CN115320496A - Control method and device and vehicle - Google Patents
Control method and device and vehicle Download PDFInfo
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Abstract
The application provides a control method, a control device and a vehicle, wherein the method comprises the following steps: when detecting that a first distance between a vehicle and a target stop line through which the vehicle passes meets a preset trigger condition, acquiring traffic light information of a traffic light corresponding to the target stop line, wherein the traffic light information comprises a traffic light state and a remaining duration for maintaining the traffic light state; when the target object is detected to exist in front of the vehicle, acquiring the driving information of the vehicle and the driving information of the target object; determining a prediction result according to the state of the traffic light, the remaining time, the driving information of the vehicle and the driving information of the target object, wherein the prediction result represents whether the vehicle can pass through a traffic intersection where the traffic light is positioned in the remaining time; and determining and outputting prompt information based on the prediction result. Therefore, the vehicle driver can know the state of the traffic light and the remaining time of the traffic light according to the output prompt information, so that the vehicle can safely pass through the traffic intersection, and the traffic efficiency of the traffic intersection is improved.
Description
Technical Field
The application relates to the technical field of vehicle automation control, and relates to but is not limited to a control method, a control device and a vehicle.
Background
With the improvement of living standard and the development of science and technology, automobiles become more and more popular, and at present, automobiles become the most important transportation means for people. Vehicles running on the road are increased obviously, and the problems of road congestion and safety accidents are increasingly serious. In order to ensure the smoothness of the whole road and ensure the safe and rapid passing of vehicles, traffic lights are arranged at necessary intersections, and the effect of effectively dredging the traffic flow is achieved through the traffic lights, so that the vehicles and pedestrians can safely and rapidly pass through the intersections. In actual driving, when the front vehicle is a large truck, a rear driver cannot acquire a traffic light state, the red light running condition is easy to occur, road traffic management is not facilitated, the passing efficiency is reduced, and even traffic accidents can be caused.
Disclosure of Invention
In view of the above, embodiments of the present application provide a control method, an apparatus, a vehicle, and a computer-readable storage medium.
The technical scheme of the embodiment of the application is realized as follows:
the embodiment of the application provides a control method, which comprises the following steps:
when detecting that a first distance between a vehicle and a target stop line through which the vehicle passes meets a preset trigger condition, acquiring traffic light information of a traffic light corresponding to the target stop line, wherein the traffic light information comprises a traffic light state and a remaining duration for maintaining the traffic light state;
when detecting that a target object exists in front of the vehicle, acquiring running information of the vehicle and running information of the target object;
determining a prediction result according to the traffic light state, the remaining time length, the driving information of the vehicle and the driving information of the target object, wherein the prediction result represents whether the vehicle can pass through a traffic intersection where the traffic light is located within the remaining time length;
and determining prompt information based on the prediction result, and controlling an output device of the vehicle to output the prompt information.
In some embodiments, the output device comprises an image output device and/or a voice output device, and correspondingly, the prompt message comprises an image prompt message and/or a voice prompt message; the method further comprises the following steps:
after the traffic light information is acquired, controlling an image output device of the vehicle to output the image prompt information, wherein the image prompt information is used for prompting the state and the remaining time of the traffic light; and/or the presence of a gas in the atmosphere,
and when the residual time length is less than or equal to a preset time length threshold value, controlling the voice output device to output voice prompt information, wherein the voice prompt information is used for prompting the residual time length.
In some embodiments, the method further comprises:
acquiring road information of a current driving road of a vehicle, wherein the road information comprises position information of at least one stop line in the driving direction of the vehicle;
acquiring current position information of the vehicle according to a preset period;
determining a target stop line through which the vehicle passes according to the current position information of the vehicle and the position information of the at least one stop line, wherein the target stop line is the stop line closest to the vehicle in the at least one stop line;
determining a first distance between the vehicle and the target stop line according to the current position information of the vehicle and the position information of the target stop line;
and when the first distance reaches a preset distance threshold value, determining that the first distance meets a preset trigger condition.
In some embodiments, the travel information of the vehicle includes a first travel speed of the vehicle, a second distance between the vehicle and the target stop-line, a third distance between the vehicle and the target object; the travel information of the target object includes a second travel speed of the target object;
determining a prediction result according to the traffic light state, the remaining time, the driving information of the vehicle and the driving information of the target object, including:
when the first running speed is larger than a preset speed threshold value, determining the predicted distance to be travelled by the vehicle according to the first running speed and the remaining time length;
and determining a prediction result according to the traffic light state, the predicted distance to drive, the second distance, the first driving speed and the second driving speed.
In some embodiments, the traffic light state includes a first state in which a vehicle is permitted to pass through the traffic intersection and a second state in which the vehicle is prohibited from passing through the traffic intersection;
when the traffic light state is a first state, determining a prediction result according to the traffic light state, the predicted travelable distance, the second distance, the first travel speed, and the second travel speed, including:
when the predicted travelable distance is greater than the second distance and the first travel speed is less than or equal to the second travel speed, determining the prediction result as a first prediction result, wherein the first prediction result represents that the vehicle can pass through the traffic intersection within the remaining time period;
when the predicted travelable distance is less than or equal to the second distance, determining the prediction result as a second prediction result, wherein the second prediction result represents that the vehicle cannot pass through the traffic intersection within the remaining time period.
In some embodiments, when the traffic light status is a second status, the determining a prediction result according to the traffic light status, the predicted travelable distance, the second distance, the first travel speed, and the second travel speed comprises:
determining the prediction result as a second prediction result when the predicted travelable distance is greater than the second distance and the first travel speed is less than or equal to the second travel speed;
determining the prediction result as a first prediction result when the predicted travelable distance is less than or equal to the second distance.
In some embodiments, the method further comprises:
when the first running speed is greater than the second running speed and the third distance is less than a preset braking distance, controlling a braking device of the vehicle to start working so as to reduce the running speed of the vehicle;
and when the running speed of the vehicle is reduced to the second running speed, controlling the braking device to stop working.
In some embodiments, the method further comprises:
when the first running speed is less than or equal to a preset speed threshold value, controlling an accelerating device of the vehicle to start working to increase the running speed of the vehicle when the second running speed is detected to be greater than the preset speed threshold value;
and controlling the accelerating device to stop working when the running speed of the vehicle is increased to the second running speed.
An embodiment of the present application provides a control device, the device includes:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring traffic light information of a traffic light corresponding to a target stop line when detecting that a first distance between a vehicle and the target stop line through which the vehicle passes meets a preset trigger condition, and the traffic light information comprises a traffic light state and a remaining time for maintaining the traffic light state;
the second acquisition module is used for acquiring the running information of the vehicle and the running information of the target object when the target object is detected to exist in front of the vehicle;
the first determination module is used for determining a prediction result according to the traffic light state, the remaining time length, the driving information of the vehicle and the driving information of the target object, wherein the prediction result represents whether the vehicle can pass through a traffic intersection where the traffic light is located in the remaining time length;
the second determination module is used for determining prompt information based on the prediction result;
and the first control module is used for controlling an output device of the vehicle to output the prompt message.
An embodiment of the present application provides a vehicle, includes: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface are communicated with each other through the communication bus;
the memory is used for storing at least one executable instruction, and when the processor executes the executable instruction, the processor executes the steps of the control method.
An embodiment of the present application provides a computer-readable storage medium, where at least one executable instruction is stored in the storage medium, and when a processor executes the executable instruction, the processor executes the steps of the control method.
According to the control method provided by the embodiment of the application, when the fact that a first distance between a vehicle and a target stop line through which the vehicle is about to pass meets a preset trigger condition is detected, traffic light information of a traffic light corresponding to the target stop line is obtained, wherein the traffic light information comprises a traffic light state and a remaining time for maintaining the traffic light state; when the target object is detected to exist in front of the vehicle, acquiring the driving information of the vehicle and the driving information of the target object; and determining whether the vehicle can pass through a traffic intersection where the traffic light is positioned in the residual time period according to the state of the traffic light, the residual time period, the driving information of the vehicle and the driving information of the target object to obtain a prediction result, finally determining corresponding prompt information based on the prediction result, and controlling an output device of the vehicle to output the prompt information. Therefore, even if the target object in front of the vehicle blocks the traffic light of the traffic intersection, the vehicle driver can know the state of the traffic light and the remaining time of the traffic light according to the output prompt information, so that the vehicle can safely pass through the traffic intersection, and the traffic efficiency of the traffic intersection is improved.
Drawings
In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar components in different views. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed herein.
Fig. 1 is a schematic flow chart of an implementation of a control method provided in an embodiment of the present application;
fig. 2 is a schematic flowchart of another implementation of the control method according to the embodiment of the present application;
fig. 3 is a schematic flowchart of an implementation of the step of determining a predicted result in the control method according to the embodiment of the present application;
fig. 4 is a schematic flowchart of another implementation of the control method according to the embodiment of the present application;
fig. 5 is a schematic structural diagram of a control device according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of another component of the control device according to the embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the accompanying drawings, the described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the protection scope of the present application.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.
In the following description, references to the terms "first \ second \ third" are only to distinguish similar objects and do not denote a particular order, but rather the terms "first \ second \ third" are used to interchange specific orders or sequences, where appropriate, so as to enable the embodiments of the application described herein to be practiced in other than the order shown or described herein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.
In the vehicle driving process, if the vehicle in front is a large truck, traffic lights can be possibly shielded, a driver of a rear vehicle cannot acquire the traffic light state, the red light running condition is easy to occur, traffic accidents can be possibly caused, and the traffic efficiency of a traffic intersection is reduced. In order to solve the problem, embodiments of the present application provide a control method, and the following describes a method provided in embodiments of the present application with reference to a device that implements embodiments of the present application. Fig. 1 is a schematic flow chart of an implementation of a control method provided in an embodiment of the present application, and as shown in fig. 1, the control method includes the following steps:
step S101, when detecting that a first distance between a vehicle and a target stop line through which the vehicle passes meets a preset trigger condition, acquiring traffic light information of a traffic light corresponding to the target stop line.
The control method provided by the embodiment of the application can be executed by a control device of a vehicle. The target stop line through which the vehicle is to pass is a stop line through which the vehicle is to pass, the traffic light corresponding to the target stop line is a traffic light through which the vehicle is to pass, and the traffic light information of the traffic light may include a traffic light state and a remaining time period for maintaining the traffic light state, where the traffic light state may include a first state in which the vehicle is allowed to pass through the traffic intersection and a second state in which the vehicle is prohibited from passing through the traffic intersection, for example, the first state may display a green light state for the traffic light, and the second state may display a red light state for the traffic light.
In some embodiments, after the traffic light information is obtained by the vehicle, it may be displayed on a display device within the vehicle for easy viewing by the vehicle driver, e.g., the traffic light status and the remaining time period may be displayed on an onboard display. When the navigation information is being displayed on the vehicle-mounted display, the vehicle-mounted display can be divided into two parts, one part continues to display the navigation information, and the other part displays the state of the traffic light and the remaining time. In practical application, the method can be realized by the following steps: and after the traffic light information is acquired, controlling an image output device of the vehicle to output image prompt information, wherein the image prompt information can comprise the state of the traffic light and the remaining time length. The image output device here may be an in-vehicle display.
In some embodiments, after the above steps, the following steps may be further performed: and when the remaining time length is less than or equal to the preset time length threshold value, controlling the voice output device to output voice prompt information, wherein the voice prompt information can comprise the remaining time length. The preset time threshold may be set to 3s (seconds) to 5s, or may be other values. The voice prompting device can be a vehicle-mounted loudspeaker.
In practical application, after the vehicle acquires the traffic light information, if the traffic light information is not successfully displayed on the vehicle-mounted display, or even if the traffic light information is displayed, the driver watches the front road condition, and the vehicle-mounted display is not checked in time, the traffic light information can be broadcasted through the vehicle-mounted loudspeaker so as to prompt the driver.
In step S102, when it is detected that the target object exists in front of the vehicle, the travel information of the vehicle and the travel information of the target object are acquired.
When other running vehicles exist in front of the vehicle, the other vehicles may block the vehicle, and at the moment, the running information of the vehicle is acquired, and the running information of the front vehicle is acquired.
When no other running vehicle exists in front of the vehicle, the driver can directly see the traffic light information, and after S101 is executed to acquire the traffic light information, the image output device included in the output device of the vehicle is controlled to output image prompt information, wherein the image prompt information is used for prompting the state and the remaining time of the traffic light; and when the residual time length is less than or equal to the preset time length threshold value, controlling a voice output device included in the output device of the vehicle to output voice prompt information, wherein the voice prompt information is used for prompting the residual time length.
In the embodiment of the present application, the target object may be another vehicle traveling ahead of the vehicle. To ensure driving safety, the distance between the vehicle and the target object is greater than a preset safety distance, which may be 1m (meter).
And step S103, determining a prediction result according to the traffic light state, the remaining time, the driving information of the vehicle and the driving information of the target object.
In an embodiment of the present application, the travel information of the vehicle includes a first travel speed of the vehicle, a second distance between the vehicle and the target stop line, and a third distance between the vehicle and the target object. The travel information of the target object includes a second travel speed of the target object. The prediction result represents whether the vehicle can pass through the traffic intersection where the traffic light is located in the remaining time period.
In one implementation, this step may be implemented by:
and step S1031, when the first driving speed is greater than the preset speed threshold, determining the predicted driving distance of the vehicle according to the first driving speed and the residual time length.
The preset speed threshold value here may be 0km/h (kilometers per hour), and when the vehicle speed is not greater than 0, it indicates that the vehicle is in a pause state and is waiting for the red light to be switched to the green light, and then the following steps are executed: detecting a second running speed of the target object, and controlling an accelerating device of the vehicle to start working to increase the running speed of the vehicle when the second running speed is detected to be greater than a preset speed threshold; and when the running speed of the vehicle is increased to the second running speed, controlling the accelerating device to stop working. The speed sensor is used for detecting the speed of the front vehicle, when the speed of the front vehicle is greater than 0, the front vehicle is indicated to start running, the accelerating device is controlled to start accelerating at the moment, and the vehicle stops continuously accelerating when the speed of the front vehicle is accelerated to the speed of the front vehicle, so that the same-speed running with the front vehicle is realized, and the safety of passing through a traffic intersection is ensured.
When the vehicle running speed is greater than 0, estimating a distance S1 which can be run by the vehicle at the vehicle speed according to the vehicle speed V1 and the remaining time length T1, wherein S1= V1T 1, and the distance is the predicted distance which can be run by the vehicle.
Step S1032 determines a prediction result according to the traffic light state, the predicted travelable distance, the second distance, the first travel speed, and the second travel speed.
When the traffic light is displayed as a green light, if the predicted travelable distance S1 is greater than a second distance S0 from the vehicle to the target stop line, if the vehicle speed is not greater than the vehicle speed of the front vehicle, the vehicle is considered to pass through the traffic intersection at the moment, the prediction result is determined as a first prediction result, and the first prediction result represents that the vehicle can pass through the traffic intersection within the remaining time; if the speed is higher than that of the front vehicle, in order to avoid rear-end accidents, the speed is controlled to be reduced to the speed of the front vehicle, and whether the front vehicle can pass through the traffic intersection or not can be determined in the next period; and if the predicted travelable distance S1 is less than or equal to a second distance S0 from the vehicle to the target stop line, determining that the vehicle cannot pass through the traffic intersection, and determining the prediction result as a second prediction result, wherein the second prediction result represents that the vehicle cannot pass through the traffic intersection within the remaining time period.
When the traffic light is displayed as a red light, if the predicted travelable distance S1 is greater than a second distance S0 from the vehicle to the target stop line, if the vehicle speed is not greater than the vehicle speed of the front vehicle, the vehicle is considered to be unable to pass through the traffic intersection at the moment, and the prediction result is determined as a second prediction result; if the speed is higher than that of the front vehicle, in order to avoid rear-end accidents, the speed is controlled to be reduced to the speed of the front vehicle, and whether the front vehicle can pass through the traffic intersection or not can be determined in the next period; if the predicted travelable distance S1 is less than or equal to the second distance S0 from the vehicle to the target stop line, the vehicle is considered to pass through the traffic intersection, and the prediction result is determined as the first prediction result.
And step S104, determining prompt information based on the prediction result.
When the prediction result is a first prediction result representing that the vehicle can pass through the traffic intersection where the traffic light is located in the remaining time period, the prompt information is determined as first prompt information, for example, the first prompt information may be "it is expected that the vehicle can pass through the current intersection at the current speed, please carefully drive the vehicle, and pay attention to pedestrians".
When the prediction result is a second prediction result representing that the vehicle cannot pass through the traffic intersection where the traffic light is located within the remaining time period, the prompt information is determined as second prompt information, for example, the second prompt information may be "the vehicle speed is requested to be controlled when the vehicle cannot pass through the current intersection at the current vehicle speed".
In step S105, the output device of the vehicle is controlled to output the presentation information.
Wherein, the output device can comprise an image output device and/or a voice output device, and when the output device comprises the image output device, the prompt message comprises an image prompt message; when the output device comprises a voice output device, the prompt message comprises a voice prompt message; when the output device includes an image output device and a voice output device, the prompt information includes image prompt information and voice prompt information. In this embodiment, the image output device may be a vehicle-mounted display, and the voice output device may be a vehicle-mounted speaker.
The control method provided by the embodiment of the application comprises the following steps: when detecting that a first distance between a vehicle and a target stop line through which the vehicle passes meets a preset trigger condition, acquiring traffic light information of a traffic light corresponding to the target stop line, wherein the traffic light information comprises a traffic light state and a remaining time for maintaining the traffic light state; when detecting that a target object exists in front of the vehicle, acquiring running information of the vehicle and running information of the target object; determining a prediction result according to the traffic light state, the remaining time length, the driving information of the vehicle and the driving information of the target object, wherein the prediction result represents whether the vehicle can pass through a traffic intersection where the traffic light is located within the remaining time length; and determining prompt information based on the prediction result, and controlling an output device of the vehicle to output the prompt information. Therefore, even if the target object in front of the vehicle blocks the traffic light of the traffic intersection, the vehicle driver can know the state of the traffic light and the remaining time of the traffic light according to the output prompt information, so that the vehicle can safely pass through the traffic intersection, and the traffic efficiency of the traffic intersection is improved.
On the basis of the embodiment shown in fig. 1, a control method is further provided in the embodiment of the present application, and fig. 2 is a schematic flow chart of another implementation of the control method provided in the embodiment of the present application, as shown in fig. 2, the method includes the following steps:
in step S201, road information of a current driving road of the vehicle is acquired.
The road information includes position information of at least one stop line of the driving direction of the vehicle. When the stop line is a reference line for stopping the vehicle when the traffic light state is the second state of forbidding passing, if the stop line is exceeded, the vehicle can be judged to violate the traffic rules, the passing efficiency of the traffic intersection can be influenced, and even safety accidents can be caused.
Step S202, obtaining the current position information of the vehicle according to a preset period.
The preset period here may be any value between 1ms (millisecond) and 100ms, for example, 10ms. The position of the vehicle is acquired every 10ms.
And step S203, determining a target stop line through which the vehicle passes according to the current position information of the vehicle and the position information of at least one stop line.
The target stop line through which the vehicle passes is the stop line closest to the vehicle in the at least one stop line.
And calculating the distance from the vehicle to each stop line according to the real-time position information of the vehicle and the position information of each stop line on the driving route, selecting the stop line with the closest distance, namely the stop line which is the first pass of the vehicle, and determining the stop line as the target stop line through which the vehicle passes.
Step S204, determining a first distance between the vehicle and the target stop line according to the current position information of the vehicle and the position information of the target stop line.
In practical applications, the first distance between the vehicle and the target stop line may be calculated according to a euclidean distance calculation formula.
In step S205, when the first distance reaches the preset distance threshold, it is determined that the first distance is detected to satisfy the preset trigger condition.
The preset distance threshold here may be preset to a different value, for example, set to 300m (meters), in combination with the actual scene. When the vehicle is determined to be 300m away from the target stop line, the leading vehicle may cause the traffic lights to be blocked, and the step S206 is continued.
Step S206, traffic light information of the traffic light corresponding to the target stop line is obtained.
The traffic light information includes a traffic light status and a remaining time period for maintaining the traffic light status.
In the embodiment of the present application, in steps S206 to S210, detailed implementation processes refer to steps S101 to S105 in the embodiment shown in fig. 1, respectively.
In step S207, when it is detected that the target object exists in front of the vehicle, the travel information of the vehicle and the travel information of the target object are acquired.
And step S208, determining a prediction result according to the traffic light state, the remaining time, the driving information of the vehicle and the driving information of the target object.
The predicted result characterizes whether the vehicle can pass through the traffic intersection where the traffic light is located within the remaining time period.
In step S209, the presentation information is determined based on the prediction result.
And step S210, controlling an output device of the vehicle to output the prompt information.
In some embodiments, the step S1032 "of determining the prediction result according to the traffic light status, the predicted travelable distance, the second distance, the first travel speed and the second travel speed" in the embodiment shown in fig. 1 may be implemented by the following steps shown in fig. 3:
step S10321, it is determined whether the traffic light state is the first state.
In an embodiment of the present application, the traffic light states include a first state in which the vehicle is permitted to pass through the traffic intersection and a second state in which the vehicle is prohibited from passing through the traffic intersection; when the traffic light state is the first state, step S10322 is entered; when the traffic light state is the second state, step S10324 is entered. In practical applications, the first state may be a state where a green light is displayed by a traffic light, and the second state may be a state where a red light is displayed by a traffic light.
In step S10322, when the predicted travelable distance is greater than the second distance and the first travel speed is less than or equal to the second travel speed, the prediction result is determined as the first prediction result.
Wherein the first prediction indicates a traffic intersection where the vehicle can pass the traffic light within the remaining time period.
In step S10323, when the predicted travelable distance is less than or equal to the second distance, the prediction result is determined as a second prediction result.
Wherein the second prediction result represents that the vehicle cannot pass through the traffic intersection where the traffic light is located within the remaining time period.
When the traffic light is displayed as a green light, if the predicted travelable distance S1 is greater than a second distance S0 from the vehicle to the target stop line, if the vehicle speed is not greater than the vehicle speed of the front vehicle, the vehicle is considered to pass through the traffic intersection at the moment, and the prediction result is determined as a first prediction result; if the speed is greater than that of the front vehicle, in order to avoid rear-end accidents, the speed is controlled to be reduced to that of the front vehicle, and whether the front vehicle can pass through the traffic intersection or not can be determined in the next period; if the predicted travelable distance S1 is less than or equal to the second distance S0 from the vehicle to the target stop line, the vehicle is considered to be unable to pass through the traffic intersection, and the prediction result is determined as a second prediction result.
In step S10324, when the predicted travelable distance is greater than the second distance and the first travel speed is less than or equal to the second travel speed, the prediction result is determined as a second prediction result.
In step S10325, when the predicted travelable distance is less than or equal to the second distance, the prediction result is determined as the first prediction result.
When the traffic light is displayed as a red light, if the predicted travelable distance S1 is greater than a second distance S0 from the vehicle to the target stop line, if the vehicle speed is not greater than the vehicle speed of the front vehicle, the vehicle is considered to be unable to pass through the traffic intersection at the moment, and the prediction result is determined as a second prediction result; if the speed is higher than that of the front vehicle, in order to avoid rear-end accidents, the speed is controlled to be reduced to the speed of the front vehicle, and whether the front vehicle can pass through the traffic intersection or not can be determined in the next period; if the predicted travelable distance S1 is less than or equal to the second distance S0 from the vehicle to the target stop line, the vehicle is considered to pass through the traffic intersection, and the prediction result is determined as the first prediction result.
In some embodiments, when the first running speed is greater than the second running speed and the third distance is less than the preset braking distance, controlling a braking device of the vehicle to start working to reduce the running speed of the vehicle; and when the running speed of the vehicle is reduced to a second running speed, controlling the brake device to stop working.
The preset stopping distance may here be any value between 5m and 20 m. When the speed of the vehicle is greater than that of the front vehicle and the distance between the vehicle and the front vehicle is short, in order to avoid rear-end accidents, the speed of the vehicle is controlled to be reduced to the speed of the front vehicle, whether the vehicle can pass through the traffic intersection or not can be determined again in the next period, and safe driving is ensured.
Next, an exemplary application of the embodiment of the present application in a practical application scenario will be described.
With the improvement of living standard of people, automobiles have entered thousands of households, vehicles running on roads are increased obviously, and the problems of road congestion and safety accidents are increasingly serious. Traffic lights can effectively dredge traffic flow, but the traffic lights state can't be acquireed to the rear driver when the place ahead vehicle is large-scale freight train, appears rushing the situation of red light easily, is unfavorable for road traffic management, reduces the current efficiency of traffic, influences the user and drives the car and experience.
In order to solve the above problems, an embodiment of the present application provides a control method, when passing through an intersection, a vehicle-mounted display device (such as MP5, corresponding to the image output device in the above) displays a current intersection traffic light state and a current traffic light signal timing through an image-text display of a navigation system, and when a preset time duration remains during countdown, a speaker (corresponding to the voice output device in the above) broadcasts a remaining time of the current traffic light signal, and multiple ways of MP5 display and speaker broadcast are used to remind a driver, thereby avoiding a red light running situation, facilitating road traffic management, and improving traffic efficiency.
Fig. 4 is a schematic view of another implementation flow of the control method provided in the embodiment of the present application, fig. 5 is a schematic view of a component structure of the control device provided in the embodiment of the present application, and the control method is described below with reference to fig. 4 and fig. 5. The method provided by the embodiment of the application is described in detail as follows:
one) when the intersection is green:
1) When the map navigation interface on the MP5 is 300m away from the intersection, the MP5 displays the residual duration of the green light in a split screen mode, the left side displays traffic light information, and the right side displays road condition information;
2) The method comprises the steps that MP5 compares and calculates the distance S0 from a vehicle to a road stop line through GPS position information, MP5 sends the residual duration T1 (T1 is not less than 15S and not more than 90S) of a green light and S0 to BCM through a CAN bus in a cycle of 10ms, the BCM receives a vehicle speed V1 sent by ABS through the CAN bus, and then the distance S1= T1V 1 that the green light CAN travel is predicted;
3) The distance measuring sensor (measuring range 300 m) and the speed measuring sensor send the distance S2 of the front vehicle and the running speed V2 of the front vehicle to the BCM through the LIN line, and the BCM compares and calculates:
a) When S1= T1V 1> S0 and S2>1m, and V2 is more than or equal to V1, the BCM sends the comparison result to the MP5 through the CAN bus, and the MP5 drives the loudspeaker to give out a prompt sound: "please carefully drive to pass, pay attention to the pedestrian";
b) When S1= T1V 1> S0 and 10m > S2>1m, V2 is restricted to V1, the BCM sends a comparison result to an engine ECU and an electronic brake controller through a CAN bus, and the aim of speed reduction is achieved by linearly reducing the opening of an engine throttle valve and braking. When the speed is reduced to V1= V2, the speed is not reduced any more, the speed is adjusted in real time through the speed fed back by the ABS and the speed measuring sensor, and the same-speed car following is realized.
C) When S1 is less than S0 and V2 is more than or equal to V1, the BCM sends the comparison result to the MP5 through the CAN bus, and the MP5 drives the loudspeaker to give out a prompt tone: "the vehicle speed should be controlled if the vehicle can not pass through the crossing ahead at the current speed";
d) When S1 is less than S0 and V1 is greater than V2, the BCM sends a CAN signal to activate the electronic brake control speed to enable V1 to be less than or equal to V2 and drive a brake lamp to be lightened, and the engine ECU reduces the opening of an engine throttle valve;
4) And displaying the distance S2 from the front vehicle and the vehicle speed V2 of the front vehicle on an interface of the MP 5.
Note: when there is no vehicle in the front 300m, V2 and S2 do not participate in the comparison.
Second) when the crossing is red:
1) When the map navigation interface on the MP5 is 300m away from the intersection, the MP5 displays the remaining red light duration in a split screen mode, the left side displays traffic light information, and the right side displays road condition information;
2) Through GPS position information, MP5 compares and calculates the distance S0 from the vehicle to a road stop line, MP5 sends BCM through a CAN bus at the cycle of 10ms to the residual red light time length T1 (assuming that T1 is more than or equal to 15S and less than or equal to 90S) and S0, BCM receives the vehicle speed V1 sent by ABS through the CAN bus, and S1= T1V 1;
3) The distance measuring sensor (measuring range 300 m) and the speed measuring sensor send the distance S2 of the front vehicle and the running speed V2 of the front vehicle to the BCM through the LIN line, and the BCM compares and calculates:
a) When S2 is larger than 1m and V2 is larger than or equal to V1, the BCM sends S2 and V2 to the MP5 through the CAN bus and displays the S2 and the V2 on a navigation interface of the MP 5;
b) When S2<1m, V1>, V2, the BCM sends S2 and V2 to the MP5 through the CAN bus, the S2 and the V2 are displayed on a navigation interface of the MP5, and meanwhile, the MP5 drives a loudspeaker to emit prompt sound: please control the speed of the vehicle and keep the distance between the vehicles.
Note: when there is no vehicle in the front 300m, V2 and S2 do not participate in the comparison.
Third) when the signal lamps alternate:
1) During V1=0km/h, the red light changes to green light, the BCM sends S2 and V2 to the MP5 through the CAN bus and displays the S2 and V2 on a navigation interface, and the MP5 drives a loudspeaker to prompt: "please keep the proper distance to pass the current intersection";
2) The condition one is satisfied when V1>0 km/h.
Four) more than pass through the crossing information of red street lamp and the whole car information 5G module through MP5 and upload to the TSP platform, through binding the vehicle with the cell-phone, look over at cell-phone end or panel computer end APP, the condition (including speed per hour, with preceding car distance, traffic lights information etc.) when the vehicle passes through the traffic lights.
According to the control method for traffic light signal prompt, when a vehicle is about to pass through a traffic light intersection, a driver can know the condition of a traffic light display signal through a vehicle-mounted display interface and/or a loudspeaker of the vehicle, even if the traffic light is shielded by a front vehicle, the waiting time of the red light and the green light can be known, the driving safety can be improved, and traffic accidents are reduced. In addition, in the embodiment of the application, when the function is realized, an additional device is not needed to be added, the function can be realized by means of the existing parts of the vehicle, and the cost of the whole vehicle cannot be increased.
Based on the foregoing embodiments, an embodiment of the present application provides a control apparatus, where each module included in the apparatus and each unit included in each module may be implemented by a processor in a computer device; of course, the implementation can also be realized through a specific logic circuit; in the implementation process, the processor may be a Central Processing Unit (CPU), a Microprocessor Unit (MPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or the like.
Fig. 6 is a schematic view of another structure of the control device according to the embodiment of the present application, and as shown in fig. 6, the control device 600 includes:
a first obtaining module 601, configured to obtain traffic light information of a traffic light corresponding to a target stop line when it is detected that a first distance between a vehicle and the target stop line through which the vehicle passes meets a preset trigger condition, where the traffic light information includes a traffic light state and a remaining time for maintaining the traffic light state;
a second obtaining module 602, configured to obtain driving information of the vehicle and driving information of a target object when it is detected that the target object exists in front of the vehicle;
a first determining module 603, configured to determine a prediction result according to the traffic light state, the remaining time length, the driving information of the vehicle, and the driving information of the target object, where the prediction result represents whether the vehicle can pass through a traffic intersection where the traffic light is located within the remaining time length;
a second determining module 604, configured to determine prompt information based on the prediction result;
a first control module 605 for controlling an output device of the vehicle to output the prompt message.
In some embodiments, the output device comprises an image output device and/or a voice output device, and correspondingly, the prompt message comprises an image prompt message and/or a voice prompt message; the control device 600 further includes:
the second control module is used for controlling an image output device of the vehicle to output the image prompt information after the traffic light information is acquired, wherein the image prompt information is used for prompting the state and the remaining time length of the traffic light;
and the third control module is used for controlling the voice output device to output voice prompt information when the residual time length is less than or equal to a preset time length threshold, wherein the voice prompt information is used for prompting the residual time length.
In some embodiments, the control device 600 further comprises:
the third acquisition module is used for acquiring road information of a current running road of a vehicle, wherein the road information comprises position information of at least one stop line in the running direction of the vehicle;
the fourth acquisition module is used for acquiring the current position information of the vehicle according to a preset period;
a third determining module, configured to determine, according to current position information of the vehicle and position information of the at least one stop line, a target stop line through which the vehicle is to pass, where the target stop line is a stop line closest to the vehicle in the at least one stop line;
the fourth determining module is used for determining a first distance between the vehicle and the target stop line according to the current position information of the vehicle and the position information of the target stop line;
and the fifth determining module is used for determining that the first distance meets a preset triggering condition when the first distance reaches a preset distance threshold.
In some embodiments, the travel information of the vehicle includes a first travel speed of the vehicle, a second distance between the vehicle and the target stop line, a third distance between the vehicle and the target object; the travel information of the target object includes a second travel speed of the target object;
the first determining module 603 is further configured to:
when the first running speed is larger than a preset speed threshold value, determining the predicted distance to be travelled by the vehicle according to the first running speed and the remaining time length;
and determining a prediction result according to the traffic light state, the predicted distance to drive, the second distance, the first driving speed and the second driving speed.
In some embodiments, the traffic light state includes a first state in which a vehicle is permitted to pass through the traffic intersection and a second state in which the vehicle is prohibited from passing through the traffic intersection;
when the traffic light status is the first status, the first determining module 603 is further configured to:
when the predicted distance-to-empty is greater than the second distance and the first driving speed is less than or equal to the second driving speed, determining the prediction result as a first prediction result, wherein the first prediction result indicates that the vehicle can pass through the traffic intersection within the remaining duration;
when the predicted travelable distance is less than or equal to the second distance, determining the prediction result as a second prediction result, wherein the second prediction result represents that the vehicle cannot pass through the traffic intersection within the remaining time period.
When the traffic light status is the second status, the first determining module 603 is further configured to:
determining the prediction result as a second prediction result when the predicted travelable distance is greater than the second distance and the first travel speed is less than or equal to the second travel speed;
determining the prediction result as a first prediction result when the predicted travelable distance is less than or equal to the second distance.
In some embodiments, the control device 600 further comprises:
the fourth control module is used for controlling a braking device of the vehicle to start working to reduce the running speed of the vehicle when the first running speed is greater than the second running speed and the third distance is less than a preset braking distance;
and the fifth control module is used for controlling the brake device to stop working when the running speed of the vehicle is reduced to the second running speed.
In some embodiments, the control device 600 further comprises:
the sixth control module is used for controlling an accelerating device of the vehicle to start working to increase the running speed of the vehicle when the second running speed is detected to be larger than a preset speed threshold when the first running speed is smaller than or equal to the preset speed threshold;
and the seventh control module is used for controlling the accelerating device to stop working when the running speed of the vehicle is increased to the second running speed.
Here, it should be noted that: the above description of the control device embodiment is similar to the above description of the method and has the same advantageous effects as the method embodiment. For technical details not disclosed in the embodiments of the control device of the present application, a person skilled in the art will understand with reference to the description of the embodiments of the method of the present application.
It should be noted that, in the embodiment of the present application, if the method is implemented in the form of a software functional module and sold or used as a standalone product, it may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.
Accordingly, an embodiment of the present application provides a computer-readable storage medium, where at least one executable instruction is stored in the storage medium, and the executable instruction causes a processor to execute the steps in the control method provided in the foregoing embodiment.
The embodiment of the present application provides a control device, such as a vehicle, fig. 7 is a schematic diagram of a composition structure of the vehicle provided by the embodiment of the present application, and according to the exemplary structure of the vehicle 700 shown in fig. 7, other exemplary structures of the vehicle 700 can be foreseen, so that the structure described herein should not be considered as a limitation, for example, some components described below may be omitted, or components not described below may be added to adapt to the special requirements of some applications.
The vehicle 700 shown in fig. 7 includes: a processor 701, at least one communication bus 702, a user interface 703, at least one external communication interface 704 and a memory 705. Wherein the communication bus 702 is configured to enable connective communication between these components. The user interface 703 may include a display screen, and the external communication interface 704 may include standard wired and wireless interfaces, among others. Wherein the processor 701 is configured to execute the program of the control method stored in the memory to implement the steps in the control method provided by the above-mentioned embodiments.
The above description of the vehicle and storage medium embodiments, similar to the description of the method embodiments above, have similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the vehicle and of the storage medium of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the 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 application. The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
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; can be located in one place or distributed on a plurality of 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, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program code, such as removable storage devices, ROMs, magnetic or optical disks, etc.
Alternatively, the integrated unit described above may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present application, which are essentially or partly contributed to by the prior art, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a device to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media that can store program code, such as removable storage devices, ROMs, magnetic or optical disks, etc.
The above description is only for the embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A control method, characterized in that the method comprises:
when detecting that a first distance between a vehicle and a target stop line through which the vehicle passes meets a preset trigger condition, acquiring traffic light information of a traffic light corresponding to the target stop line, wherein the traffic light information comprises a traffic light state and a remaining duration for maintaining the traffic light state;
when detecting that a target object exists in front of the vehicle, acquiring running information of the vehicle and running information of the target object;
determining a prediction result according to the traffic light state, the remaining time length, the driving information of the vehicle and the driving information of the target object, wherein the prediction result represents whether the vehicle can pass through a traffic intersection where the traffic light is located within the remaining time length;
determining prompt information based on the prediction result, and controlling an output device of the vehicle to output the prompt information.
2. The method according to claim 1, wherein the output device comprises an image output device and/or a voice output device, and correspondingly, the prompt message comprises an image prompt message and/or a voice prompt message; the method further comprises the following steps:
after the traffic light information is acquired, controlling an image output device of the vehicle to output the image prompt information, wherein the image prompt information is used for prompting the traffic light state and the remaining time length; and/or the presence of a gas in the gas,
and when the residual time length is less than or equal to a preset time length threshold value, controlling the voice output device to output the voice prompt information, wherein the voice prompt information is used for prompting the residual time length.
3. The method of claim 1, further comprising:
acquiring road information of a current driving road of a vehicle, wherein the road information comprises position information of at least one stop line in the driving direction of the vehicle;
acquiring current position information of the vehicle according to a preset period;
determining a target stop line through which the vehicle passes according to the current position information of the vehicle and the position information of the at least one stop line, wherein the target stop line is the stop line closest to the vehicle in the at least one stop line;
determining a first distance between the vehicle and the target stop line according to the current position information of the vehicle and the position information of the target stop line;
and when the first distance reaches a preset distance threshold value, determining that the first distance meets a preset trigger condition.
4. The method of claim 1, wherein the travel information of the vehicle includes a first travel speed of the vehicle, a second distance between the vehicle and the target stop line, a third distance between the vehicle and the target object; the travel information of the target object includes a second travel speed of the target object;
determining a prediction result according to the traffic light state, the remaining time, the driving information of the vehicle and the driving information of the target object, including:
when the first running speed is larger than a preset speed threshold value, determining the predicted distance to be travelled by the vehicle according to the first running speed and the remaining time length;
and determining a prediction result according to the traffic light state, the predicted distance to drive, the second distance, the first driving speed and the second driving speed.
5. The method of claim 4, wherein the traffic light state comprises a first state in which a vehicle is permitted to pass through the traffic intersection and a second state in which the vehicle is prohibited from passing through the traffic intersection;
when the traffic light state is a first state, determining a prediction result according to the traffic light state, the predicted travelable distance, the second distance, the first travel speed, and the second travel speed, including:
when the predicted distance-to-empty is greater than the second distance and the first driving speed is less than or equal to the second driving speed, determining the prediction result as a first prediction result, wherein the first prediction result indicates that the vehicle can pass through the traffic intersection within the remaining duration;
when the predicted travelable distance is less than or equal to the second distance, determining the prediction result as a second prediction result, wherein the second prediction result represents that the vehicle cannot pass through the traffic intersection within the remaining time period.
6. The method of claim 5, wherein when the traffic light status is a second status, the determining a prediction based on the traffic light status, the predicted distance to travel, the second distance, the first travel speed, and the second travel speed comprises:
determining the prediction result as a second prediction result when the predicted travelable distance is greater than the second distance and the first travel speed is less than or equal to the second travel speed;
determining the prediction result as a first prediction result when the predicted travelable distance is less than or equal to the second distance.
7. The method of claim 5 or 6, further comprising:
when the first running speed is greater than the second running speed and the third distance is less than a preset braking distance, controlling a braking device of the vehicle to start working so as to reduce the running speed of the vehicle;
and controlling the braking device to stop working when the running speed of the vehicle is reduced to the second running speed.
8. The method of claim 4, further comprising:
when the first running speed is smaller than or equal to a preset speed threshold value, when the second running speed is detected to be larger than the preset speed threshold value, controlling an accelerating device of the vehicle to start working to increase the running speed of the vehicle;
and when the running speed of the vehicle is increased to the second running speed, controlling the accelerating device to stop working.
9. A control device, characterized in that the device comprises:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring traffic light information of a traffic light corresponding to a target stop line when detecting that a first distance between a vehicle and the target stop line through which the vehicle passes meets a preset trigger condition, and the traffic light information comprises a traffic light state and a remaining time for maintaining the traffic light state;
the second acquisition module is used for acquiring the running information of the vehicle and the running information of the target object when the target object is detected to exist in front of the vehicle;
the first determination module is used for determining a prediction result according to the traffic light state, the remaining time length, the driving information of the vehicle and the driving information of the target object, wherein the prediction result represents whether the vehicle can pass through a traffic intersection where the traffic light is located in the remaining time length;
a second determination module, configured to determine prompt information based on the prediction result;
and the first control module is used for controlling an output device of the vehicle to output the prompt message.
10. A vehicle, characterized by comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and when the processor executes the executable instruction, the processor executes the steps of the control method according to any one of claims 1 to 8.
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