CN116691663A - Vehicle detection avoidance method and system based on pavement sharp object - Google Patents
Vehicle detection avoidance method and system based on pavement sharp object Download PDFInfo
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- CN116691663A CN116691663A CN202310768869.XA CN202310768869A CN116691663A CN 116691663 A CN116691663 A CN 116691663A CN 202310768869 A CN202310768869 A CN 202310768869A CN 116691663 A CN116691663 A CN 116691663A
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- 238000001514 detection method Methods 0.000 title claims abstract description 69
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000004590 computer program Methods 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000001154 acute effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000010926 purge Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 238000007664 blowing Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/50—Magnetic or electromagnetic sensors
- B60W2420/503—Hall effect or magnetoresistive, i.e. active wheel speed sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a vehicle detection avoidance method and system based on a road sharp object, which are characterized in that a road obstacle detection device is used for detecting whether an obstacle exists on a road in front of a vehicle, curvature recognition is carried out on the obstacle, whether the obstacle is a sharp object is judged according to the curvature of the obstacle, so that the vehicle is controlled to avoid the obstacle judged as the sharp object, the tire or chassis of the vehicle is prevented from being punctured or scratched by the sharp object, and the running safety of the vehicle is ensured.
Description
Technical Field
The invention relates to the technical field of intelligent driving of vehicles, in particular to a vehicle detection avoidance method and system based on a road surface sharp object.
Background
With the continuous improvement of the life quality of people, vehicles serving as a riding instead of walking tools are favored by people and are widely applied.
In the use process of the vehicle, the phenomenon that the vehicle tire is punctured by a sharp object is unavoidable. Although these sharp objects do not immediately cause the tire to leak or break, they can pose a safety hazard if not found and maintained in time.
In the prior art, whether a tire is pierced by a sharp object can be judged only by a method of manually inspecting the surface of the tire. However, in general, the inspection of the tire is not performed by the vehicle owner without obvious reasons because it is time consuming and laborious to perform the inspection of the tire surface.
Disclosure of Invention
In order to overcome the defects in the technical field of the existing intelligent driving, the invention provides a vehicle detection avoidance method and system based on a road surface sharp object, which can avoid the tire or chassis of a vehicle from being punctured or scratched by the sharp object and ensure the driving safety of the vehicle.
In order to solve the technical problems, a first aspect of the present invention provides a vehicle detection avoidance method based on a sharp object on a road surface, which includes the following steps:
a road surface obstacle detection device is arranged on the vehicle body, and whether an obstacle exists on a road in front of the vehicle or not is detected according to the road surface obstacle detection device;
when the road obstacle detection device identifies a road obstacle in front of a vehicle, curvature identification is carried out on the obstacle, and whether the obstacle is a sharp object is judged according to the curvature of the obstacle;
and controlling the vehicle to avoid the obstacle judged as the sharp object.
The second aspect of the invention provides a vehicle detection avoidance system based on a road surface sharp object, which is characterized by comprising the following functional modules:
an obstacle detection module for installing a road obstacle detection device on the vehicle body, and detecting whether an obstacle exists on a road in front of the vehicle according to the road obstacle detection device;
the sharp object recognition module is used for recognizing the curvature of the obstacle when the road obstacle detection device recognizes the road obstacle in front of the vehicle, and judging whether the obstacle is a sharp object according to the curvature of the obstacle;
and the sharp object avoiding module is used for controlling the vehicle to avoid the obstacle judged to be the sharp object.
The third aspect of the present invention provides a server, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the vehicle detection avoidance method based on a sharp object on a road surface when executing the computer program.
A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described vehicle detection avoidance method based on a road surface sharp object.
Compared with the prior art, the vehicle detection avoidance method and system based on the sharp object on the road surface detect whether the road in front of the vehicle has an obstacle through the road surface obstacle detection device, identify the curvature of the obstacle, judge whether the obstacle is a sharp object according to the curvature of the obstacle, further control the vehicle to avoid the obstacle judged to be the sharp object, avoid the tire or chassis of the vehicle from being punctured or scratched by the sharp object, and ensure the running safety of the vehicle.
Drawings
FIG. 1 is a flow chart diagram of a vehicle detection avoidance method based on a road surface sharp object according to an embodiment of the present invention;
FIG. 2 is a block diagram showing a sub-process of step S2 in FIG. 1;
fig. 3 is a functional block diagram of a vehicle detection avoidance system based on a road surface sharp object according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.
The embodiment of the invention provides a vehicle detection avoidance method based on a road surface sharp object, which comprises the following steps as shown in fig. 1:
s1, a road surface obstacle detection device is arranged on a vehicle body, and whether an obstacle exists on a road in front of the vehicle is detected according to the road surface obstacle detection device.
Specifically, road surface obstacle detection device installs in the automobile body base and is close to the locomotive position, road surface obstacle detection device's sensing end sets up towards the vehicle place ahead. Preferably, the road surface obstacle detection device is a magnetic resistance sensor or an ultrasonic sensor, and the magnetic resistance sensor and the ultrasonic sensor are in communication connection with the vehicle-mounted central control system.
When the road obstacle detection device is a magnetic resistance sensor, the magnetic resistance sensor generates a magnetic field area in front of a vehicle body, and when an obstacle exists on a road in front of the vehicle, the distribution of the magnetic field also changes, so that the resistance value of a magnetic resistance element changes, and further current changes, and a vehicle-mounted central control system judges that the obstacle exists on the road in front of the vehicle.
When the road surface obstacle detection device is an ultrasonic sensor, the ultrasonic sensor continuously transmits ultrasonic waves to the area in front of the vehicle body, when an obstacle exists on the road in front of the vehicle, the ultrasonic waves are reflected back by the obstacle, the ultrasonic sensor receives the reflected ultrasonic waves and transmits signals to the vehicle-mounted central control system, and the vehicle-mounted central control system judges that the obstacle exists on the road in front of the vehicle.
S2, when the road obstacle detection device identifies the road obstacle in front of the vehicle, curvature identification is carried out on the obstacle, and whether the obstacle is a sharp object is judged according to the curvature of the obstacle.
The term "sharp object" refers to a geometric shape of an abstract conical solid, wherein the plane projection at least under a specific angle can form a geometric shape at least comprising an included angle smaller than a certain angle (a threshold value, which can be set and is generally 30 degrees), and the two sides of the acute angle are longer than a certain value (a threshold value, which can be set and is generally 1 centimeter), for example, the plane projection is an obtuse triangle, but the plane projection comprises an acute angle with an angle of 20 degrees, and the two sides of the acute angle are both longer than 1 centimeter.
The magnetic resistance sensor or the ultrasonic sensor can detect the shape of an obstacle while detecting the obstacle on the road surface in front of the vehicle, and construct the outline of the obstacle according to the shape of the obstacle; since the curvature change of the sharp part of the sharp object is large, whether the obstacle is the sharp object can be judged by identifying and judging the curvature change of the outline of the obstacle; the specific steps are shown in fig. 2, and include:
s21, setting a curvature threshold;
s22, further identifying the shape outline of the obstacle through a road obstacle detection device, and calculating the change curvature of the outer outline of the obstacle according to the shape outline of the obstacle;
s23, when the curvature of the peripheral outline change of the obstacle is larger than a curvature threshold, judging that the obstacle is a sharp object, and otherwise judging that the obstacle is a common obstacle.
S3, controlling the vehicle to avoid the obstacle judged to be the sharp object.
When judging that a sharp object exists on the road in front of the vehicle, controlling the whole vehicle to deviate to one side of the obstacle; when it is determined that there is a normal obstacle on the road ahead of the vehicle, at least the tire of the vehicle is controlled to be offset to the obstacle side. The control vehicle is shifted to one side of the obstacle in a whole manner, namely, the control vehicle is shifted to the left or the right by a distance not exceeding the width of a vehicle body; the displacement of the tire of the control vehicle to the obstacle side is specifically that the control vehicle is displaced to the left or right by a distance not exceeding one tire width.
Specifically, when it is judged that a sharp object exists on a road in front of the vehicle, the vehicle is controlled to shift leftwards or rightwards by a distance not exceeding the width of the vehicle body, so that the running path of the vehicle body is integrally shifted, and the possibility that any part of the vehicle is punctured by the sharp object is avoided; when judging that a common obstacle exists on a road in front of the vehicle, judging whether the vehicle is required to be controlled to deviate to the obstacle side or the tire of the vehicle is required to deviate to the obstacle side according to the height of the common obstacle; when the height of the common obstacle is lower than the height of the chassis of the vehicle, the tire of the vehicle is controlled to deflect to one side of the obstacle, and when the height of the common obstacle is higher than the height of the chassis of the vehicle, the whole vehicle is controlled to deflect to one side of the obstacle.
When the height of the common obstacle is lower than the height of the chassis of the vehicle, the rolling of the tire from the upper part of the common obstacle is only needed to be avoided, namely whether the common obstacle is on the running path of the tire is further judged, and if the common obstacle is on the running path of the tire, the vehicle is controlled to shift leftwards or rightwards by a distance of one tire width; if the normal obstacle is not on the path of travel of the tire, the vehicle does not experience any offset, passing directly over the normal obstacle.
When the volume of the sharp object obstacle is large, the method of vehicle integral deflection is adopted to avoid the scratch of the vehicle body chassis or the tire, when the volume of the sharp object obstacle is small, the mass of the sharp object obstacle is generally light, and the obstacle purging device can be adopted to purge the sharp object obstacle to the roadside without vehicle body deflection. Specifically, an obstacle sweeping device is arranged on the vehicle body base and close to the front side tire and is used for sweeping obstacles on the road surface in front of the tire; the obstacle purging device is a high-pressure jet pump, and the air outlet direction of the high-pressure jet pump is obliquely arranged towards the front ground direction of the front tire.
Setting a contour area threshold, when the road obstacle detection device detects that a sharp object obstacle exists on a road in front of a vehicle, firstly constructing a contour line of the sharp object obstacle according to the shape of the obstacle, then calculating the contour area of the sharp object obstacle according to the contour line of the sharp object obstacle, judging that the sharp object obstacle is a smaller sharp object obstacle if the contour area of the sharp object obstacle is smaller than the contour area threshold, further judging whether the smaller sharp object obstacle is positioned on a running path of a tire, starting a high-pressure jet pump if the smaller sharp object obstacle is positioned on the running path of the tire, blowing the smaller sharp object obstacle to one side of the road through the high-pressure jet pump, otherwise controlling the vehicle not to deviate, and directly passing over the smaller sharp object obstacle.
The vehicle detection avoidance method based on the sharp object on the road surface detects whether the road in front of the vehicle has an obstacle or not through the road surface obstacle detection device, curvature identification is carried out on the obstacle, whether the obstacle is a sharp object or not is judged according to the curvature of the obstacle, the vehicle is further controlled to avoid the obstacle judged to be the sharp object, the tire or chassis of the vehicle is prevented from being punctured or scratched by the sharp object, and the running safety of the vehicle is ensured.
As shown in fig. 3, the embodiment of the invention also discloses a vehicle detection avoidance system based on the sharp object on the road surface, which comprises the following functional modules:
an obstacle detection module 10 for mounting a road surface obstacle detection device on a vehicle body, and detecting whether an obstacle exists on a road in front of the vehicle according to the road surface obstacle detection device;
a sharp object recognition module 20 for, when the road obstacle detection device recognizes a road obstacle ahead of the vehicle, performing curvature recognition on the obstacle, and judging whether the obstacle is a sharp object according to the curvature of the obstacle;
the sharp object avoidance module 30 is configured to control the vehicle to avoid an obstacle that is determined to be a sharp object.
The implementation manner of the vehicle detection avoidance system based on the road surface sharp object in this embodiment is basically the same as that of the vehicle detection avoidance method based on the road surface sharp object, so detailed description is omitted.
The server of the present embodiment is a device for providing a computing service, generally referred to as a computer having a high computing power and provided to a plurality of consumers through a network. The server of this embodiment includes: a memory including an executable program stored thereon, a processor, and a system bus, it will be understood by those skilled in the art that the terminal device structure of the present embodiment is not limited to the terminal device and may include more or less components than illustrated, or may combine certain components, or a different arrangement of components.
The memory may be used to store software programs and modules, and the processor executes various functional applications of the terminal and data processing by running the software programs and modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the terminal, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
An executable program of the vehicle detection avoidance method based on the sharp object on the road surface is contained on a memory, the executable program can be divided into one or more modules/units, the one or more modules/units are stored in the memory and are executed by a processor to complete the information acquisition and implementation process, and the one or more modules/units can be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used for describing the execution process of the computer program in the server. For example, the computer program may be divided into an obstacle detection module 10, a sharp object identification module 20, a sharp object avoidance module 30.
The processor is a control center of the server, and connects various parts of the whole terminal device by various interfaces and lines, and performs various functions of the terminal and processes data by running or executing software programs and/or modules stored in the memory and calling data stored in the memory, thereby performing overall monitoring of the terminal. In the alternative, the processor may include one or more processing units; preferably, the processor may integrate an application processor that primarily handles operating systems, applications, etc., with a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor.
The system bus is used to connect the functional components in the computer, and can transmit data information, address information, and control information, and the types of the system bus may be, for example, PCI bus, ISA bus, VESA bus, and the like. The instruction of the processor is transmitted to the memory through the bus, the memory feeds back data to the processor, and the system bus is responsible for data and instruction interaction between the processor and the memory. Of course, the system bus may also access other devices, such as a network interface, a display device, etc.
The server should at least include a CPU, a chipset, a memory, a disk system, etc., and other components will not be described herein.
In the embodiment of the present invention, the executable program executed by the processor included in the terminal is specifically: a vehicle detection avoidance method based on a road surface sharp object comprises the following steps:
a road surface obstacle detection device is arranged on the vehicle body, and whether an obstacle exists on a road in front of the vehicle or not is detected according to the road surface obstacle detection device;
when the road obstacle detection device identifies a road obstacle in front of a vehicle, curvature identification is carried out on the obstacle, and whether the obstacle is a sharp object is judged according to the curvature of the obstacle;
setting a curvature threshold;
the shape outline of the obstacle is further recognized by the road obstacle detection device, and the change curvature of the outer outline of the road obstacle is calculated according to the shape outline of the obstacle;
when the curvature of the peripheral outline change of the obstacle is larger than the curvature threshold, judging that the obstacle is a sharp object, otherwise judging that the obstacle is a common obstacle;
and controlling the vehicle to avoid the obstacle judged as the sharp object.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the modules, units, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or as a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (10)
1. The vehicle detection avoidance method based on the sharp object on the road surface is characterized by comprising the following steps of:
a road surface obstacle detection device is arranged on the vehicle body, and whether an obstacle exists on a road in front of the vehicle or not is detected according to the road surface obstacle detection device;
when the road obstacle detection device identifies a road obstacle in front of a vehicle, curvature identification is carried out on the obstacle, and whether the obstacle is a sharp object is judged according to the curvature of the obstacle;
and controlling the vehicle to avoid the obstacle judged as the sharp object.
2. The method for avoiding vehicle detection based on a sharp object on a road surface according to claim 1, wherein the curvature recognition is performed on the obstacle, and whether the obstacle is a sharp object is judged according to the curvature of the obstacle; the method specifically comprises the following steps:
setting a curvature threshold;
the shape outline of the obstacle is further recognized by the road obstacle detection device, and the change curvature of the outer outline of the road obstacle is calculated according to the shape outline of the obstacle;
and when the curvature of the peripheral outline change of the obstacle is larger than the curvature threshold value, judging that the obstacle is a sharp object, and otherwise judging that the obstacle is a common obstacle.
3. The road surface sharp object-based vehicle detection avoidance method according to claim 2, wherein when it is determined that a sharp object exists on a road ahead of the vehicle, the vehicle is controlled to be entirely deviated toward the obstacle side; when it is determined that there is a normal obstacle on the road ahead of the vehicle, at least the tire of the vehicle is controlled to be offset to the obstacle side.
4. The road surface sharp object-based vehicle detection avoidance method of claim 3 wherein the controlling the vehicle as a whole to be offset to the obstacle side is specifically controlling the vehicle to be offset to the left or right by a distance not exceeding one vehicle body width; the displacement of the tire of the control vehicle to the obstacle side is specifically that the control vehicle is displaced to the left or right by a distance not exceeding one tire width.
5. The road surface sharp object-based vehicle detection avoidance method according to claim 3, wherein when it is determined that there is a normal obstacle on the road ahead of the vehicle, it is determined whether it is necessary to control the entire vehicle to shift to the obstacle side or to control the tire of the vehicle to shift to the obstacle side, based on the height of the normal obstacle; when the height of the common obstacle is lower than the height of the chassis of the vehicle, the tire of the vehicle is controlled to deflect to one side of the obstacle, and when the height of the common obstacle is higher than the height of the chassis of the vehicle, the whole vehicle is controlled to deflect to one side of the obstacle.
6. The vehicle detection avoidance method based on road surface sharp objects according to claim 1, characterized in that the road surface obstacle detection device is mounted on a vehicle body base and is close to a vehicle head position, and the sensing end of the road surface obstacle detection device is disposed toward the front of the vehicle.
7. The road surface sharp object-based vehicle detection avoidance method of claim 1, wherein the road surface obstacle detection device is a magnetoresistive sensor or an ultrasonic sensor.
8. The vehicle detection avoidance system based on the sharp object on the road surface is characterized by comprising the following functional modules:
an obstacle detection module for installing a road obstacle detection device on the vehicle body, and detecting whether an obstacle exists on a road in front of the vehicle according to the road obstacle detection device;
the sharp object recognition module is used for recognizing the curvature of the obstacle when the road obstacle detection device recognizes the road obstacle in front of the vehicle, and judging whether the obstacle is a sharp object according to the curvature of the obstacle;
and the sharp object avoiding module is used for controlling the vehicle to avoid the obstacle judged to be the sharp object.
9. A server comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the road surface sharps-based vehicle detection evacuation method of any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the road surface sharps-based vehicle detection avoidance method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310768869.XA CN116691663A (en) | 2023-06-26 | 2023-06-26 | Vehicle detection avoidance method and system based on pavement sharp object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310768869.XA CN116691663A (en) | 2023-06-26 | 2023-06-26 | Vehicle detection avoidance method and system based on pavement sharp object |
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| Publication Number | Publication Date |
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| CN116691663A true CN116691663A (en) | 2023-09-05 |
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| CN202310768869.XA Pending CN116691663A (en) | 2023-06-26 | 2023-06-26 | Vehicle detection avoidance method and system based on pavement sharp object |
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| CN (1) | CN116691663A (en) |
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- 2023-06-26 CN CN202310768869.XA patent/CN116691663A/en active Pending
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