CN116279391A

CN116279391A - Vehicle starting control method and device, vehicle and storage medium

Info

Publication number: CN116279391A
Application number: CN202111572616.2A
Authority: CN
Inventors: 祝勇; 华飞; 蒙越; 宁昀鹏
Original assignee: Beijing Rockwell Technology Co Ltd
Current assignee: Beijing Rockwell Technology Co Ltd
Priority date: 2021-12-21
Filing date: 2021-12-21
Publication date: 2023-06-23

Abstract

The application relates to a vehicle starting control method, a vehicle starting control device, a vehicle and a storage medium, wherein the vehicle starting control method comprises the steps of obtaining vehicle state information; acquiring barrier distribution information around a vehicle when the vehicle state information meets vehicle starting conditions; and controlling the starting and gear shifting of the vehicle according to the obstacle distribution information around the vehicle. According to the vehicle gear shifting control method and device, through detecting the distribution information of the obstacles around the vehicle, whether the vehicle can automatically shift gears in the starting process is intelligently decided, the problem that a driver is excessively depended on in the vehicle gear shifting process is solved, and the intelligent level of vehicle driving is improved.

Description

Vehicle starting control method and device, vehicle and storage medium

Technical Field

The embodiment of the application relates to the technical field of automobiles, in particular to a vehicle starting control method and device, a vehicle and a storage medium.

Background

Automobiles are more and more popular in life of people, the daily life and work of people are greatly facilitated due to the existence of the automobiles, and the automobiles are gradually intelligent along with the appearance of automatic gear automobiles, so that great convenience is brought to users. Automatic shifting does not require the use of clutches and conventional manual transmissions to change gear, and is simpler for the driver to operate during driving of the vehicle.

When the automobile is in a parking state, the automobile can not be automatically shifted from the parking gear to the forward gear or the reverse gear to finish the starting of the automobile. Intelligent gear shifting cannot be achieved, and the gear shifting needs to be performed by relying on manual operation, so that the intelligent gear shifting is not achieved. Meanwhile, when judging whether the environment is suitable for starting of the vehicle, people need to observe whether the surrounding of the vehicle is provided with an obstacle or not by human eyes, if the surrounding is provided with the obstacle, the distance between the obstacle and the vehicle needs to be visually checked, and whether the surrounding is scratched with the obstacle or not can be judged when the vehicle starts.

Disclosure of Invention

To solve the above technical problems, at least one embodiment of the present application provides a vehicle start control method, a device, a vehicle, and a storage medium.

Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:

in a first aspect, the present application provides a vehicle start control method, including:

acquiring vehicle state information;

acquiring barrier distribution information around a vehicle when the vehicle state information meets vehicle starting conditions;

And controlling the starting and gear shifting of the vehicle according to the obstacle distribution information around the vehicle.

In some embodiments, the controlling the vehicle launch shift according to the obstacle distribution information around the vehicle includes:

if the obstacle distribution information around the vehicle meets the condition that no obstacle exists in a first preset distance in front of the vehicle, controlling the vehicle to shift from a parking gear to a forward gear;

and if the obstacle distribution information around the vehicle meets the condition that the obstacle exists in the first preset distance in front of the vehicle and the obstacle does not exist in the second preset distance behind the vehicle, controlling the vehicle to shift from the parking gear to the reverse gear.

determining a left minimum steering coverage area and a right minimum steering coverage area of the vehicle according to the vehicle steering motion model, left obstacle distribution information and right obstacle distribution information of the vehicle;

and controlling starting and shifting of the vehicle according to the left minimum steering coverage area and the right minimum steering coverage area of the vehicle, the front obstacle distribution information of the vehicle and the rear obstacle distribution information of the vehicle.

In some embodiments, the controlling the vehicle start shift according to the left and right minimum steering coverage areas of the vehicle, the front obstacle distribution information of the vehicle, and the rear obstacle distribution information of the vehicle includes:

If the front obstacle distribution information of the vehicle meets that the obstacle exists in the first preset distance in front of the vehicle, the rear obstacle distribution information of the vehicle meets that the obstacle exists in the second preset distance behind the vehicle, the first side obstacle distribution information of the vehicle meets that no obstacle exists in the third preset distance on the first side of the vehicle, and the front obstacle of the vehicle is not located in the minimum steering coverage area on the first side of the vehicle, the vehicle is controlled to be shifted from the parking gear to the forward gear, so that the vehicle starts to the front of the first side;

or if the front obstacle distribution information of the vehicle meets that the obstacle exists in the first preset distance in front of the vehicle, the rear obstacle distribution information of the vehicle meets that the obstacle exists in the second preset distance behind the vehicle, the first side obstacle distribution information of the vehicle meets that no obstacle exists in the third preset distance on the first side of the vehicle, the front obstacle of the vehicle is positioned in the minimum steering coverage area on the first side of the vehicle, and when the rear obstacle of the vehicle is not positioned in the minimum steering coverage area, the vehicle is controlled to be shifted from a parking gear to a reverse gear so as to enable the vehicle to start to the rear of the first side;

or if the front obstacle distribution information of the vehicle meets the condition that the obstacle exists in the first preset distance in front of the vehicle, the rear obstacle distribution information of the vehicle meets the condition that the obstacle exists in the second preset distance behind the vehicle, the first side obstacle distribution information of the vehicle meets the condition that the obstacle exists in the third preset distance on the first side of the vehicle, the second side obstacle distribution information of the vehicle meets the condition that the obstacle exists in the fourth preset distance on the second side of the vehicle, and the front obstacle of the vehicle is not located in the minimum steering coverage area on the first side of the vehicle and the minimum steering coverage area on the second side of the vehicle, the vehicle is controlled to be shifted from the parking gear to the forward gear so that the vehicle starts to the front on the first side; the steering radius of the minimum steering coverage area of the first side of the vehicle is smaller than the steering radius of the minimum steering coverage area of the second side of the vehicle;

Or if the front obstacle distribution information of the vehicle meets the condition that the obstacle exists in the first preset distance in front of the vehicle, the rear obstacle distribution information of the vehicle meets the condition that the obstacle exists in the second preset distance behind the vehicle, the first side obstacle distribution information of the vehicle meets the condition that the obstacle exists in the third preset distance on the first side of the vehicle, the second side obstacle distribution information of the vehicle meets the condition that the obstacle exists in the fourth preset distance on the second side of the vehicle, the front obstacle of the vehicle is positioned in the minimum steering coverage area on the first side of the vehicle and the minimum steering coverage area on the second side of the vehicle, and when the rear obstacle of the vehicle is not positioned in the minimum steering coverage area on the first side of the vehicle and the minimum steering coverage area on the second side of the vehicle, the vehicle is controlled to be shifted from a parking gear to a reverse gear so that the vehicle starts to the rear of the first side; the steering radius of the minimum steering coverage area of the first side of the vehicle is smaller than the steering radius of the minimum steering coverage area of the second side of the vehicle;

the first side is the left side of the vehicle, or the first side is the right side of the vehicle. In some embodiments, the acquiring vehicle state information includes:

acquiring gear state information of a vehicle, and acquiring at least one of door state information of the vehicle, vehicle safety belt use information and vehicle braking information;

When the vehicle state information meets the vehicle starting condition, acquiring the barrier distribution information around the vehicle, wherein the barrier distribution information comprises the following steps:

and if the vehicle door state information is that the vehicle door is opened and then closed, the vehicle safety belt use information is that the cockpit safety belt is opened and used, and the vehicle brake information is that the brake pedal has at least one of brake strokes, and the vehicle gear state information is that the current gear of the vehicle is a parking gear, determining that the vehicle state information meets vehicle starting conditions, and acquiring barrier distribution information around the vehicle.

In some embodiments, the acquiring obstacle distribution information around the vehicle includes:

acquiring initial obstacle distribution information around a vehicle through various sensors;

and acquiring initial obstacle distribution information around the vehicle by the various sensors, and carrying out data fusion to determine the obstacle distribution information around the vehicle.

In some embodiments, the acquiring initial obstacle distribution information around the vehicle by the plurality of sensors includes:

acquiring first initial obstacle distribution information around the vehicle through an ultrasonic radar sensor, acquiring second initial obstacle distribution information around the vehicle through a millimeter wave radar sensor, and acquiring third initial obstacle distribution information around the vehicle through a visual sensor;

The step of acquiring the initial obstacle distribution information around the vehicle by the plurality of sensors and carrying out data fusion to determine the obstacle distribution information around the vehicle comprises the following steps: and carrying out data fusion according to at least two of the first initial obstacle distribution information, the second initial obstacle distribution information and the third initial obstacle distribution information, and determining the obstacle distribution information around the vehicle.

In some embodiments, the determining the obstacle distribution information around the vehicle according to the data fusion of at least two of the first initial obstacle distribution information, the second initial obstacle distribution information, and the third initial obstacle distribution information includes:

performing data fusion on the second initial obstacle distribution information and the third initial obstacle distribution information to obtain fourth initial obstacle distribution information;

and carrying out data fusion on the fourth initial obstacle distribution information and the first initial obstacle distribution information to acquire the obstacle distribution information around the vehicle. In a second aspect, an embodiment of the present application further provides a vehicle start control device, including:

the vehicle state information acquisition module is used for acquiring vehicle state information;

The obstacle distribution acquisition module is used for acquiring the obstacle distribution information around the vehicle when the vehicle state information meets the vehicle starting condition;

and the starting and shifting module is used for controlling the starting and shifting of the vehicle according to the distribution information of the obstacles around the vehicle.

In a third aspect, an embodiment of the present application further provides a vehicle, including a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to implement the steps of the vehicle start control method according to any embodiment of the first aspect.

In a fourth aspect, embodiments of the present application further provide a computer readable storage medium, where a computer program is stored, where the computer program when executed by a processor implements the steps of the vehicle launch control method according to any embodiment of the first aspect.

It can be seen that in at least one embodiment of the present application, by acquiring vehicle state information, and when the vehicle state information satisfies a vehicle start condition, obstacle distribution information around the vehicle is acquired. And controlling the starting and gear shifting of the vehicle according to the obstacle distribution information around the vehicle. By detecting the distribution information of the obstacles around the vehicle, whether the vehicle can automatically shift gears in the starting process is intelligently decided. Judging whether the vehicle meets starting conditions or not according to the vehicle state, if so, acquiring surrounding barrier distribution information, automatically controlling starting and gear shifting of the vehicle according to the surrounding barrier distribution information, and avoiding collision of the vehicle due to observation errors of human eyes without judging the surrounding environment by a driver. The problem that a driver is too dependent in the vehicle gear shifting process is solved, and the intelligent level of vehicle driving is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and that other drawings may be obtained according to these drawings by a person having ordinary skill in the art.

Fig. 1 is a schematic flow chart of a vehicle start control method according to an embodiment of the present application;

fig. 2 is a block diagram of a vehicle start control device according to an embodiment of the present application;

fig. 3 is a schematic diagram of a vehicle starting control method according to an embodiment of the present application.

Detailed Description

In order that the above-recited objects, features and advantages of the present disclosure may be more clearly understood, a more particular description of the disclosure will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be understood that the described embodiments are some, but not all, of the embodiments of the present disclosure. The specific embodiments described herein are to be considered in an illustrative rather than a restrictive sense. All other embodiments derived by a person of ordinary skill in the art based on the described embodiments of the present disclosure fall within the scope of the present disclosure.

It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

At present, when a vehicle starts, a person is required to shift gears manually, and the vehicle is started. Whether the vehicle can be shifted or not is judged mainly by human vision, and the gear judgment is purely by human vision. The visual judgment can cause angle deviation or visual blind spots to interfere with the judgment of people, and the vehicle is started and shifted to influence the collision of the vehicle and surrounding obstacles.

In view of the above-described drawbacks of the prior art, embodiments of the present application provide a vehicle start control method. Fig. 1 is a flow chart of a vehicle start control method according to an embodiment of the present application. The execution main body of the vehicle starting control method provided by the embodiment of the application is a vehicle to be started. As shown in fig. 1, the vehicle start control method includes: s110 to S130:

s110, acquiring vehicle state information.

Before starting and shifting the vehicle, current state information of the vehicle needs to be acquired. For example, whether the door is closed or not can be determined by a sensor provided in the vehicle, whether a driver is present in the vehicle can be determined by the use of a seat belt, or the like. And acquiring vehicle gear state information to determine whether the vehicle is in a parking gear. When a driver sits in a driving position, the set sensor detects corresponding information, and the vehicle gear is a parking gear, so that the vehicle can be judged to be in a waiting starting control state.

S120, when the vehicle state information meets the vehicle starting condition, the obstacle distribution information around the vehicle is acquired.

After the vehicle state information is obtained, if the vehicle state information satisfies the condition of vehicle starting, for example, the door of the vehicle is opened, the safety belt is used by the driver, and the vehicle gear is the parking gear, the driver can judge that the driver has the requirement of driving according to the vehicle state information, and the vehicle starting condition is satisfied, then the obstacle distribution information around the vehicle can be obtained. If the vehicle door is not opened, no driver gets on the vehicle, and even if the vehicle gear is in the parking gear, the vehicle can be judged to not meet the vehicle starting condition, the vehicle is kept in the original state, and the obstacle distribution information around the vehicle can not be acquired. Wherein, the obstacle distribution information around the vehicle can be obtained by a sensor, and the vehicle state information can also be obtained by a setting sensor. For example, a sensor is provided in the vehicle, and obstacle distribution information around the vehicle is acquired by the sensor to identify obstacles around the vehicle. It should be noted that the type and the number of the sensors to be set in the vehicle are not limited in the embodiment of the application, and may be selected according to actual requirements.

S130, controlling starting and shifting of the vehicle according to the obstacle distribution information around the vehicle.

After the distribution information of the obstacles around the vehicle is obtained, the vehicle to be started can determine the running direction of the vehicle according to the distribution information of the obstacles around, determine the gear to be switched and accurately avoid the obstacles. If no obstacle exists in front of the vehicle, the vehicle can be switched to a forward gear at the moment, and starting and gear shifting of the vehicle are completed.

According to the vehicle starting control method, whether the current vehicle meets the vehicle starting condition is judged by acquiring the vehicle state information, if the current vehicle meets the vehicle starting condition, the surrounding obstacle distribution information of the vehicle is acquired, surrounding obstacles are accurately identified, and vehicle starting and gear shifting are controlled according to the surrounding obstacle distribution information. Because whether the vehicle meets the starting condition and surrounding obstacle distribution information are required to be judged, the vehicle can complete automatic starting and gear shifting, collision between the vehicle and surrounding obstacles caused by misjudgment of human eyes in the starting process of the vehicle is avoided, and the intelligent level of vehicle driving is improved.

In some embodiments, S130 controls vehicle launch shifting according to obstacle distribution information around the vehicle, including:

And if the obstacle distribution information around the vehicle meets the condition that no obstacle exists in the first preset distance in front of the vehicle, controlling the vehicle to shift from the parking gear to the forward gear.

And if the distribution information of the obstacles around the vehicle meets the condition that the obstacles exist in the first preset distance in front of the vehicle and the obstacles exist in the second preset distance behind the vehicle, controlling the vehicle to shift from the parking gear to the reverse gear.

After the distribution information of the obstacles around the vehicle is acquired, the distribution of the obstacles around the vehicle is analyzed, and whether the vehicle can perform starting and shifting operations or not is judged. Firstly, judging whether the distance between the obstacle in front of the vehicle and the vehicle is larger than a first preset distance, if the distance between the obstacle in front of the vehicle and the vehicle is larger than the first preset distance, indicating that the distance in front of the vehicle is enough for starting the vehicle, controlling the vehicle to start forward is more convenient, and the operation is easier, so that the vehicle is controlled to be shifted from a parking gear to a forward gear. If the distance between the front obstacle and the vehicle is smaller than the first preset distance, the situation that the vehicle starts due to insufficient distance in front of the vehicle and the vehicle can collide when the vehicle runs forwards is indicated, and whether the distance between the rear obstacle and the vehicle is larger than the second preset distance is judged. And if the distance between the rear obstacle and the vehicle is larger than the second preset distance, indicating that the distance behind the vehicle is enough for starting the vehicle, and controlling the vehicle to shift from the parking gear to the reverse gear. If there is no obstacle in front of the vehicle or in the rear of the vehicle, the vehicle is controlled to shift from the park gear to the reverse gear because the operation of controlling the forward start of the vehicle is simpler than the operation of controlling the rearward start of the vehicle.

And judging whether an obstacle exists in a certain distance in front of the vehicle according to the obstacle distribution information around the vehicle, if no obstacle exists in the first preset distance in front, the vehicle can be switched to a forward gear, and if the obstacle exists in the first preset distance in front, the vehicle can continue to judge whether the obstacle exists in the second distance behind the vehicle. The vehicle starting can be accurately and automatically controlled, so that the vehicle can be started through the simplest steps.

and determining the left minimum steering coverage area and the right minimum steering coverage area of the vehicle according to the vehicle steering motion model, the left obstacle distribution information and the right obstacle distribution information of the vehicle.

If the first preset distance in front of the vehicle is provided with an obstacle, and the second preset distance behind the vehicle is provided with an obstacle, the vehicle cannot directly advance or retreat to start, and the steering start of the vehicle can be considered. First, a vehicle steering motion model may be established. For example, a vehicle steering motion model can be constructed according to the size information of the vehicle, including the length, width and height, the size information of wheels and the like, and the left minimum steering coverage area and the right minimum steering coverage area of the vehicle can be calculated by combining the vehicle steering motion model, the left obstacle distribution information and the right obstacle distribution information of the vehicle. The left minimum steering coverage area refers to a minimum area required by a vehicle to avoid left obstacles in the process of steering the vehicle leftwards; the right minimum steering coverage area refers to the minimum area required to avoid a right obstacle during steering of the vehicle to the right.

When controlling the vehicle to turn and start, if there is an obstacle in front of the vehicle and behind the vehicle, at this time, it is necessary to consider whether the vehicle collides with the obstacle in front of the vehicle and the obstacle behind the vehicle when turning and starting to the left and right, so it is also necessary to control the vehicle to start and shift gears according to the combination of the left minimum turning coverage area of the left vehicle, the right minimum turning coverage area, the front obstacle distribution information of the vehicle and the rear obstacle distribution information of the vehicle, so as to avoid the vehicle colliding with the obstacle in each of the front, rear, left and right directions during the start and shift process.

According to the different distribution orientations of the obstacles around the vehicle, different starting and shifting operations are considered respectively, so that the starting of the vehicle can be controlled more accurately, and the automatic starting and shifting of the vehicle can be controlled more simply.

In some embodiments, controlling vehicle launch shifts based on minimum steering coverage area on left and minimum steering coverage area on right of the vehicle, forward obstacle distribution information of the vehicle, and rear obstacle distribution information of the vehicle, includes:

if the front obstacle distribution information of the vehicle meets that the obstacle exists in the first preset distance in front of the vehicle, the rear obstacle distribution information of the vehicle meets that the obstacle exists in the second preset distance behind the vehicle, the obstacle distribution information of the first side of the vehicle meets that no obstacle exists in the third preset distance on the first side of the vehicle, and the front obstacle of the vehicle is not located in the minimum steering coverage area on the first side of the vehicle, the vehicle is controlled to be shifted from the parking gear to the forward gear, and the vehicle starts to the front of the first side.

If the front obstacle distribution information of the vehicle meets the condition that the obstacle exists in the first preset distance in front of the vehicle, the rear obstacle distribution information of the vehicle meets the condition that the obstacle exists in the second preset distance behind the vehicle, the obstacle distribution information of the first side of the vehicle meets the condition that no obstacle exists in the third preset distance on the first side of the vehicle, the front obstacle of the vehicle is located in the minimum steering coverage area of the first side of the vehicle, and when the rear obstacle of the vehicle is not located in the minimum steering coverage area, the vehicle is controlled to be shifted from a parking gear to a reverse gear so that the vehicle starts to the rear of the first side.

Taking the first side as the left side of the vehicle as an example, after the distribution information of the obstacles around the vehicle is obtained, if the first preset distance in front of the vehicle has the obstacle, the second preset distance behind the vehicle also has the obstacle, the vehicle cannot directly start forward or backward, and the vehicle needs to turn to start. If no obstacle exists in the third preset distance on the left side of the vehicle, and the obstacle in front of the vehicle is not in the minimum steering coverage range required by steering the vehicle leftwards, namely the vehicle cannot collide with the obstacle in front of the vehicle when steering and starting leftwards, the vehicle is controlled to shift from the parking gear to the forward gear, and the vehicle is enabled to steer and start leftwards and forwards.

If there is no obstacle in the third preset distance on the left side of the vehicle, but the obstacle in front of the vehicle is in the minimum steering coverage area required by the vehicle steering to the left, at this time, the vehicle starts to steer to the left side and collides with the obstacle in front, and whether the obstacle behind the vehicle is in the minimum steering coverage area required by the vehicle steering to the left can be considered. If the rear obstacle of the vehicle is not in the minimum steering coverage range required by steering the vehicle leftwards, namely the vehicle cannot collide with the rear obstacle when steering and starting leftwards, the vehicle is controlled to be shifted from the parking gear to the reverse gear, and the vehicle is enabled to steer and start leftwards and rearwards.

If no obstacle exists in the third preset distance on the first side of the vehicle, and no obstacle exists in the fourth preset distance on the second side of the vehicle, the vehicle can turn to the first side for starting or turn to the second side for starting. If the front obstacle distribution information of the vehicle meets that the obstacle exists in the first preset distance in front of the vehicle, the rear obstacle distribution information of the vehicle meets that the obstacle exists in the second preset distance behind the vehicle, the first side obstacle distribution information of the vehicle meets that the obstacle exists in the third preset distance on the first side of the vehicle, the second side obstacle distribution information of the vehicle meets that the obstacle exists in the fourth preset distance on the second side of the vehicle, and the front obstacle of the vehicle is not located in the minimum steering coverage area on the first side of the vehicle and the minimum steering coverage area on the second side of the vehicle, the vehicle is controlled to be shifted from a parking gear to a forward gear so that the vehicle starts to the front of the first side;

If the front obstacle distribution information of the vehicle meets that the obstacle exists in a first preset distance in front of the vehicle, the rear obstacle distribution information of the vehicle meets that the obstacle exists in a second preset distance behind the vehicle, the first side obstacle distribution information of the vehicle meets that the obstacle exists in a third preset distance on the first side of the vehicle, the second side obstacle distribution information of the vehicle meets that the obstacle exists in a fourth preset distance on the second side of the vehicle, the front obstacle of the vehicle is located in a minimum steering coverage area on the first side of the vehicle and a minimum steering coverage area on the second side of the vehicle, and when the rear obstacle of the vehicle is not located in the minimum steering coverage area on the first side of the vehicle and the minimum steering coverage area on the second side of the vehicle, the vehicle is controlled to be shifted from a parking gear to a reverse gear so that the vehicle starts to the rear of the first side;

the first side is the left side of the vehicle, or the first side is the right side of the vehicle. The steering radius of the minimum steering footprint on the first side of the vehicle is less than the steering radius of the minimum steering footprint on the second side of the vehicle.

Taking the first side as the left side of the vehicle as an example, after the distribution information of the obstacles around the vehicle is obtained, if the first preset distance in front of the vehicle has the obstacle, the second preset distance behind the vehicle also has the obstacle, the vehicle cannot directly start forward or backward, and the vehicle needs to turn to start. If the obstacle exists in the third preset distance on the left side of the vehicle, the obstacle also exists in the fourth preset distance on the right side of the vehicle. At the moment, the area required by the left steering of the vehicle is the left minimum steering coverage area, and the vehicle can avoid left obstacles; the area where the vehicle is required to steer right is the minimum steering coverage area on the right, and the vehicle can avoid the right obstacle. Wherein the steering radius of the left minimum steering coverage area of the vehicle is smaller than the steering radius of the right minimum steering coverage area of the vehicle. And the front obstacle of the vehicle is not positioned in the left minimum steering coverage area and the right minimum steering coverage area, namely, the vehicle cannot collide with the front obstacle when steering left or steering right. Because the steering radius of the left minimum steering coverage area of the vehicle is smaller than that of the right minimum steering coverage area of the vehicle, the space area required by the vehicle for steering and starting to the left is smaller, and the vehicle is controlled to be shifted from the parking gear to the forward gear, so that the vehicle is steered and started to the left front.

If the front obstacle of the vehicle is located in the left minimum steering coverage area and the right minimum steering coverage area, namely, the vehicle starts in a left steering mode or a right steering mode, collision can occur with the front obstacle. In this case, the position of the obstacle behind the vehicle needs to be considered, and if the obstacle behind the vehicle is not located in the left minimum steering coverage area and the right minimum steering coverage area, that is, the vehicle starts to steer left or starts to steer right, the vehicle cannot collide with the obstacle behind. Because the steering radius of the left minimum steering coverage area of the vehicle is smaller than that of the right minimum steering coverage area of the vehicle, the space area required by the vehicle for steering and starting to the left is smaller, and the vehicle is controlled to be shifted from the parking gear to the reverse gear, so that the vehicle is steered and started to the left and the rear.

If the front obstacle and the rear obstacle of the vehicle are both positioned in the left minimum steering coverage area and the right minimum steering coverage area, the vehicle does not start and shift at this time, and collision with surrounding obstacles is avoided. Wherein the first side is the left side of the vehicle or the right side of the vehicle. The steering radius of the minimum steering footprint on the first side of the vehicle is less than the steering radius of the minimum steering footprint on the second side of the vehicle. Since there may be a plurality of obstacles around the vehicle, the minimum steering coverage areas required for the vehicle to avoid different obstacles are different, that is, the minimum steering radii are different, and the side with the smaller minimum steering radius is selected as the direction for controlling the vehicle to steer. If the steering radius of the minimum steering coverage area at the first side of the vehicle is the same as the steering radius of the minimum steering coverage area at the second side of the vehicle, the vehicle can be controlled to steer to the first side or steer to the second side.

In some embodiments, obtaining vehicle state information includes: gear state information of the vehicle is acquired, and at least one of door state information of the vehicle, vehicle seat belt usage information, and vehicle brake information is acquired. When the vehicle state information satisfies the vehicle starting condition, acquiring the obstacle distribution information around the vehicle, including: if the vehicle door state information is that the vehicle door is opened and then closed, the vehicle safety belt use information is that the cockpit safety belt is opened and used, the vehicle brake information is that at least one of brake pedal has a brake stroke, and the vehicle gear state information is that the current gear of the vehicle is a parking gear, determining that the vehicle state information meets vehicle starting conditions, and acquiring barrier distribution information around the vehicle.

Before the vehicle is started, whether the vehicle meets the starting condition or not needs to be judged, for example, the vehicle state information can be acquired and judged according to the vehicle state information. The acquired vehicle state information includes, but is not limited to, door state information of the vehicle, vehicle seat belt usage information, vehicle braking information, vehicle gear state information, etc., and may also include information of a vehicle engine compartment door, a trunk compartment door, etc. The required vehicle state information can be detected by providing a sensor at a location where the vehicle state information is required to be acquired. For example, a door closing state sensor, a cabin seat belt state sensor, a brake state sensor, a shift position sensor, and the like may be provided. If the door closing state sensor detects that a person opens the door and then closes the door, and the gear sensor of the vehicle detects that the gear of the vehicle is the parking gear, the vehicle control device judges that the vehicle meets starting conditions, and can perform starting control on the vehicle. If the cockpit safety belt is started and used and the gear sensor of the vehicle detects that the gear of the vehicle is the parking gear, the vehicle control device is determined to judge that the driver has driving intention, and the vehicle control device accords with the starting condition of the vehicle, so that the vehicle can be controlled to start. Or the brake state sensor detects that the brake pedal has a brake stroke, namely, the driver has the action of stepping on the brake pedal, and the gear sensor of the vehicle detects that the gear is a parking gear, the vehicle control device judges that the driver has a driving intention, accords with the starting condition of the vehicle, and can control the starting of the vehicle. If the vehicle state information does not meet the condition for controlling the starting of the vehicle, the vehicle can prompt the driver, for example, the vehicle state information can be displayed on a vehicle display screen so as to achieve the purpose of reminding the driver. It should be noted that the starting condition of the vehicle may be set according to the actual requirement, which is not specifically limited in the present application.

In some embodiments, obtaining obstacle distribution information around a vehicle includes:

initial obstacle distribution information around the vehicle is acquired by a variety of sensors. And acquiring initial obstacle distribution information around the vehicle by using various sensors, and carrying out data fusion to determine the obstacle distribution information around the vehicle.

A variety of sensors may be provided on the vehicle to acquire obstacle distribution information around the vehicle. Sensors may be provided in front of and behind the vehicle, as well as in four angular positions of the vehicle, to more fully and accurately detect surrounding obstacles. After the initial obstacle distribution information around the vehicle is acquired through the various sensors, the accuracy of detecting the surrounding obstacles by the various sensors is different, and the detection ranges are different, so that the data fusion can be carried out on the initial obstacle distribution information around the vehicle acquired by the various sensors, and the more accurate obstacle distribution information around the vehicle is obtained.

In some embodiments, obtaining initial obstacle distribution information around a vehicle by a plurality of sensors includes:

first initial obstacle distribution information around the vehicle is acquired by an ultrasonic radar sensor, second initial obstacle distribution information around the vehicle is acquired by a millimeter wave radar sensor, and third initial obstacle distribution information around the vehicle is acquired by a visual sensor. Acquiring initial obstacle distribution information around a vehicle by a plurality of sensors and carrying out data fusion, and determining the obstacle distribution information around the vehicle, wherein the method comprises the following steps: and carrying out data fusion according to at least two of the first initial obstacle distribution information, the second initial obstacle distribution information and the third initial obstacle distribution information, and determining the obstacle distribution information around the vehicle.

An ultrasonic radar sensor can be arranged on the vehicle, ultrasonic waves are emitted outwards through an ultrasonic emission device on the ultrasonic radar sensor, and the distance is measured and calculated through the time difference when the ultrasonic waves are received and sent by a receiver, so that first initial obstacle distribution information is obtained. Ultrasonic radars are widely used, waterproof and dustproof, and have low cost and high accuracy in an effective ranging range, and thus are used to acquire first initial obstacle distribution information. The millimeter wave radar sensor can be arranged on the vehicle, and the distance, the speed and the angle of the target object are mainly obtained by sending electromagnetic waves to the target object and receiving echoes, so that the target speed detection with higher precision can be realized by the principle of Doppler shift, and the second initial obstacle distribution information around the vehicle is obtained. The third initial obstacle distribution information around the vehicle can be obtained through the visual sensor, the visual sensor is low in cost, different objects can be identified, and the method has the advantages in the aspects of object height and width measurement precision, lane line identification, pedestrian identification accuracy and the like.

The three sensors can acquire the information of surrounding obstacles, and the distance and the accuracy of the obstacles are different. In order to acquire more accurate obstacle distribution information around the vehicle, at least two of the first initial obstacle distribution information, the second initial obstacle distribution information and the third initial obstacle distribution information can be subjected to data fusion, and the more accurate obstacle distribution information around the vehicle in different ranges can be obtained through the data fusion.

In some embodiments, data fusion is performed according to at least two of the first initial obstacle distribution information, the second initial obstacle distribution information, and the third initial obstacle distribution information, and determining the obstacle distribution information around the vehicle includes: and carrying out data fusion on the second initial obstacle distribution information and the third initial obstacle distribution information to obtain fourth initial obstacle distribution information. And carrying out data fusion on the fourth initial obstacle distribution information and the first initial obstacle distribution information to acquire the obstacle distribution information around the vehicle. In order to acquire more accurate surrounding obstacle distribution information of the vehicle, the second initial obstacle distribution information and the third initial obstacle distribution information can be fused to acquire fourth initial obstacle distribution information. The millimeter wave radar sensor mainly obtains the distance, the speed and the angle of a target object by sending electromagnetic waves to the target object and receiving echoes, and can realize higher-precision target speed detection by the principle of Doppler shift. The visual sensor has low cost, can identify different objects, and has advantages in the aspects of object height and width measurement precision, lane line identification, pedestrian identification accuracy and the like. The method comprises the steps of fusing obstacle distribution information acquired by a millimeter wave radar sensor with obstacle distribution information acquired by a visual sensor, carrying out feature extraction and pattern recognition processing on output data of each sensor, accurately associating targets according to categories, and finally integrating all sensor data of the same target by utilizing a fusion algorithm, so as to obtain more accurate fourth initial obstacle distribution information with distance and azimuth. The data fusion of the vision radar and the millimeter wave radar has three fusion strategies of an image level, a target level and a signal level. The image-level fusion is to take a visual sensor as a main body, convert the image characteristics of the whole information output by the millimeter wave radar sensor, and then fuse the whole information with the image output of the visual sensor. The target level fusion is to perform comprehensive reliability weighting on the outputs of the visual sensor and the millimeter wave radar sensor, and perform self-adaptive searching and matching with precision calibration information and then to fuse the outputs. The signal level fusion is to fuse data sources transmitted by the visual sensor and the millimeter wave radar sensor. The fusion data loss of the signal level is minimum, the reliability is highest, but a large amount of operation is needed. For example, the analysis may be performed by using a univariate image difference method. The specific fusion mode can be selected according to specific needs, and the application is not limited to this. And fusing the first initial obstacle distribution information and the fourth initial obstacle distribution information around the vehicle to determine more accurate obstacle distribution information around the vehicle. The distance measurement ranges and the accuracies of the ultrasonic radar sensor, the millimeter wave radar sensor and the vision sensor are different, the acquired first initial obstacle distribution information is more accurate in obstacle distribution information which is closer to the vehicle, and the fourth initial obstacle distribution information is more accurate in obstacle distribution information which is farther to the vehicle, so that the ultrasonic radar sensor, the millimeter wave radar sensor and the vision sensor are weighted and fused, and more accurate obstacle distribution information can be obtained in different distance ranges.

For example, the detection range of the ultrasonic radar sensor includes a first distance and a second distance. The first distance is the effective detection range of the ultrasonic radar sensor, and the accuracy of the ultrasonic radar sensor for detecting the obstacle in the second distance is higher than the accuracy of detecting the obstacle between the first distance and the second distance. Wherein the second distance is less than the first distance. If the obstacle is located in the second distance, the accuracy of the position of the obstacle detected by the ultrasonic radar sensor is higher, the weight of the position information of the obstacle detected by the ultrasonic radar sensor is larger in the weighted fusion process, and the weight of the position information of the obstacle detected by the millimeter wave radar sensor and the visual sensor is smaller. If the obstacle is located between the first distance and the second distance, the weights of the two detection methods are the same. If the obstacle is located outside the second distance, the weight of the ultrasonic radar sensor for detecting the obstacle position information is smaller, and the weight of the millimeter wave radar sensor and the visual sensor for detecting the obstacle position information is larger when the obstacle position is fused due to the limitation of the detection precision of the ultrasonic radar sensor. When the distance between the obstacle and the vehicle exceeds a certain distance, the weight of the obstacle position information detected by the ultrasonic radar sensor may be 0.

The number of sensors is not particularly limited, and may be selected according to the needs of the vehicle.

Fig. 3 is a schematic diagram of a vehicle starting control method according to an embodiment of the present application. And acquiring vehicle state information such as a vehicle door state, a safety belt state, brake state information and vehicle gear state information, and judging whether the vehicle meets starting conditions or not according to the vehicle state information. If the vehicle starting condition is not met, a prompt is sent to a driver, and vehicle starting control is not performed. If the vehicle starting condition is met, acquiring first initial obstacle distribution information through an ultrasonic radar sensor, acquiring second initial obstacle distribution information through a millimeter wave radar sensor, and acquiring third initial obstacle distribution information through a visual sensor. In order to acquire more accurate obstacle distribution information around the vehicle, the obstacle distribution information acquired through the millimeter wave radar sensor and the vision sensor is fused to obtain fourth initial obstacle distribution information, and the first initial obstacle distribution information is fused with the fourth initial obstacle distribution information to acquire more accurate obstacle distribution information around the vehicle. From the obstacle distribution information around the vehicle, the front obstacle distribution, the rear obstacle distribution, the left obstacle distribution, and the right obstacle distribution of the vehicle can be determined. And constructing a vehicle steering kinematics model according to relevant parameters of the vehicle, and calculating a minimum steering coverage area of the vehicle if the left or right side of the vehicle has an obstacle by combining left obstacle distribution and right obstacle distribution. Judging the gear shifting of the vehicle according to different situations of obstacles around the vehicle, obtaining a vehicle starting gear shifting result and controlling the vehicle to perform starting gear shifting operation.

The embodiment of the application also provides a vehicle starting control device, and fig. 2 is a structural block diagram of the vehicle starting control device provided by the embodiment of the application. As shown in fig. 2, the vehicle state information acquisition module 11, the obstacle distribution acquisition module 12, and the start shift module 13 are included.

The vehicle state information acquisition module 11 is configured to acquire vehicle state information. The obstacle distribution acquisition module 12 is configured to acquire obstacle distribution information around the vehicle when the vehicle state information satisfies a vehicle start condition. The start shift module 13 is used for controlling the vehicle to start shifting according to the distribution information of the obstacles around the vehicle.

Optionally, the starting gear shifting module is specifically configured to control the vehicle to shift from the parking gear to the forward gear if the distribution information of the obstacles around the vehicle satisfies the condition that no obstacle exists within a first preset distance in front of the vehicle.

Optionally, the starting gear shifting module can be further used for determining a left minimum steering coverage area and a right minimum steering coverage area of the vehicle according to the vehicle steering motion model, left obstacle distribution information and right obstacle distribution information of the vehicle.

Optionally, the starting and shifting module may be further configured to control starting and shifting of the vehicle according to a left minimum steering coverage area and a right minimum steering coverage area of the vehicle, front obstacle distribution information of the vehicle, and rear obstacle distribution information of the vehicle, including:

Or if the front obstacle distribution information of the vehicle meets that the obstacle exists in the first preset distance in front of the vehicle, the rear obstacle distribution information of the vehicle meets that the obstacle exists in the second preset distance behind the vehicle, the first side obstacle distribution information of the vehicle meets that no obstacle exists in the third preset distance on the first side of the vehicle, the front obstacle of the vehicle is located in the minimum steering coverage area on the first side of the vehicle, and when the rear obstacle of the vehicle is not located in the minimum steering coverage area, the vehicle is controlled to be shifted from a parking gear to a reverse gear so that the vehicle starts to the rear of the first side.

The first side is the left side of the vehicle, or the first side is the right side of the vehicle. Optionally, the vehicle state information acquisition module is specifically configured to acquire gear state information of the vehicle and acquire at least one of door state information of the vehicle, vehicle seat belt usage information, and vehicle brake information.

When the vehicle state information satisfies the vehicle starting condition, acquiring the obstacle distribution information around the vehicle, including:

if the vehicle door state information is that the vehicle door is opened and then closed, the vehicle safety belt use information is that the cockpit safety belt is opened and used, the vehicle brake information is that at least one of brake pedal has a brake stroke, and the vehicle gear state information is that the current gear of the vehicle is a parking gear, determining that the vehicle state information meets vehicle starting conditions, and acquiring barrier distribution information around the vehicle.

Optionally, the obstacle distribution acquisition module is specifically configured to acquire initial obstacle distribution information around the vehicle through a plurality of sensors.

And acquiring initial obstacle distribution information around the vehicle by using various sensors, and carrying out data fusion to determine the obstacle distribution information around the vehicle.

Optionally, the obstacle distribution acquisition module may be further configured to acquire obstacle distribution information around the vehicle, including: the various sensors are used to obtain initial obstacle distribution information around the vehicle.

The method includes the steps of acquiring first initial obstacle distribution information around a vehicle through an ultrasonic radar sensor, acquiring second initial obstacle distribution information around the vehicle through a millimeter wave radar sensor, and acquiring third initial obstacle distribution information around the vehicle through a visual sensor.

Acquiring initial obstacle distribution information around a vehicle by a plurality of sensors and carrying out data fusion, and determining the obstacle distribution information around the vehicle, wherein the method comprises the following steps: and carrying out data fusion according to at least two of the first initial obstacle distribution information, the second initial obstacle distribution information and the third initial obstacle distribution information, and determining the obstacle distribution information around the vehicle.

Optionally, the obstacle distribution acquisition module may be further configured to perform data fusion according to at least two of the first initial obstacle distribution information, the second initial obstacle distribution information, and the third initial obstacle distribution information, and determine obstacle distribution information around the vehicle, including:

and carrying out data fusion on the second initial obstacle distribution information and the third initial obstacle distribution information to obtain fourth initial obstacle distribution information.

And carrying out data fusion on the fourth initial obstacle distribution information and the first initial obstacle distribution information to acquire the obstacle distribution information around the vehicle.

According to the vehicle starting and gear shifting control method, whether the current vehicle meets the vehicle starting conditions is judged by acquiring the vehicle state information, if the current vehicle meets the vehicle starting conditions, the surrounding obstacle distribution information of the vehicle is acquired, surrounding obstacles are accurately identified, and vehicle starting and gear shifting are controlled according to the surrounding obstacle distribution information. Because whether the vehicle meets the starting condition and surrounding obstacle distribution information are required to be judged, the vehicle can complete automatic starting and gear shifting, collision between the vehicle and surrounding obstacles caused by misjudgment of human eyes in the starting process of the vehicle is avoided, and the intelligent level of vehicle driving is improved. The embodiment of the application also provides a vehicle, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the vehicle starting control method in any embodiment when executing the computer program.

The embodiment of the application further provides a computer readable storage medium, and the storage medium stores a computer program, which when executed by a processor, implements the steps of the vehicle start control method described in any of the above embodiments.

Examples of readable storage media include, but are not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access Memory (Random Access Memory, RAM), a Read-Only Memory (ROM), an erasable programmable Read-Only Memory (Electrical Programmable Read Only Memory, EPROM), an optical fiber, a portable compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The storage medium provided by the above embodiment of the present invention has the same beneficial effects as the method adopted, operated or implemented by the application program or instruction stored in the storage medium, because of the same inventive concept as the vehicle start control method provided by the embodiment of the present invention.

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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments.

Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.

Claims

1. A vehicle start control method, characterized by comprising:

acquiring vehicle state information;

2. The vehicle start control method according to claim 1, characterized in that the controlling vehicle start shift according to the obstacle distribution information around the vehicle includes:

3. The vehicle start control method according to claim 1, characterized in that the controlling vehicle start shift according to the obstacle distribution information around the vehicle includes:

4. The vehicle start control method according to claim 3, characterized in that the controlling the vehicle start shift according to the left and right minimum steering coverage areas of the vehicle, the front obstacle distribution information of the vehicle, and the rear obstacle distribution information of the vehicle includes:

the first side is the left side of the vehicle, or the first side is the right side of the vehicle.

5. The vehicle start control method according to claim 1, characterized in that the acquiring vehicle state information includes:

6. The vehicle start control method according to claim 1, characterized in that the acquiring of the obstacle distribution information around the vehicle includes:

7. The vehicle start control method according to claim 6, characterized in that the acquiring of the initial obstacle distribution information around the vehicle by the plurality of sensors includes:

8. The vehicle start control method according to claim 7, characterized in that the determining the obstacle distribution information around the vehicle based on data fusion of at least two of the first initial obstacle distribution information, the second initial obstacle distribution information, and the third initial obstacle distribution information includes:

9. A vehicle start control device, characterized by comprising:

10. A vehicle comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 8 when the computer program is executed.

11. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the method according to any of claims 1 to 8.