CN116572692A

CN116572692A - Vehicle control method and device based on height limitation

Info

Publication number: CN116572692A
Application number: CN202310787013.7A
Authority: CN
Inventors: 刘大玮
Original assignee: Mercedes Benz Group AG
Current assignee: Mercedes Benz Group AG
Priority date: 2023-06-29
Filing date: 2023-06-29
Publication date: 2023-08-11

Abstract

The invention discloses a vehicle control method and device based on height limitation, and belongs to the technical field of vehicle control. One embodiment of the method comprises the following steps: detecting driving environment information corresponding to a vehicle; determining whether a high barrier exists in the driving environment of the vehicle according to the driving environment information; determining a limit height of the height obstacle in the presence of the height obstacle; according to the relation between the height of the vehicle and the limit height, sending out prompt information and controlling the running state of the vehicle; the hint information indicates whether the high barrier can be safely passed. According to the method, the collision between the vehicle and the high obstacle caused by the fact that the height is not adapted can be avoided, and therefore safety of the vehicle and drivers is improved.

Description

Vehicle control method and device based on height limitation

Technical Field

The invention relates to the technical field of vehicle control, in particular to a vehicle control method and device based on height limitation.

Background

Currently, height limiting devices are provided at the entrances of many special road segments or vehicles to limit entrance of ultrahigh vehicles. However, when the vehicle passes through the height limiting device, the driver may not notice the height limiting device or may not accurately estimate the height difference between the height limiting device and the vehicle, so as to cause the vehicle to collide with the height limiting device, thereby reducing the safety of the vehicle and the driver.

Disclosure of Invention

In view of the above, the present invention provides a vehicle control method and apparatus based on height limitation, which can detect whether a height obstacle exists in a driving environment of a vehicle according to driving environment information, and in the case that the height obstacle exists, issue a prompt message indicating whether the vehicle can safely pass through the height obstacle based on a magnitude relation between a limited height of the height obstacle and a self height of the vehicle, so that a driver of the vehicle can select to pass through the height obstacle or reselect a height-adapted driving road according to the prompt message, thereby avoiding collision between the vehicle and the height-limiting apparatus due to height discomfort, and further improving safety of the vehicle and the driver.

In order to solve the technical problems, the invention provides the following technical scheme:

in a first aspect, the present invention provides a vehicle control method based on height limitation, comprising: detecting driving environment information corresponding to a vehicle;

determining whether a high barrier exists in the driving environment of the vehicle according to the driving environment information;

determining a limit height of the height obstacle in the presence of the height obstacle;

according to the relation between the height of the vehicle and the limit height, sending out prompt information and controlling the running state of the vehicle; the hint information indicates whether the high barrier can be safely passed.

Optionally, in the case that the self height of the vehicle is not less than the limit height, the method further includes:

determining whether a height of the vehicle is adjustable;

sending out adjustment information in case the height of the vehicle is adjustable;

and adjusting the height of the vehicle in response to an adjustment instruction transmitted according to the adjustment information.

Optionally, the height of the vehicle is adjusted by controlling an air suspension in the vehicle.

Optionally, the sending a prompt message according to the magnitude relation between the height of the vehicle and the limit height includes:

determining whether the adjusted vehicle height is less than the limit height;

if yes, sending out prompt information representing that the regulated information can safely pass through;

if not, sending out prompt information which can not pass safely.

Optionally, in a case where the height of the vehicle is not adjustable, or the adjusted vehicle height is not less than the limit height, the method further includes:

recommending a vehicle entrance or a parking space for the vehicle according to the driving environment information; and the recommended limit height corresponding to the vehicle entrance or the parking space is larger than the height of the vehicle.

Optionally, before the detecting the driving environment information corresponding to the vehicle, the method further includes:

detecting the speed of the vehicle in real time;

and detecting driving environment information corresponding to the vehicle under the condition that the vehicle speed is smaller than a preset speed threshold value.

Optionally, in the reversing scene, the detecting driving environment information corresponding to the vehicle includes: detecting road information at the rear and the two sides of the vehicle; further comprises: and carrying out three-dimensional display on the detected road information.

In a second aspect, an embodiment of the present invention provides a vehicle control apparatus based on a height limitation, including: the device comprises a detection module, an obstacle determination module and a control module; wherein, the liquid crystal display device comprises a liquid crystal display device,

the detection module is used for detecting driving environment information corresponding to the vehicle;

the obstacle determining module is used for determining whether a high obstacle exists in the driving environment of the vehicle according to the driving environment information; determining a limit height of the height obstacle in the presence of the height obstacle;

the control module is used for sending out prompt information according to the magnitude relation between the self height of the vehicle and the limit height and controlling the running state of the vehicle; the hint information indicates whether the high barrier can be safely passed.

In a third aspect, an embodiment of the present invention provides an electronic device for controlling a vehicle based on a height limitation, including: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are enabled to realize the vehicle control method based on the height limitation.

In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a height-restriction-based vehicle control method of embodiments of the present invention.

The technical scheme of the invention has the following advantages or beneficial effects: whether the height obstacle exists in the driving environment of the vehicle can be detected according to the driving environment information, and under the condition that the height obstacle exists, prompt information indicating whether the vehicle can safely pass through the height obstacle or not is sent out based on the magnitude relation between the limiting height of the height obstacle and the height of the vehicle, so that a driver of the vehicle can select the driving road with the height obstacle or reselect the height adaptation according to the prompt information, the vehicle and the height obstacle are prevented from being collided due to the fact that the height is not adapted, and the safety of the vehicle and the driver is improved.

Drawings

FIG. 1 is a schematic flow diagram of a vehicle control method based on altitude limitation according to an embodiment of the present invention;

FIG. 2 is a schematic view of a height obstacle relative to the ground provided in accordance with an embodiment of the invention;

FIG. 3 is a schematic view of another height obstacle relative to the ground provided in accordance with an embodiment of the invention;

FIG. 4 is a schematic flow diagram of another vehicle control method based on altitude limitation provided in accordance with an embodiment of the present invention;

FIG. 5 is a schematic diagram of the main modules of a height limit-based vehicle control apparatus according to an embodiment of the invention;

FIG. 6 is an exemplary system architecture diagram in which embodiments of the present invention may be applied;

FIG. 7 is a schematic diagram of a computer system suitable for use in implementing embodiments of the present invention.

Detailed Description

Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

It should be noted that the embodiments of the present invention and the technical features in the embodiments may be combined with each other without collision.

The vehicle according to the embodiment of the invention may be an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as power sources, an electric vehicle having an electric motor as a power source, or the like. For example, the height of an electric vehicle is increased because a battery pack needs to be disposed on a chassis. In addition, the self-height of large or ultra-large Vehicles such as vans, MVPs (multi-Purpose Vehicles), SUVs (sport utility Vehicle), and ORVs (Off-Road Vehicles) is also high. Many indoor parking lots (including the parking lots below) have a limitation on the height of the vehicle, which brings a height limitation to the running and parking of electric vehicles, vans, MVPs, SUVs and ORVs, so that vehicles with higher heights such as electric vehicles, vans, MVPs, SUVs and ORVs are particularly suitable for the vehicle control method provided by the embodiment of the invention, so as to avoid collision with high obstacles during running or parking of the vehicle.

In order to avoid collision between a vehicle and a height obstacle, the embodiment of the invention provides a vehicle control method based on height limitation. The vehicle control method can be suitable for any driving scene with height limitation, and because the scenes such as a height limiting entrance and an indoor parking lot have rigid requirements on the vehicle height, the vehicle height cannot meet the height limitation, and the vehicle can collide, the embodiment of the invention is particularly suitable for driving scenes such as the height limiting entrance and the indoor parking, so that collision is avoided. As shown in fig. 1, a vehicle control method based on a height limitation according to an embodiment of the present invention mainly includes the following steps S101 to S104:

step S101: and detecting driving environment information corresponding to the vehicle.

In driving scenes such as passing through a height-limiting entrance and parking indoors, the running speed of the vehicle is generally slowed down compared with normal running. Therefore, in one embodiment of the present invention, the vehicle speed may be detected in real time, and in the case that the vehicle speed is less than the preset speed threshold, detection of the driving environment information corresponding to the vehicle is started. For example, when the vehicle speed is less than 35km/h or the vehicle speed is less than 20km/h (the specific speed threshold may be set according to the actual situation), it is indicated that the vehicle is not traveling normally on the public road but is about to enter the interior road such as the indoor parking lot through the height-limited entrance, and at this time, a risk of collision may occur, and thus the detection of the driving environment information corresponding to the vehicle is started and the processing of the driving environment information is performed. Therefore, compared with the method for detecting and processing the driving environment information in real time, the method does not need to work in real time by detection equipment and image/video processing equipment in the vehicle, and therefore the resource consumption of the vehicle is saved.

Wherein driving environment information can be detected by a camera, an ultrasonic radar, a millimeter wave radar, or the like mounted in the vehicle. For example, when the vehicle is traveling normally forward, road information in front of the vehicle may be detected by a camera, an ultrasonic radar, and a millimeter wave radar in front of the vehicle to detect driving environment information of the vehicle. When the vehicle is reversed, the road information at the rear and on both sides of the vehicle can be detected by using the cameras, ultrasonic radars and millimeter wave radars at the rear of the vehicle to detect the driving environment information of the vehicle. In addition, driving environment information corresponding to the real-time positioning can be determined from a pre-stored navigation map according to the real-time positioning of the vehicle.

In addition, it is worth mentioning that, under the scene of backing a car, still can carry out three-dimensional show with the road information at vehicle rear and both sides that camera, ultrasonic radar and millimeter wave radar detected to the driver knows the barrier that probably collides in the route of backing a car according to three-dimensional bandwagon effect, thereby control vehicle avoid corresponding barrier, and then improve the security of backing a car.

Step S102: determining whether a high barrier exists in the driving environment of the vehicle according to the driving environment information; in the case where there is a height obstacle, step S103 is performed.

Step S103: a limit height of the height obstacle is determined.

After the driving environment information is detected by the detection devices such as the camera, the ultrasonic radar, the millimeter wave radar and the like, whether the driving environment has the height obstacle or not can be determined in one or more modes based on the driving environment information. Illustratively, in one embodiment of the present invention, a camera in a vehicle may transmit a driving environment image acquired by the camera to a data processing device (e.g., a processor of a vehicle central control system) equipped on the vehicle, and the data processing device may then perform recognition processing on the driving environment image to determine whether a high obstacle exists in the driving environment image. In another embodiment of the present invention, the travel route may be detected by ultrasonic radar and millimeter wave radar to determine whether a high obstacle exists in the travel route. For another example, the data processing apparatus on the vehicle may determine whether a height obstacle exists in the driving environment according to whether a height limiting device exists in the navigation map data corresponding to the real-time positioning of the vehicle.

Wherein the height obstacle includes, but is not limited to, one or more of a barrier door of a vehicle entrance, a traffic cone, a height limiting pole, a traffic sign, a roof duct, a roof sign. For example, in the case of a height limiting scene of an underground parking garage, the height of a vehicle can be limited on the ground by a height limiting device such as a barrier door, a traffic cone, a height limiting rod, a parking garage traffic sign and the like at the entrance of the parking garage, and the height of the vehicle can be limited by a roof, a roof pipeline, a roof sign and the like inside the underground parking garage. Accordingly, the limited height of the underground parking garage to the vehicle can be determined by identifying whether there are height obstacles such as obstacle doors, traffic cones, height limit bars, parking lot traffic signs, and the like, and the limited heights corresponding to the height obstacles in the driving environment information before the vehicle enters the underground parking garage. After satisfying the limited height on the ground and driving into the underground parking garage, the vehicle can determine the limited height of the underground parking garage to the vehicle by identifying the height obstacles such as the roof, the roof pipe, the roof sign, and the like of the underground parking garage.

After determining that a height obstacle exists in the driving environment, embodiments of the present invention may also determine the limited height of the height obstacle in a variety of ways. For example, in one embodiment of the present invention, the limit height of the height obstacle may be determined by the detection results of the ultrasonic radar and the millimeter wave radar. In another embodiment of the present invention, for height obstacles such as obstacle doors, height limiting rods, traffic signs, etc., corresponding limit height values are generally identified, so that the collected driving environment images including such height obstacles also include corresponding limit height values, and thus, the driving environment images can be subjected to text recognition, thereby obtaining limit height values, that is, the limit heights of such height obstacles. In yet another embodiment of the present invention, for height obstacles such as roofs, roof ducts, and roof signs, edge recognition may be performed based on driving environment images, and then corresponding limit heights may be determined based on distances between edges of roofs, roof ducts, and roof signs and the ground. In addition, the traffic cone is generally matched with other height barriers, such as the traffic cone and the height limiting rod, the traffic cone is arranged in front of the height limiting rod, when a vehicle is driven in, the collected driving environment image simultaneously comprises the traffic cone and the height limiting rod, and the traffic cone is easy to identify from the driving environment image because the traffic cone has a relatively standard shape structure, namely a cone with fluorescent warning color, and under the condition that the traffic cone is identified, the condition that the traffic cone is likely to exist in the driving environment, such as the height limiting rod and other height barriers, is indicated, so that the height limiting rod in the driving environment image can be further identified, and the corresponding limiting height is further determined according to the limiting height value of the height limiting rod.

It is easy to understand that if no high obstacle exists in the driving environment information, the current driving environment is not limited in height, and the vehicle is controlled to continue running according to the pre-planned path.

Step S104: according to the relation between the height of the vehicle and the limit height, sending out prompt information and controlling the running state of the vehicle; the hint information indicates whether the high barrier can be safely passed.

In the embodiment of the invention, if the height of the vehicle is smaller than the limit height corresponding to the height obstacle, the vehicle is indicated to pass through the height obstacle safely, and prompt information for passing through the height obstacle safely can be sent out. In the embodiment of the invention, the prompt information can be displayed through an in-vehicle projection system or an in-vehicle screen. For example, a green pattern may be displayed by in-vehicle projection or screen to display a hint message that characterizes a high obstacle that may be safely passed. For example, a green passing pattern is projected on a front windshield of a vehicle by an in-vehicle projection system so that a driver can know a height obstacle which can safely pass the front according to the green passing pattern, thereby controlling the vehicle to normally run to pass the height obstacle.

If the vehicle's own height is not less than the limit height, such as a limit pole or roof height of the underlying parking lot corresponds to a limit height of 1.8m, and the SUV and van may reach a vehicle height of 1.8m to 2.1m, which results in the SUV and van being likely to approach or even exceed the limit height of the underlying parking lot when driving into the underlying parking lot. In this case, it is determined whether the height of the vehicle is adjustable, and in the case that the height of the vehicle is adjustable, adjustment information is issued; the height of the vehicle is adjusted in response to the adjustment indication transmitted in accordance with the adjustment information. For example, for a vehicle equipped with an air suspension, the height of the vehicle may be adjusted by controlling the air suspension in the vehicle. Specifically, the spring may be compressed or extended by controlling the compressor and exhaust valve in the air suspension to lower or raise the vehicle chassis ground clearance. In this example, the vehicle chassis ground clearance can be reduced by compressing the springs of the air suspension, thereby reducing the vehicle's own height. When the height of the vehicle is adjusted, the in-vehicle interaction system can provide adjustment information for a driver, for example, provide a function option for adjusting the height of the vehicle, and after receiving confirmation information of the driver for the function option, consider that an adjustment instruction is received, then control the air suspension according to the adjustment instruction, and further adjust the height of the vehicle.

After the height of the vehicle is adjusted, whether the adjusted height of the vehicle is smaller than the limit height of the height obstacle or not can be further determined, if so, prompt information representing that the vehicle can safely pass through after adjustment is sent out, and if not, prompt information that the vehicle cannot safely pass through is sent out. For example, for SUVs or vans having vehicle heights in the range of 1.8 m-2.1 m, with air suspensions installed, the vehicle height may be adjusted to below 1.8m by controlling the air suspension, thereby allowing the vehicle to safely pass through a height obstacle after height adjustment. In this case, a yellow pattern may be displayed by in-car projection or screen to display a prompt message indicating that the height obstacle can be safely passed after adjustment. For example, a yellow passing pattern is projected on a front windshield of a vehicle by an in-vehicle projection system so that a driver knows a height obstacle which can safely pass in front after adjusting the height of the vehicle according to the yellow passing pattern, thereby controlling the vehicle to normally run to pass the height obstacle.

In yet another embodiment of the present invention, the adjusted vehicle height may still not be less than the limit height, at which time a red pattern may be displayed by in-vehicle projection or screen to display a warning message indicating that a high obstacle is not safely passed. In addition, it can be understood that if it is determined that the height of the vehicle is not less than the limit height and the height of the vehicle is not adjustable, for example, the height of the vehicle is not adjustable due to the fact that an air suspension is not assembled in the vehicle, or the air suspension in the vehicle is in a compressed state before adjustment and cannot continuously reduce the chassis ground clearance, the vehicle cannot safely pass through the height obstacle, and at the moment, an impenetrable prompt message can be sent, for example, a prompt message is sent through an in-vehicle projection or screen display red pattern mode. Thus, the driver can control the vehicle to stop or turn according to the red pattern so as to avoid collision caused by the vehicle continuing to run further close to the high barrier.

Further, in order to improve driving experience, in one embodiment of the present invention, in a case where the vehicle height is not less than the limit height and the vehicle height is not adjustable, or the adjusted vehicle height is not less than the limit height, a vehicle entrance or a parking space is recommended to the vehicle according to driving environment information; wherein the recommended vehicle entrance or parking space corresponds to a limit height that is greater than the vehicle height. For example, an adjacent vehicle entrance whose limit height is greater than the height of the vehicle may be determined from pre-stored navigation map data according to driving environment information corresponding to real-time positioning of the vehicle and recommended to the driver, so that the driver reselects the height-adapted parking lot according to the recommended vehicle entrance. For another example, in an indoor parking scenario, if the current parking space is limited to a height not greater than the height of the vehicle due to the presence of a height obstacle such as a rooftop duct or a rooftop sign, the parking space is recommended again for the vehicle. For example, as shown in fig. 2, the height limit of a height limit bar of an underground parking garage is 1.8M (i.e., the maximum distance between the height limit bar 1 and the ground M is 1.8M when lifted), but the parking space a is 1.5M due to the roof duct 2 (the distance between the edge of the roof duct 2 and the ground is 1.5M); parking space B is limited to a height of 1.6m due to the presence of roof sign 3 (roof sign 3 is spaced from the floor by 1.6 m); the distance between the roof 4 corresponding to the parking space C and the parking space D and the ground is 1.8m. Thus, if a driver selects a parking space a closest to the entrance after driving into the underground parking garage with a vehicle height of 1.6m, and wants to park the vehicle in the parking space a (the parking space a is the current parking space at this time), the limited height of the parking space a is smaller than the vehicle height due to the presence of the roof duct, and the parking space needs to be recommended for the vehicle at this time. In this case, according to the recognition of the rooftop duct and the rooftop sign corresponding to the other parking spaces, a parking space with a limit height greater than the height of the vehicle is determined and recommended to the driver, so that the driver reselects the parking space according to the recommendation, in this case, either one or both of the parking spaces C and D are recommended to the driver because the rooftop duct or the rooftop sign does not exist, and the parking space B does not satisfy the height requirement because the rooftop sign exists, and thus is not recommended. In addition, in the parking process, the driving environment information of the vehicle can be detected through detection equipment such as a camera, an ultrasonic radar, a millimeter wave radar and the like, and the detected road information at the rear and at the two sides of the vehicle is displayed in a three-dimensional mode, so that the safety of the parking process is improved conveniently.

It should be noted that, although the above embodiment describes the vehicle control method in the manual driving mode (the vehicle is controlled by the driver), the vehicle control method provided by the embodiment of the present invention is also applicable to the unmanned mode (the vehicle is automatically controlled without interaction with a person) or the semiautomatic driving mode. For example, in the unmanned mode, if the control device in the vehicle determines that the limit height of the height obstacle is greater than the vehicle height, the control device controls the vehicle to slow down or even stop; while identifying a highly adapted adjacent vehicle entrance or parking space and then controlling the vehicle to travel in accordance with the highly adapted adjacent vehicle entrance or parking space so that the vehicle is driven into the highly adapted adjacent vehicle entrance or parking space.

In the following, a vehicle control method based on height limitation in the embodiment of the present invention will be described by taking an example of selecting a height-adaptive parking space for a vehicle in an indoor parking lot in the case where the height of the vehicle is adjustable. As shown in fig. 4, the vehicle control method based on the height limitation provided by the embodiment of the invention may include the following steps:

step S401: and detecting the vehicle speed, and detecting the driving environment information corresponding to the vehicle under the condition that the vehicle speed is smaller than a preset speed threshold value.

Step S402: according to the driving environment information, it is determined whether or not the parking lot entrance has a height obstacle, and step S403 is performed in the case where there is a height obstacle (Y), and step S405 is performed in the case where there is no height obstacle (N).

Here, the height obstacle existing at the entrance of the parking lot includes, but is not limited to, an obstacle door, a traffic cone, a height limiting bar, and the like.

Step S403: a first limit height of a height obstacle of a parking lot entrance is determined.

For example, the height obstacle at the entrance of the parking lot is a height-limiting rod, the lifting of the height-limiting rod is that the maximum distance between the height-limiting rod and the ground is 1.8m, and the first height-limiting rod is 1.8m.

Step S404: it is determined whether the height of the vehicle itself is smaller than the first limit height, if yes (Y), step S405 is executed, otherwise (N) step S406 is executed.

Step S405: and sending out prompt information for prompting safe passing, controlling the vehicle to drive into the parking lot, and executing step S409.

Step S406: the vehicle height is adjusted by controlling the air suspension.

Step S407: it is determined whether the adjusted vehicle height is smaller than the first limit height, if yes (Y), step S405 is performed, otherwise (N) step S408 is performed.

If the height of the SUV equipped with the air suspension is 2m, which can lower its own height to 1.6m by adjusting the air suspension, the parking lot can be driven into after the adjustment.

Step S408: and sending out the prompt information which can not pass safely, and ending the current flow.

Step S409: a height obstacle corresponding to the initially selected current parking space is identified.

Here, the current parking space may be the first parking space selected after the vehicle enters the parking lot, for example, the available parking space closest to the entrance is taken as the current parking space, or the available parking space closest to the exit is taken as the current parking space. The height obstacles corresponding to the current parking space include, but are not limited to, roofs of parking lots, roof ducts, roof signs, and the like.

Step S410: and determining a second limit height of the height obstacle corresponding to the current parking space.

Step S411: it is determined whether the height of the vehicle itself is smaller than the second limit height, if yes (Y), step S412 is performed, otherwise (N) step S413 is performed.

Step S412: and controlling the vehicle to park in the current parking space.

Step S413: and recommending a target parking space with a height larger than the height of the vehicle per se for the vehicle, and controlling the vehicle to park on the target parking space.

Referring to fig. 3, parking space a has a limited height of 1.5m due to the presence of rooftop piping 2; the parking space B has a limited height of 1.6m due to the presence of the rooftop sign 3; the distance between the roof 4 corresponding to the parking spaces C and D and the ground is 1.8m, namely the limiting height of the parking spaces C and D is 1.8m. Thus, if the above-mentioned SUV with the adjusted height is driven into the underground parking garage, and then the parking space a is taken as the current parking space, the limited height of the parking space a is smaller than the height of the vehicle, and at this time, the parking space needs to be recommended again for the vehicle. In this example, since the roof duct or roof sign does not exist in the parking space C and the parking space D, either or both of them are recommended to the driver as target parking spaces, so that the driver parks the vehicle in the parking space C or the parking space D.

The above steps are presented merely to aid in understanding the method, structure, and core concept of the invention. It will be apparent to those skilled in the art that various changes and modifications can be made to the present invention without departing from the principles of the invention, and such changes and modifications are intended to be included within the scope of the appended claims.

According to the vehicle control method based on the height limitation, whether the height obstacle exists in the driving environment of the vehicle or not can be detected according to the driving environment information, and in the case that the height obstacle exists, prompt information indicating whether the vehicle can safely pass through the height obstacle or not is sent out based on the size relation between the limiting height of the height obstacle and the height of the vehicle, so that a driver of the vehicle can choose to pass through the height obstacle or reselect a height-adaptive driving road according to the prompt information, the situation that the vehicle collides with the height obstacle due to the fact that the height is not adaptive is avoided, and the safety of the vehicle and a driver is improved.

Fig. 5 is a schematic diagram of main modules of a height restriction-based vehicle control device according to an embodiment of the present invention. As shown in fig. 5, a height limit-based vehicle control apparatus 500 of an embodiment of the present invention includes: a detection module 501, an obstacle determination module 502, and a control module 503; wherein, the liquid crystal display device comprises a liquid crystal display device,

The detection module 501 is configured to detect driving environment information corresponding to a vehicle;

the obstacle determining module 502 is configured to determine whether a high obstacle exists in a driving environment of the vehicle according to the driving environment information; determining a limit height of the height obstacle in the presence of the height obstacle;

the control module 503 is configured to send out a prompt message according to a magnitude relation between a height of the vehicle and the limited height, and control a running state of the vehicle; the hint information indicates whether the high barrier can be safely passed.

In one embodiment of the present invention, the control module 503 is further configured to determine whether the height of the vehicle is adjustable, in a case where the height of the vehicle itself is not less than the limit height; sending out adjustment information in case the height of the vehicle is adjustable; and adjusting the height of the vehicle in response to an adjustment instruction transmitted according to the adjustment information.

In one embodiment of the invention, the control module 503 adjusts the height of the vehicle by controlling the air suspension in the vehicle.

In one embodiment of the invention, the control module 503 is configured to determine whether the adjusted vehicle height is less than the limit height; if yes, sending out prompt information representing that the regulated information can safely pass through; if not, sending out prompt information which can not pass safely.

In one embodiment of the present invention, the control module 503 is further configured to recommend a vehicle entrance or a parking space for the vehicle according to the driving environment information, in a case where the height of the vehicle is not adjustable or the adjusted vehicle height is not less than the limit height; and the recommended limit height corresponding to the vehicle entrance or the parking space is larger than the height of the vehicle.

In one embodiment of the present invention, the detection module 501 is configured to detect the vehicle speed in real time; and detecting driving environment information corresponding to the vehicle under the condition that the vehicle speed is smaller than a preset speed threshold value.

In one embodiment of the present invention, the detection module 501 is configured to detect road information behind and on both sides of a vehicle in a reverse scene, and to three-dimensionally display the detected road information.

According to the vehicle control device based on the height limitation, according to the vehicle control device, whether the height obstacle exists in the driving environment of the vehicle can be detected according to the driving environment information, and when the height obstacle exists, prompt information indicating whether the vehicle can safely pass through the height obstacle is sent out based on the magnitude relation between the limiting height of the height obstacle and the height of the vehicle, so that a driver of the vehicle can select the height obstacle or reselect a height-adaptive driving road according to the prompt information, the vehicle and the height obstacle are prevented from being collided due to the fact that the height is not matched, and the safety of the vehicle and a driver is improved.

Fig. 6 illustrates an exemplary vehicle system architecture 600 to which a vehicle control method or vehicle control apparatus of an embodiment of the invention may be applied.

As shown in fig. 6, the vehicle system architecture 600 may include various systems, such as an autopilot system 601, a powertrain system 602, a sensor system 603, a control system 604, one or more peripheral devices 605, a power supply 606, a computer system 607, and a user interface 608. Alternatively, the vehicle system architecture 600 may include more or fewer systems, and each system may include multiple elements. In addition, each of the systems and elements of the vehicle system architecture 600 may be interconnected by wires or wirelessly.

The vehicle system architecture 600 includes an autopilot system 601, wherein the autopilot system 601 may be in a full or partial autopilot mode. For example, autopilot system 601 may automatically control vehicle travel without human interaction; the autopilot system 601 may also control the autopilot of the vehicle while in the autopilot mode, and may also adjust the autopilot behavior of the autopilot system 601 through interaction with humans. Specifically, the autopilot system 601 may detect driving environment information corresponding to a vehicle, and determine whether a high obstacle exists in the driving environment of the vehicle according to the driving environment information; determining a limit height of the height obstacle in the presence of the height obstacle; further, according to the magnitude relation between the height of the vehicle and the limit height, prompt information is sent out, and the running state of the vehicle is controlled; wherein the hint information indicates whether a high obstacle can be safely passed.

The powertrain 602 may include components that provide powered movement of the vehicle. For example, the power system 602 may include an engine, an energy source, a transmission, wheels, tires, and the like. The engine may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine of a gasoline engine and an electric motor, or a hybrid engine of an internal combustion engine and an air compression engine. The engine converts the energy source into mechanical energy to provide the transmission. Examples of energy sources may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source may also provide energy to other systems of the vehicle. Further, the transmission may include a gearbox, differential, drive shaft, clutch, and the like.

The sensor system 603 may include sensors that sense the environment surrounding the vehicle. For example, a positioning system (which may be a global positioning system (global positioning system, GPS) system, but also a beidou system or other positioning system), a radar, a laser rangefinder, an inertial measurement unit (inertial measurement unit, IMU), and a camera. The positioning system may be used to locate the geographic location of the vehicle. The IMU is used to sense the position and orientation changes of the vehicle based on inertial acceleration. In one embodiment, the IMU may be a combination of an accelerometer and a gyroscope. Radar may utilize radio signals to sense objects within the surrounding environment of the vehicle. In some embodiments, in addition to sensing an object, the radar may be used to sense the speed and/or heading of the object, etc.

In order to detect environmental information, objects, and the like located in front of, behind, or beside the vehicle, a radar, a camera, and the like may be disposed at an appropriate position outside the vehicle. For example, in order to acquire an image of the front of the vehicle, a camera may be disposed in the vehicle interior so as to be close to the front windshield. Alternatively, the camera may be disposed around the front bumper or radiator grille. For example, in order to acquire an image of the rear of the vehicle, a camera may be disposed in the vehicle interior in proximity to the rear window. Alternatively, the camera may be disposed around the rear bumper, trunk or tailgate. In order to acquire an image of the side of the vehicle, the camera may be disposed in the vehicle interior so as to be close to at least one of the side windows. Alternatively, the camera may be disposed on a side mirror, a fender, or the periphery of a door, or the like.

The laser rangefinder may utilize a laser to sense objects in the environment in which the vehicle is located.

The camera may be used to capture multiple images of the surrounding environment of the vehicle. The camera may be a still or video camera.

The control system 604 may include software systems for implementing autopilot, such as a system for route planning, a system for avoiding high obstacles, a vision system for image analysis, etc. The control system 604 may also include hardware systems for throttle, steering wheel systems, and the like. Additionally, the control system 604 may additionally or alternatively include components other than those shown and described. Or some of the components shown above may be eliminated.

The control system 604 interacts with external sensors, other autopilots, other computer systems, or users through peripheral devices 605. Peripheral devices 605 may include a wireless communication system, a car computer, a microphone, and/or a speaker.

In some embodiments, the peripheral device 605 provides a means for a user of the control system 604 to interact with the user interface. For example, the vehicle computer may provide information to a user of the vehicle. The user interface is also operable to receive user input from the vehicle computer. The vehicle-mounted computer can be operated through the touch screen. In other cases, the peripheral device may provide a means for communicating with other devices located within the vehicle. For example, a microphone may receive audio (e.g., voice commands or other audio input) from a user of the control system 604. Similarly, speakers may output audio to a user of the control system 604.

The wireless communication system may communicate wirelessly with one or more devices directly or via a communication network. For example, wireless communication systems may communicate with wireless local area networks (wireless local area network, WLAN) using cellular networks, wiFi, etc., and may also communicate directly with devices using infrared links, bluetooth, or ZigBee. Other wireless protocols, such as various autopilot communication systems, etc.

The power source 606 may provide power to various components of the vehicle. The power source 606 may be a rechargeable lithium ion or lead acid battery.

Some or all of the functions to achieve autopilot are controlled by a computer system 607. The computer system 607 may include at least one processor that executes instructions stored in a non-transitory computer readable medium, such as memory. Computer system 607 provides the automated driving system described above with execution code to implement automated driving.

The processor may be any conventional processor, such as a commercially available central processing unit (central processing unit, CPU). Alternatively, the processor may be a special purpose device such as an application specific integrated circuit (applica tion specific integrated circuits, ASIC) or other hardware-based processor. Those of ordinary skill in the art will appreciate that the processor, computer, or memory may in fact comprise a plurality of processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory may be a hard disk drive or other storage medium located in a different housing than the computer. Thus, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components, such as the steering component and the retarding component, may each have their own processor that performs only calculations related to the component-specific functions.

A user interface 608 for providing information to or receiving information from a user of the vehicle. Optionally, the user interface 608 may include one or more input/output devices within the set of peripheral devices 605, such as a wireless communication system, a car computer, a microphone, and a speaker.

It should be understood that the above components are merely examples, and in practical applications, components in the above modules or systems may be added or deleted according to actual needs, and fig. 6 should not be construed as limiting the embodiments of the present application.

Referring now to FIG. 7, there is illustrated a schematic diagram of a computer system 700 suitable for use in implementing embodiments of the present application. The computer system shown in fig. 7 is only an example, and should not be construed as limiting the functionality and scope of use of the embodiments of the application.

As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU) 701, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the system 700 are also stored. The CPU 701, ROM 702, and RAM 703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

The following components are connected to the I/O interface 705: an input section 706 including a keyboard, a mouse, and the like; an output portion 707 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 707 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. The drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read therefrom is mounted into the storage section 708 as necessary.

In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 709, and/or installed from the removable medium 711. The above-described functions defined in the system of the present invention are performed when the computer program is executed by a Central Processing Unit (CPU) 701.

The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but 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 of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer 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. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The modules involved in the embodiments of the present invention may be implemented in software or in hardware. The described modules may also be provided in a processor, for example, as: a processor includes a detection module, an obstacle determination module, and a control module. The names of these modules do not constitute limitations on the module itself in some cases, and for example, the detection module may also be described as "a module that detects driving environment information corresponding to a vehicle".

As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to include: detecting driving environment information corresponding to a vehicle; determining whether a high barrier exists in the driving environment of the vehicle according to the driving environment information; determining a limit height of the height obstacle in the presence of the height obstacle; according to the relation between the height of the vehicle and the limit height, sending out prompt information and controlling the running state of the vehicle; the hint information indicates whether the high barrier can be safely passed.

According to the technical scheme provided by the embodiment of the invention, whether the height obstacle exists in the driving environment of the vehicle can be detected according to the driving environment information, and when the height obstacle exists, the prompt information indicating whether the vehicle can safely pass through the height obstacle is sent out based on the magnitude relation between the limiting height of the height obstacle and the height of the vehicle, so that a driver of the vehicle can select the height obstacle or reselect a height-adaptive driving road according to the prompt information, the collision between the vehicle and the height obstacle caused by the height discomfort is avoided, and the safety of the vehicle and the driver is further improved.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A vehicle control method based on a height limitation, comprising:

detecting driving environment information corresponding to a vehicle;

2. The method according to claim 1, wherein in the case where the self-height of the vehicle is not less than the limit height, further comprising:

determining whether a height of the vehicle is adjustable;

3. The method of claim 2, wherein the step of determining the position of the substrate comprises,

the height of the vehicle is adjusted by controlling an air suspension in the vehicle.

4. The method according to claim 2, wherein the sending a prompt message according to the magnitude relation between the self-height of the vehicle and the limit height comprises:

determining whether the adjusted vehicle height is less than the limit height;

if not, sending out prompt information which can not pass safely.

5. The method according to claim 2, further comprising, in the case where the height of the vehicle is not adjustable or the adjusted vehicle height is not less than the limit height:

6. The method according to claim 1, characterized by further comprising, before the detecting the driving environment information corresponding to the vehicle:

Detecting the speed of the vehicle in real time;

7. The method of claim 6, wherein in a reverse scenario, the detecting driving environment information corresponding to the vehicle comprises: detecting road information at the rear and the two sides of the vehicle; further comprises:

and carrying out three-dimensional display on the detected road information.

8. The method according to claim 1, wherein the sending a prompt message according to the magnitude relation between the self-height of the vehicle and the limit height comprises:

and displaying the prompt information according to the in-vehicle projection system or the in-vehicle screen.

9. A height restriction-based vehicle control apparatus, comprising: the device comprises a detection module, an obstacle determination module and a control module; wherein, the liquid crystal display device comprises a liquid crystal display device,

10. An electronic device for controlling a vehicle based on a height limitation, comprising:

one or more processors;

storage means for storing one or more programs,

when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-8.

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