whether the tire of a second target vehicle is abnormal, controlling the first target vehicle to exceed the second target vehicle and drive onto a lane where the fleet is currently located, wherein the second target vehicle is a vehicle in the fleet and is not the same vehicle as the first target vehicle;
Sending information of updating the sequence in the vehicle queue to other vehicles in the vehicle queue, wherein the information carries identification information of the information, so that the other vehicles in the vehicle queue update the preset vehicle queue sequence; and notifying other vehicles in the fleet to update the vehicle tour time by using the current time.
By the method, after the first target vehicle makes a tour on the second target vehicle, the first target vehicle is controlled to travel into the vehicle queue, and the vehicle queue order and the vehicle tour time are updated, so that each vehicle in the vehicle queue can be ensured to be clear of the current vehicle queue order and the tour state in the vehicle queue.
In one possible embodiment, the method further comprises:
Acquiring the tire pressure and the tire temperature of each tire of the tire;
For each tire, determining that the tire is an abnormal tire vehicle under the condition that the tire pressure of the tire is larger than a second preset tire pressure threshold value or smaller than a first preset tire pressure threshold value or the tire Wen Dayu of the tire is a first preset tire temperature threshold value, and sending second prompt information of abnormal tires to other vehicles in the motorcade, wherein the second prompt information comprises identification information of the tire.
By the method, whether the tire of the vehicle is abnormal or not can be timely determined according to the obtained tire pressure and the tire temperature of each tire and based on the first preset tire pressure threshold value, the second preset tire pressure threshold value and the first preset tire temperature threshold value which are configured in advance, and the running safety of the vehicle is further improved.
In one possible embodiment, the method further comprises:
Receiving third prompt information of abnormal tires sent by other vehicles, wherein the third prompt information comprises identification information of vehicles with abnormal tires, and determining that the vehicles are abnormal tires under the condition that the identification information is identical to the identification information of the vehicles; and if the identification information is different from the identification information of the vehicle, determining the vehicle as a vehicle with abnormal tire suspicion.
In one possible embodiment, the method further comprises:
and under the condition that the vehicle is determined to be a tire abnormal vehicle, controlling the vehicle to travel to a preset detection place closest to the current place.
And under the condition that the vehicle is determined to be a suspected vehicle with abnormal tires, outputting prompt information that the vehicle possibly has abnormality.
By the method, whether the vehicle is the vehicle with abnormal tires or the vehicle with suspected tire abnormalities can be determined according to the identification information of the vehicle with abnormal tires, which is contained in the third prompt information sent by other vehicles, and the vehicle can be detected and maintained when the vehicle is the vehicle with abnormal tires, so that the vehicle can be driven to a preset detection place closest to the current place, and the driving safety of the vehicle is ensured; under the condition that the vehicle is suspected of being abnormal in the tire, the prompt information that the vehicle possibly has abnormality is output, so that a driver can know the state of the vehicle in time, preventive measures can be taken in advance, and the running safety of the vehicle is further ensured.
In a second aspect, the present application also provides a vehicle control apparatus, the apparatus comprising:
the control module is used for controlling a first target vehicle to travel on other lanes adjacent to the lane where the fleet is currently located, wherein the first target vehicle is a vehicle in the fleet; controlling, for each other vehicle in the fleet, the first target vehicle to travel to a position level with the other vehicle;
The acquisition module is used for acquiring currently acquired image information of the other vehicle tires and/or point cloud characteristic information of the other vehicle tires;
The sending module is used for sending first prompt information of abnormal tires to other vehicles in the vehicle team under the condition that the abnormal tires of the other vehicles are determined according to the image information and/or the point cloud characteristic information, and the first prompt information comprises identification information of the abnormal tires.
In one possible embodiment, the apparatus further comprises:
the determining module is used for determining fusion characteristics of tires of the other vehicles according to the image information, the point cloud characteristic information and a preset fusion algorithm; and determining whether there is an abnormality in the tires of the other vehicle based on the fusion characteristics.
In one possible implementation manner, the control module is further configured to control, after determining whether there is an abnormality in a tire of a second target vehicle, the first target vehicle to exceed the second target vehicle and travel to a lane where the fleet is currently located, where the second target vehicle is a vehicle in the fleet and is not the same vehicle as the first target vehicle;
The sending module is further configured to send information that the ordering in the fleet is updated to other vehicles in the fleet, where the information carries identification information of the other vehicles in the fleet, so that the other vehicles in the fleet update a preset fleet ordering; and notifying other vehicles in the fleet to update the vehicle tour time using the current time.
In a possible implementation manner, the acquiring module is further used for acquiring the tire pressure and the tire temperature of each tire of the tire currently acquired;
The determining module is configured to determine, for each tire, that the tire is an abnormal tire vehicle if the tire pressure of the tire is greater than a second preset tire pressure threshold or less than a first preset tire pressure threshold, or if the tire Wen Dayu of the tire is a first preset tire temperature threshold;
the sending module is further used for sending second prompt information of tire abnormality to other vehicles in the motorcade, and the second prompt information comprises identification information of the second prompt information.
In one possible embodiment, the apparatus further comprises:
The receiving module is used for receiving third prompt information of abnormal tires sent by other vehicles, wherein the third prompt information comprises identification information of the vehicles with abnormal tires;
The determining module is further used for determining that the vehicle is a tire abnormal vehicle under the condition that the identification information is the same as the identification information of the vehicle; and if the identification information is different from the identification information of the vehicle, determining the vehicle as a vehicle with abnormal tire suspicion.
In one possible implementation manner, the control module is further used for controlling the vehicle to travel to a preset detection place closest to the current place under the condition that the vehicle is determined to be a tire abnormal vehicle; and outputting prompt information that the vehicle possibly has abnormality under the condition that the vehicle is determined to be a vehicle with abnormality suspicion of the tire.
In a third aspect, the present application also provides an electronic device comprising at least a processor and a memory, the processor being configured to implement the steps of any one of the above-described vehicle control methods when executing a computer program stored in the memory.
In a fourth aspect, the present application also provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements a vehicle control method as described in any one of the above.
In a fifth aspect, embodiments of the present application also provide a computer program product comprising: computer program code which, when run on a computer, causes the computer to perform the steps of the vehicle control method as described in any one of the above.
Drawings
FIG. 1 is a schematic diagram of a vehicle control process according to an embodiment of the present application;
FIG. 2a is a schematic diagram of a fleet of vehicles according to an embodiment of the present application;
FIG. 2b is a schematic diagram of a vehicle mounted sensing device according to an embodiment of the present application;
fig. 3 is a schematic view of inspection provided in an embodiment of the present application;
Fig. 4 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application;
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the application, fall within the scope of protection of the application.
The embodiment of the application provides a vehicle control method, a device, equipment and a medium, wherein in the method, vehicles which are ranked as the last vehicles in a vehicle team are controlled to travel on other lanes adjacent to the current lane of the vehicle team under the condition that the time length of the last vehicle inspection time is larger than a preset time threshold value and each vehicle in the vehicle team normally travels, for each other vehicle in the vehicle team, the vehicle control method controls the vehicle control method to travel to a position horizontal to the other vehicle, acquires the image of the tire of the other vehicle and the point cloud characteristic of the surface of the tire of the other vehicle, and sends first prompt information of the tire abnormality to the other vehicle in the vehicle team under the condition that the tire abnormality of the other vehicle is determined according to the acquired image, the point cloud characteristic and a preset fusion algorithm, wherein the first prompt information contains the identification information of the other vehicle of the tire abnormality. According to the embodiment of the application, the first target vehicle is controlled to run on the other lanes adjacent to the lane where the vehicle team is currently located, and when the first target vehicle runs to the position horizontal to each other vehicle, whether the tires of the other vehicles are abnormal or not is determined according to the image information of the tires of the other vehicles and/or the point cloud characteristic information of the tires of the other vehicles, and the image information and the point cloud characteristic information can reflect the appearance of the tires of the vehicles more, so that the problem that some sensors cannot show can be shown, and the tires can be effectively detected in the running process of the vehicles, so that the states of the tires of the vehicles can be determined in time, and the running safety of the vehicles is improved.
Example 1:
fig. 1 is a schematic diagram of a vehicle control process according to an embodiment of the present application, where the process specifically includes the following steps:
S101: and controlling the first target vehicle to travel to other lanes adjacent to the lane where the fleet is currently located, wherein the first target vehicle is a vehicle in the fleet.
The vehicle control process provided by the embodiment of the application is suitable for intelligent automobiles.
In order to save fuel consumption and to monitor vehicles mutually during long-time driving, vehicles can help each other when faults occur, and in general, vehicles approaching the same destination or driving road are formed into a train before the vehicles start from a starting point. When the vehicles in the motorcade run on the road, the vehicles can detect the states of the vehicles and can also detect the states of the vehicles adjacent to the vehicles in the motorcade. In addition, a telematics processor (TELEMATICS BOX, T-Box) is pre-installed on each vehicle in the fleet, the T-Box can be used for communication between vehicles in the fleet, the state of the vehicles can be transferred between each vehicle in the fleet based on the T-Box, and the state acquired by other vehicles in the fleet is collected.
Fig. 2a is a schematic diagram of a fleet of vehicles according to an embodiment of the present application, as shown in fig. 2a, a double-arrow connection line above three intelligent vehicles may represent communication between vehicles, that is, each vehicle in the fleet may communicate with each other. The triangular pyramid between three intelligent vehicles may represent a detection range between front and rear vehicles, that is, between adjacent vehicles within a fleet, and may acquire states of the adjacent vehicles based on sensing devices, which may be cameras or radar, etc., that are pre-installed in the vehicles. Specifically, fig. 2b is a schematic diagram of a sensing device installed on a vehicle according to an embodiment of the present application, as shown in fig. 2b, the sensing device is installed at a plurality of positions of the vehicle, and specifically, a long-distance millimeter wave radar, a middle-short-distance millimeter wave radar, i.e., an angle radar, a long-distance laser radar, a long-focus camera, a mid-focus camera, a wide-angle camera, a rear-view mid-focus camera, a side-view wide-angle camera, a driver monitoring camera, an intelligent camera, a microphone, a tire pressure sensor, a tire temperature sensor, and a T-Box are installed.
In order to ensure the running safety of the vehicles, the vehicles in the vehicle team can detect whether the tires of other vehicles are abnormal, and in the embodiment of the application, the vehicles in the vehicle team which are sequenced to the last in the vehicle team can start to patrol the other vehicles in the vehicle team after the starting time of the vehicle team. In the embodiment of the application, the first target vehicle can be controlled to travel on other lanes adjacent to the lane where the fleet is currently located, wherein the first target vehicle can be a certain vehicle in the preset fleet or a vehicle with a certain queuing number in the fleet, and preferably, the first target vehicle can be a vehicle in the last queue, namely, a last vehicle in the current queue in the fleet. Specifically, in the embodiment of the application, whether the vehicle is the first target vehicle or not can be judged, and the vehicle is controlled to travel to other lanes adjacent to the lane where the vehicle team is currently located under the condition that the vehicle is determined to be the first target vehicle.
In the embodiment of the application, the first target vehicle can be controlled to patrol other vehicles in the vehicle team according to the preset time interval. Specifically, in the embodiment of the present application, if it is determined that the vehicle is the first target vehicle, it may be determined whether the duration of the last time the vehicle is patrolled at the current distance is greater than the preset time threshold, and if so, the first target vehicle may be controlled to travel on another lane adjacent to the lane where the vehicle team is currently located, that is, to travel on another lane adjacent to the lane where the vehicle team is currently located.
Of course, when the first target vehicle is inspecting other vehicles, in order to ensure that the running safety of the vehicles is improved, whether each vehicle in the current vehicle team runs normally or not can be judged, and under the condition of normal running, the first target vehicle can be controlled to inspect the other vehicles in the vehicle team. Specifically, adjacent other lanes of the current lane can be determined, and the vehicle is controlled to travel to the adjacent other lanes under the condition that the vehicle does not exist in the preset range of the distance between the adjacent other lanes. When the vehicle is driven on the adjacent other lanes, the driving speed of the patrol vehicle can be slightly higher than that of other vehicles in the vehicle team so as to enable patrol of each other vehicle in the vehicle team.
Specifically, when the first target vehicle is controlled to travel on the other lane adjacent to the lane where the fleet is currently located, whether the current road condition meets the overtaking condition or not can be perceived by using the pre-installed radar, the camera and other devices, and if the overtaking condition is met, the first target vehicle can travel on the other lane adjacent to the lane where the fleet is currently located, wherein the overtaking condition can include: the lane lines are broken lines, and other vehicles and roads are not jammed in the set distance on other adjacent lanes.
In order to make it possible for other vehicles in the fleet to know the status of the current fleet, when controlling the first target vehicle to travel on other lanes adjacent to the lane on which the fleet is currently located, a patrol cue to start a patrol may be sent to other vehicles in the fleet, where the patrol cue may be "this is the XXX-th vehicle, id=xxx, start a patrol".
S102: and aiming at each other vehicle in the vehicle team, controlling the first target vehicle to run to a position horizontal to the other vehicle, and acquiring currently acquired image information of the other vehicle tyre and/or point cloud characteristic information of the other vehicle tyre.
After the first target vehicle is controlled to travel on other lanes adjacent to the lane where the vehicle team is currently located, the real-time positioning of each other vehicle can be obtained, specifically, each other vehicle in the vehicle team can obtain the current position of the vehicle and the obtained position is sent to the first target vehicle which is going to patrol, so that the first target vehicle can accurately obtain the real-time positioning of each other vehicle in the vehicle team; the real-time positioning of the other vehicles can also be that the cloud server sends the first target vehicle to be patrolled. For each other vehicle in the fleet, controlling the first target vehicle to run to a position horizontal to the other vehicle, and acquiring currently acquired image information of tires of the other vehicle and/or point cloud characteristic information of the tires of the other vehicle, wherein the image information of the tires can be acquired by a camera which is pre-installed at a preset position of the vehicle, the point cloud characteristic information of the tires can be extracted by a laser radar which is pre-installed at the preset position of the vehicle, and characteristics which cannot be identified by the image information, such as whether uneven places exist on the tires or not, can be identified based on the point cloud characteristic information, namely whether bulge occurs on the side surfaces of the tires or not is judged.
S103: and according to the image information and/or the point cloud characteristic information, under the condition that the tire of the other vehicle is abnormal, sending first prompt information of the tire abnormality to the other vehicles in the motorcade, wherein the first prompt information comprises identification information of the tire abnormality vehicle.
In the embodiment of the application, whether the tires of other vehicles are abnormal or not can be determined according to the acquired image information and/or the point cloud characteristic information. Specifically, in the embodiment of the present application, the outer profile of the tire of the other vehicle may be determined based on the image information, and the outer profile may be compared with the outer profile of the normal tire, so as to determine whether there is an abnormality in the outer profile of the tire of the other vehicle. The obtained point cloud characteristic information can be compared with the point cloud characteristic information of the pre-stored normal tire, so that whether the point cloud characteristic information of the tire of the other vehicle is abnormal or not can be determined. In the case of determining that the tire of the other vehicle is abnormal, a first prompt message of the tire abnormality may be sent to the other vehicles in the fleet, where the first prompt message includes identification information of the tire abnormality vehicle.
Of course, in order to improve the accuracy of determining the abnormality of the vehicle, the vehicle in charge of inspection may continuously send the acquired image information and/or the point cloud feature information and the corresponding identification information to other vehicles in the vehicle team, so that the other vehicles in the vehicle team perform secondary verification on the received image information and/or the point cloud feature information, or may send the determined fusion feature abnormality result and the corresponding identification information to the abnormal vehicle when determining that an abnormality occurs in a certain vehicle, and the abnormal vehicle itself confirms whether the abnormality exists.
In order to improve the accuracy of tire condition detection, in the embodiment of the present application, the process of determining tire anomalies of the other vehicle according to the image information and the point cloud feature information includes:
determining fusion characteristics of tires of the other vehicles according to the image information, the point cloud characteristic information and a preset fusion algorithm; and determining whether there is an abnormality in the tires of the other vehicle based on the fusion characteristics.
In order to improve the accuracy of tire state detection, in the embodiment of the application, after the image information of the tires of other vehicles and the point cloud characteristic information of the tires of other vehicles are obtained, fusion characteristics can be obtained according to the image information, the point cloud characteristic information and a preset fusion algorithm, wherein the fusion characteristics can be whether the tires regularly move or whether the appearance of the tires is normal or not, and whether the tires of the other vehicles are abnormal or not can be determined according to the fusion characteristics. In the related art, based on the information features acquired by the image and the radar device, a plurality of methods for determining the fusion features according to the fusion algorithm are provided, and the method is not limited in the embodiment of the application. Wherein irregular movement of the tire represents an abnormality in the installation of the tire, the tire and the shaft are not in a completely vertical state, and a side-to-side condition occurs during the movement.
Because other vehicles for inspection travel for a long time and the tires are worn for a long time, the other vehicles can also inspect the tires of the vehicles for inspection under the condition that the other vehicles recognize the vehicles for inspection while the vehicles for inspection conduct inspection for the other vehicles, so that the tires of the vehicles for inspection can be inspected.
According to the embodiment of the application, the first target vehicle is controlled to run on the other lanes adjacent to the lane where the vehicle team is currently located, and when the first target vehicle runs to the position horizontal to each other vehicle, whether the tires of the other vehicles are abnormal or not is determined according to the image information of the tires of the other vehicles and/or the point cloud characteristic information of the tires of the other vehicles, and the image information and the point cloud characteristic information can reflect the appearance of the tires of the vehicles more, so that the problem that some sensors cannot show can be shown, and the tires can be effectively detected in the running process of the vehicles, so that the states of the tires of the vehicles can be determined in time, and the running safety of the vehicles is improved.
Example 2:
in order to clarify the current fleet ranking of the fleet, in the embodiment of the present application, on the basis of the above embodiment, the method further includes:
after determining whether the tire of a second target vehicle is abnormal, controlling the first target vehicle to exceed the second target vehicle and drive onto a lane where the fleet is currently located, wherein the second target vehicle is a vehicle in the fleet and is not the same vehicle as the first target vehicle;
Sending information of updating the sequence in the vehicle queue to other vehicles in the vehicle queue, wherein the information carries identification information of the information, so that the other vehicles in the vehicle queue update the preset vehicle queue sequence; and notifying other vehicles in the fleet to update the vehicle tour time by using the current time.
In the embodiment of the application, after determining whether the tire of the second target vehicle is abnormal, that is, after the first target vehicle completes the tour of the second target vehicle, the first target vehicle can be controlled to exceed the second target vehicle and drive onto the lane where the fleet is currently located. The second target vehicle and the first target vehicle are not the same vehicle, the second target vehicle may be any one of other target vehicles except the first target vehicle in the vehicle team, and may be any vehicle in a ranking position of vehicles in the vehicle team which are ranked as non-final vehicles. Preferably, the second target vehicle may be a first-ranked vehicle in the fleet, and then the first target vehicle exceeds the second target vehicle, i.e., replaces the location of the first vehicle in the fleet, with the first target vehicle being the first vehicle in the fleet.
In the embodiment of the application, after the first target vehicle is controlled to exceed the second target vehicle, the information of updating the sequence in the vehicle queue can be sent to other vehicles in the vehicle queue, and the information carries the identification information of the first target vehicle, so that the other vehicles in the vehicle queue update the preset vehicle queue sequence.
Specifically, the information that the update occurs in the ranking in the vehicle group is sent to the other vehicles in the vehicle group, which may be "this is the first vehicle, id=xxx, and the patrol is ended".
The preset fleet ordering can be stored in the intelligent automobile by staff in advance before the fleet starts; the cloud server may also send vehicle information to each intelligent vehicle in the fleet, where the vehicle information may include identification information of the vehicles, a destination, a ranking number of the vehicle in the fleet, and a fleet ranking of the fleet.
The cloud server may further send vehicle information of each smart car in the fleet to the smart car, where the vehicle information may include: after receiving the vehicle information sent by the cloud server, the intelligent automobile can send the received vehicle information to other vehicles in the vehicle team based on the T-Box so as to determine whether the vehicles can normally communicate. When the received vehicle information is sent to other vehicles in the vehicle team, in order to ensure smooth communication, the received vehicle information can be sequentially sent according to the received sequence number of the vehicle in the vehicle team, namely, the vehicle in the vehicle team ranked first is sent to other vehicles in the vehicle team first, after all other vehicles receive the vehicle information sent by the vehicle ranked first, each other vehicle stores the received vehicle information, the vehicle in the vehicle team ranked second sends the vehicle information received by the other vehicles in the vehicle team to the vehicle information received by the vehicle itself, and the confirmation of the vehicle team ranking is completed until the vehicle in the vehicle team ranked last sends the vehicle information received by the vehicle to the other vehicles in the vehicle team.
In order to determine whether the other vehicles all receive the transmitted vehicle information, after receiving the transmitted vehicle information, the other vehicles can feed back information of a receiving state to the vehicle transmitting the vehicle information, wherein the information of the receiving state can be normal or abnormal, and when the feedback received by the vehicle transmitting the vehicle information is normal, the vehicle transmitting the vehicle information can send prompt information for continuing to transmit the vehicle information according to the vehicle queue order to the other vehicles, so that the next ordered vehicle can determine whether to transmit the vehicle information.
For example, in the vehicle information sent by the cloud server, the vehicle information is the first vehicle in the fleet, and the vehicle information can be sent to other vehicles in the fleet: "this is the first vehicle, id=xxx, destination: XXX ", after the vehicle in the first rank in the fleet receives the information that each other vehicle receives the normal reception state, notifies the vehicle in the second rank in the fleet to transmit the vehicle information, and the vehicle in the second rank in the fleet starts to transmit to the other vehicles in the fleet: "this is the second vehicle, id=xxx, destination: XXX (information of the first vehicle) ", i'm is preceded by XXX, and after the second-ranked vehicle in the fleet receives the information of each other vehicle in the normal reception state, the third-ranked vehicle in the fleet is notified to transmit the vehicle information, and the third-ranked vehicle in the fleet starts to transmit to the other vehicles in the fleet: "this is the third vehicle, id=xxx, destination: XXX, i am preceded by XXX (information of the second vehicle), i am preceded by XXX (first vehicle) ", and so on, until the last vehicle in the fleet has sent vehicle information to the other vehicles. By the method, communication between each vehicle in the vehicle team and any vehicle can be ensured to be smooth, the vehicle team ranking can be determined according to the received vehicle information, and the vehicle team ranking sequence number can be known by each vehicle in the vehicle team.
In the embodiment of the application, in order to improve the queuing efficiency of the vehicle team, the received vehicle information can be sent to other vehicles in the vehicle team within the preset time length of receiving the vehicle information sent by the cloud server. Because the vehicle information comprises the identification information of the vehicles and the sequence numbers in the vehicle platoon, after the preset time length is finished, each vehicle in the vehicle platoon can sequence the identification information of the vehicles according to the sequence numbers in the vehicle platoon contained in the received vehicle information, so that the vehicle platoon sequence of the vehicle platoon is determined.
In order to make sure that other vehicles in the vehicle team make a next tour, in the embodiment of the present application, the other vehicles in the vehicle team may be notified to update the vehicle tour time by using the current time while sending information that the vehicle team orders and updates to the other vehicles in the vehicle team. The vehicle patrol time is updated by using the current time, and the last stored vehicle patrol time can be replaced by using the current time, or the last stored vehicle patrol time can be modified by using the current time.
Fig. 3 is a schematic drawing of a tour provided in an embodiment of the present application, which is a last vehicle in a fleet, namely, a fourth vehicle, and when the duration of the last vehicle tour time is greater than a preset time threshold, the tour schematic drawing can control the tour schematic drawing to slowly overtake the tour schematic drawing to other lanes adjacent to the current lane of the fleet until the first vehicle is toured, and then control the tour schematic drawing to surpass the first vehicle and travel to the current lane of the fleet.
Example 3:
in order to accurately determine the state of the vehicle, in the embodiments of the present application, the method further includes:
Acquiring the tire pressure and the tire temperature of each tire of the tire;
For each tire, determining that the tire is an abnormal tire vehicle under the condition that the tire pressure of the tire is larger than a second preset tire pressure threshold value or smaller than a first preset tire pressure threshold value or the tire Wen Dayu of the tire is a first preset tire temperature threshold value, and sending second prompt information of abnormal tires to other vehicles in the motorcade, wherein the second prompt information comprises identification information of the tire.
In order to accurately determine the state of the vehicle, in the embodiment of the application, a first preset tire pressure threshold value, a second preset tire pressure threshold value and a first preset tire temperature threshold value are configured in advance, after the tire pressure and the tire temperature of each tire of the vehicle are acquired, for each tire, if the tire pressure of the tire is greater than the second preset tire pressure threshold value or less than the first preset tire pressure threshold value or the tire temperature of the tire is greater than the first preset tire temperature threshold value, the tire of the vehicle can be determined to have an abnormality, the vehicle is determined to be an abnormal vehicle, and immediately second prompt information of the abnormality of the tire is sent to other vehicles in the vehicle team, wherein the second prompt information contains identification information of the vehicle.
Specifically, for example, the first preset tire pressure threshold is 700 kilopascals (kilopascal, kPa), the second preset tire pressure threshold is 900kPa, and the first preset tire temperature threshold is 100 degrees celsius. The tire pressure of one of the obtained tires is 690kPa, the tire temperature of the tire is 90 ℃, and the tire temperature does not exceed the threshold value, but because the tire pressure 690kPa is less than 700kPa, the tire can be determined to be an abnormal vehicle, and the third prompt information comprising the identification information of the tire can be sent to other vehicles in the vehicle team.
In order to further accurately determine the state of the vehicle, in the embodiments of the present application, the method further includes:
And receiving third prompt information of abnormal tires sent by other vehicles, wherein the third prompt information comprises identification information of the vehicles with abnormal tires, and determining the vehicles to be abnormal tires under the condition that the identification information is identical to the identification information of the vehicles.
In the driving process of the vehicle team, the state of the vehicle team can be detected, other vehicles in the vehicle team can also detect the states of other vehicles, and when the other vehicles in the vehicle team detect that the tires of the vehicles in the vehicle team are abnormal, the abnormal information is sent to each vehicle in the vehicle team. When the third prompt information of the tire abnormality sent by the other vehicle is received, whether the vehicle is the tire abnormality vehicle or the tire abnormality suspected vehicle can be determined according to the identification information of the vehicle of the tire abnormality contained in the third prompt information.
Specifically, when the identification information of the vehicle having the tire abnormality included in the third presentation information is the same as the identification information of the vehicle itself, the vehicle itself may be determined to be the tire abnormality vehicle. For example, the identification information of the vehicle having the tire abnormality included in the third presentation information is 0001, the identification information stored in the vehicle itself is 0001, and the vehicle itself can be determined to be the tire abnormality vehicle because the two identification information are identical.
In the embodiment of the application, in the driving process of the motorcade, whether the adjacent vehicles all run on the same lane and whether the adjacent vehicles all run along the center line of the lane can be judged based on various pre-installed sensors, if the adjacent vehicles do not run along the center line, the vehicles can be considered to have abnormality, and second prompt information can be sent to other vehicles.
Example 4:
in order to further ensure the safety of the vehicle running, on the basis of the above embodiments, in the embodiments of the present application, the method further includes:
Under the condition that the vehicle is determined to be a tire abnormal vehicle, controlling the vehicle to travel to a preset detection place closest to the current place;
and outputting prompt information that the vehicle possibly has abnormality under the condition that the vehicle is determined to be a vehicle with abnormality suspicion of the tire.
If the vehicle can be controlled in time when the vehicle tire is abnormal, the occurrence of tire burst event can be effectively avoided, and the loss is reduced, so that in the embodiment of the application, under the condition that the vehicle is determined to be the tire abnormal vehicle, the vehicle can be controlled to travel to a preset detection place closest to the current place, so that a worker can detect and maintain the vehicle, wherein the preset detection place can be a service area on a highway or a fixed detection place. Under the condition that the vehicle is determined to be a suspected vehicle with abnormal tires, prompt information that the vehicle is likely to have abnormality can be output, so that a driver can fully know the state of the vehicle, specifically, the driver can be reminded through in-vehicle screen display or voice, the driver can automatically judge whether maintenance is needed or not, and whether the vehicle needs to travel to a preset detection place or not is confirmed through a screen.
Specifically, when it is determined that the vehicle is a tire-abnormal vehicle or when the driver confirms that the vehicle needs to be overhauled, a service area closest to the current location stored in the high-precision map can be acquired, and the vehicle is controlled to travel to the service area for maintenance and detection.
According to the identification information of the vehicle with abnormal tires, which is contained in the third prompt information sent by other vehicles, whether the vehicle is the vehicle with abnormal tires or the vehicle with suspected tire anomalies is determined, if the vehicle is the vehicle with abnormal tires, the vehicle is driven to a preset detection place closest to the current place, the tires of the vehicle are detected and maintained, and the driving safety of the vehicle is ensured; under the condition that the vehicle is suspected of being abnormal in the tire, the prompt information that the vehicle possibly has abnormality is output, so that a driver can know the state of the vehicle in time, preventive measures can be taken in advance, and the running safety of the vehicle is further ensured.
The solutions shown in the foregoing embodiments 1 to 4 may be used alone or may be combined with each other to form a complete technical solution, which is not limited in this embodiment of the present application.
Example 5:
fig. 4 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application, as shown in fig. 4, the device includes:
A control module 401, configured to control a first target vehicle to travel onto another lane adjacent to a lane where a fleet is currently located, where the first target vehicle is a vehicle in the fleet; controlling, for each other vehicle in the fleet, the first target vehicle to travel to a position level with the other vehicle;
an acquiring module 402, configured to acquire currently acquired image information of the other vehicle tire and/or point cloud feature information of the other vehicle tire;
the sending module 403 is configured to send, according to the image information and/or the point cloud feature information, first notification information of a tire abnormality to other vehicles in the fleet, where the first notification information includes identification information of the tire abnormality vehicle, where the tire abnormality is determined for the other vehicles.
In one possible embodiment, the apparatus further comprises:
a determining module 404, configured to determine fusion characteristics of tires of the other vehicles according to the image information, the point cloud feature information, and a preset fusion algorithm; and determining whether there is an abnormality in the tires of the other vehicle based on the fusion characteristics.
In a possible implementation manner, the control module 401 is further configured to control, after determining whether there is an abnormality in a tire of a second target vehicle, the first target vehicle to exceed the second target vehicle and travel to a lane where the fleet is currently located, where the second target vehicle is a vehicle in the fleet and is not the same vehicle as the first target vehicle;
The sending module 403 is further configured to send information that the rank in the fleet is updated to other vehicles in the fleet, where the information carries identification information of the other vehicles in the fleet, so that the other vehicles in the fleet update a preset fleet rank; and notifying other vehicles in the fleet to update the vehicle tour time using the current time.
In a possible implementation manner, the acquiring module 402 is further configured to acquire the tire pressure and the tire temperature of each tire of the tire currently acquired;
The determining module 404 is configured to determine, for each tire, that the tire is an abnormal tire vehicle if the tire pressure of the tire is greater than a second preset tire pressure threshold or less than a first preset tire pressure threshold, or if the tire Wen Dayu of the tire is a first preset tire temperature threshold;
The sending module 403 is further configured to send a second prompt message of tire abnormality to other vehicles in the fleet, where the second prompt message includes identification information of the second prompt message.
In one possible embodiment, the apparatus further comprises:
The receiving module 405 is configured to receive third prompt information about abnormal tires sent by other vehicles, where the third prompt information includes identification information of the vehicle with abnormal tires;
The determining module 404 is further configured to determine that the vehicle is a tire abnormal vehicle if the identification information is the same as the identification information of the vehicle; and if the identification information is different from the identification information of the vehicle, determining the vehicle as a vehicle with abnormal tire suspicion.
In a possible implementation manner, the control module 401 is further configured to control, in a case where the control module determines that the control module is a tire abnormality vehicle, the control module to drive the control module to a preset detection location closest to the current location; and outputting prompt information that the vehicle possibly has abnormality under the condition that the vehicle is determined to be a vehicle with abnormality suspicion of the tire.
In a possible implementation manner, the functions or modules included in the apparatus provided by the embodiments of the present application may be used to perform the methods described in the foregoing method embodiments, and the specific implementation of the methods may refer to the descriptions of the foregoing method embodiments, which are not repeated herein for brevity.
Example 6:
On the basis of the above embodiments, the present application provides an electronic device, and fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application, as shown in fig. 5, including: the device comprises a processor 501, a communication interface 502, a memory 503 and a communication bus 504, wherein the processor 501, the communication interface 502 and the memory 503 are in communication with each other through the communication bus 504;
The memory 503 has stored therein a computer program which, when executed by the processor 501, causes the processor 501 to perform the steps of:
Controlling a first target vehicle to run on other lanes adjacent to the lane where a fleet is currently located, wherein the first target vehicle is a vehicle in the fleet;
Controlling the first target vehicle to run to a position horizontal to the other vehicles aiming at each other vehicle in the vehicle team, and acquiring currently acquired image information of the other vehicle tires and/or point cloud characteristic information of the other vehicle tires;
And according to the image information and/or the point cloud characteristic information, under the condition that the tire of the other vehicle is abnormal, sending first prompt information of the tire abnormality to the other vehicles in the motorcade, wherein the first prompt information comprises identification information of the tire abnormality vehicle.
In one possible embodiment, the process of determining tire anomalies of the other vehicle according to the image information and the point cloud feature information includes:
determining fusion characteristics of tires of the other vehicles according to the image information, the point cloud characteristic information and a preset fusion algorithm; and determining whether there is an abnormality in the tires of the other vehicle based on the fusion characteristics.
In one possible embodiment, the method further comprises:
after determining whether the tire of a second target vehicle is abnormal, controlling the first target vehicle to exceed the second target vehicle and drive onto a lane where the fleet is currently located, wherein the second target vehicle is a vehicle in the fleet and is not the same vehicle as the first target vehicle;
Sending information of updating the sequence in the vehicle queue to other vehicles in the vehicle queue, wherein the information carries identification information of the information, so that the other vehicles in the vehicle queue update the preset vehicle queue sequence; and notifying other vehicles in the fleet to update the vehicle tour time by using the current time.
In one possible embodiment, the method further comprises:
Acquiring the tire pressure and the tire temperature of each tire of the tire;
For each tire, determining that the tire is an abnormal tire vehicle under the condition that the tire pressure of the tire is larger than a second preset tire pressure threshold value or smaller than a first preset tire pressure threshold value or the tire Wen Dayu of the tire is a first preset tire temperature threshold value, and sending second prompt information of abnormal tires to other vehicles in the motorcade, wherein the second prompt information comprises identification information of the tire.
In one possible embodiment, the method further comprises:
Receiving third prompt information of abnormal tires sent by other vehicles, wherein the third prompt information comprises identification information of vehicles with abnormal tires, and determining that the vehicles are abnormal tires under the condition that the identification information is identical to the identification information of the vehicles; and if the identification information is different from the identification information of the vehicle, determining the vehicle as a vehicle with abnormal tire suspicion.
In one possible embodiment, the method further comprises:
Controlling the vehicle to travel to a preset detection place closest to the current place under the condition that the vehicle is determined to be a tire abnormal vehicle; and outputting prompt information that the vehicle possibly has abnormality under the condition that the vehicle is determined to be a vehicle with abnormality suspicion of the tire.
Since the principle of solving the problem of the electronic device is similar to that of the vehicle control method, the implementation of the electronic device may refer to the above embodiment, and the repetition is not repeated.
The communication bus mentioned above for the electronic device may be a peripheral component interconnect standard (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus. The communication interface 502 is used for communication between the electronic device and other devices described above. The Memory may include random access Memory (Random Access Memory, RAM) or may include Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor. The processor may be a general-purpose processor, including a central processing unit, a network processor (Network Processor, NP), etc.; but also digital instruction processors (DIGITAL SIGNAL Processing units, DSPs), application specific integrated circuits, field programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
Example 7:
On the basis of the above embodiments, the present application also provides a computer readable storage medium having stored therein a computer program executable by a processor, which when run on the processor, causes the processor to perform the steps of:
Controlling a first target vehicle to run on other lanes adjacent to the lane where a fleet is currently located, wherein the first target vehicle is a vehicle in the fleet;
Controlling the first target vehicle to run to a position horizontal to the other vehicles aiming at each other vehicle in the vehicle team, and acquiring currently acquired image information of the other vehicle tires and/or point cloud characteristic information of the other vehicle tires;
And according to the image information and/or the point cloud characteristic information, under the condition that the tire of the other vehicle is abnormal, sending first prompt information of the tire abnormality to the other vehicles in the motorcade, wherein the first prompt information comprises identification information of the tire abnormality vehicle.
In one possible embodiment, the process of determining tire anomalies of the other vehicle according to the image information and the point cloud feature information includes:
determining fusion characteristics of tires of the other vehicles according to the image information, the point cloud characteristic information and a preset fusion algorithm; and determining whether there is an abnormality in the tires of the other vehicle based on the fusion characteristics.
In one possible embodiment, the method further comprises:
after determining whether the tire of a second target vehicle is abnormal, controlling the first target vehicle to exceed the second target vehicle and drive onto a lane where the fleet is currently located, wherein the second target vehicle is a vehicle in the fleet and is not the same vehicle as the first target vehicle;
Sending information of updating the sequence in the vehicle queue to other vehicles in the vehicle queue, wherein the information carries identification information of the information, so that the other vehicles in the vehicle queue update the preset vehicle queue sequence; and notifying other vehicles in the fleet to update the vehicle tour time by using the current time.
In one possible embodiment, the method further comprises:
Acquiring the tire pressure and the tire temperature of each tire of the tire;
For each tire, determining that the tire is an abnormal tire vehicle under the condition that the tire pressure of the tire is larger than a second preset tire pressure threshold value or smaller than a first preset tire pressure threshold value or the tire Wen Dayu of the tire is a first preset tire temperature threshold value, and sending second prompt information of abnormal tires to other vehicles in the motorcade, wherein the second prompt information comprises identification information of the tire.
In one possible embodiment, the method further comprises:
Receiving third prompt information of abnormal tires sent by other vehicles, wherein the third prompt information comprises identification information of vehicles with abnormal tires, and determining that the vehicles are abnormal tires under the condition that the identification information is identical to the identification information of the vehicles; and if the identification information is different from the identification information of the vehicle, determining the vehicle as a vehicle with abnormal tire suspicion.
In one possible embodiment, the method further comprises:
Controlling the vehicle to travel to a preset detection place closest to the current place under the condition that the vehicle is determined to be a tire abnormal vehicle; and outputting prompt information that the vehicle possibly has abnormality under the condition that the vehicle is determined to be a vehicle with abnormality suspicion of the tire.
Since the principle of solving the problem by using the computer readable medium is similar to that of the vehicle control method, the steps implemented after the processor executes the computer program in the computer readable medium can be referred to the above embodiment, and the repetition is omitted.
Example 8:
The embodiment of the application also provides a computer program product, which when executed by a computer, realizes the steps of the vehicle control method according to any one of the above embodiments.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof, and may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions which, when loaded and executed on a computer, produce, in whole or in part, a process or function in accordance with embodiments of the present application.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (9)

1. A vehicle control method, characterized in that the method comprises:
Controlling a first target vehicle to run on other lanes adjacent to the lane where a fleet is currently located, wherein the first target vehicle is a vehicle in the fleet;
Controlling the first target vehicle to run to a position horizontal to the other vehicles aiming at each other vehicle in the vehicle team, and acquiring currently acquired image information of the other vehicle tires and/or point cloud characteristic information of the other vehicle tires;
According to the image information and/or the point cloud characteristic information, under the condition that the tire of the other vehicle is abnormal, sending first prompt information of the tire abnormality to the other vehicles in the motorcade, wherein the first prompt information comprises identification information of the tire abnormality vehicle;
wherein the method further comprises:
Receiving third prompt information of abnormal tires sent by other vehicles, wherein the third prompt information comprises identification information of vehicles with abnormal tires, and determining that the vehicles are abnormal tires under the condition that the identification information is identical to the identification information of the vehicles; and if the identification information is different from the identification information of the vehicle, determining the vehicle as a vehicle with abnormal tire suspicion.
2. The method of claim 1, wherein determining tire anomalies for the other vehicle based on the image information and the point cloud characteristic information comprises:
determining fusion characteristics of tires of the other vehicles according to the image information, the point cloud characteristic information and a preset fusion algorithm; and determining whether there is an abnormality in the tires of the other vehicle based on the fusion characteristics.
3. The method of claim 1, wherein the method further comprises:
after determining whether the tire of a second target vehicle is abnormal, controlling the first target vehicle to exceed the second target vehicle and drive onto a lane where the fleet is currently located, wherein the second target vehicle is a vehicle in the fleet and is not the same vehicle as the first target vehicle;
Sending information of updating the sequence in the vehicle queue to other vehicles in the vehicle queue, wherein the information carries identification information of the information, so that the other vehicles in the vehicle queue update the preset vehicle queue sequence; and notifying other vehicles in the fleet to update the vehicle tour time by using the current time.
4. The method of claim 1, wherein the method further comprises:
Acquiring the tire pressure and the tire temperature of each tire of the tire;
For each tire, determining that the tire is an abnormal tire vehicle under the condition that the tire pressure of the tire is larger than a second preset tire pressure threshold value or smaller than a first preset tire pressure threshold value or the tire Wen Dayu of the tire is a first preset tire temperature threshold value, and sending second prompt information of abnormal tires to other vehicles in the motorcade, wherein the second prompt information comprises identification information of the tire.
5. The method of claim 1 or 4, wherein the method further comprises:
controlling the vehicle to travel to a preset detection place closest to the current place under the condition that the vehicle is determined to be a tire abnormal vehicle;
and outputting prompt information that the vehicle possibly has abnormality under the condition that the vehicle is determined to be a vehicle with abnormality suspicion of the tire.
6. A vehicle control apparatus, characterized in that the apparatus comprises:
the control module is used for controlling a first target vehicle to travel on other lanes adjacent to the lane where the fleet is currently located, wherein the first target vehicle is a vehicle in the fleet; controlling, for each other vehicle in the fleet, the first target vehicle to travel to a position level with the other vehicle;
The acquisition module is used for acquiring currently acquired image information of the other vehicle tires and/or point cloud characteristic information of the other vehicle tires;
The sending module is used for sending first prompt information of abnormal tires to other vehicles in the vehicle team according to the image information and/or the point cloud characteristic information under the condition that the abnormal tires of the other vehicles are determined, wherein the first prompt information comprises identification information of the abnormal tires;
The receiving module is used for receiving third prompt information of abnormal tires sent by other vehicles, wherein the third prompt information comprises identification information of the vehicles with abnormal tires;
The determining module is used for determining that the vehicle is a tire abnormal vehicle under the condition that the identification information is the same as the identification information of the vehicle; and if the identification information is different from the identification information of the vehicle, determining the vehicle as a vehicle with abnormal tire suspicion.
7. The apparatus of claim 6, wherein the control module is further configured to control the first target vehicle to pass beyond a second target vehicle, the second target vehicle being a vehicle in the fleet and not being the same vehicle as the first target vehicle, and to travel onto a lane in which the fleet is currently located after determining whether there is an anomaly in a tire of the second target vehicle;
The sending module is further configured to send information that the ordering in the fleet is updated to other vehicles in the fleet, where the information carries identification information of the other vehicles in the fleet, so that the other vehicles in the fleet update a preset fleet ordering; and notifying other vehicles in the fleet to update the vehicle tour time using the current time.
8. An electronic device comprising at least a processor and a memory, the processor being adapted to implement the steps of the vehicle control method of any one of claims 1-5 when executing a computer program stored in the memory.
9. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the steps of the vehicle control method of any one of claims 1 to 5.
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