CN118144810A - Vehicle control method and system and vehicle - Google Patents

Abstract

The application discloses a vehicle control method and system and a vehicle. A control method of a vehicle, comprising: acquiring detection information of a road surface on the side of the vehicle; judging whether a convex area or a concave area exists on the road surface at the side of the vehicle according to the detection information; if a convex area or a concave area exists on the road surface at the side of the vehicle, obtaining area data of the convex area or the concave area; determining whether the raised area or the recessed area affects the vehicle according to the area data; if the raised or recessed areas affect the vehicle, prompting and/or controlling the vehicle to take evasive measures is performed. By adopting the method, the vehicle is reminded and even automatically controlled to deal with the situation that the vehicle is dangerous during driving, parking and even parking is increased, and the safety of the vehicle is effectively improved.

Description

Vehicle control method and system and vehicle

Technical Field

The present application relates to the field of vehicle security technologies, and in particular, to a vehicle control method and system, and a vehicle.

Background

In the related art, a vehicle can effectively detect to improve driving safety when encountering some road conditions, for example: when the vehicle is wading, the wading condition of the position of the vehicle can be detected, however, during normal driving, parking or parking of the vehicle, the front and rear conditions of the vehicle can be detected through the front camera, the rear camera, the front radar, the rear radar and the like, but the side conditions of the vehicle are not detected and dealt with correspondingly. For example: a vehicle using an air suspension, the suspension being capable of moving up and down as set by a user. When the adjustment is low, after parking, the door is usually opened due to the fact that the height of the road teeth is lower than that of the road teeth, or people are trapped in the vehicle because the door is not opened, in addition, when the vehicle meets the road pits on the side face of the vehicle, the vehicle is easy to fall into the pits because of no corresponding detection, and the safety of the vehicle cannot be effectively guaranteed.

Disclosure of Invention

In view of the above, it is necessary to provide a vehicle control method and system and a vehicle, which effectively improve the safety of the vehicle by adopting the application.

For example: the height data of the road surface at the side of the vehicle is utilized to restore the height of the low obstacle around the vehicle, and the vehicle door is controlled to be opened or closed so as to reduce the collision risk, and meanwhile, the height of the vehicle suspension can be controlled, so that the situation that the user is trapped due to the fact that the vehicle door cannot be opened is avoided, and the safety and the reliability of the vehicle are improved.

In a first aspect, there is provided a control method of a vehicle, including:

Acquiring detection information of a road surface on the side of the vehicle;

Judging whether a convex area or a concave area exists on the road surface at the side of the vehicle according to the detection information;

If a convex area or a concave area exists on the vehicle side road surface, obtaining area data of the convex area or the concave area;

Determining whether the raised area or the recessed area affects a vehicle according to the area data;

and if the convex area or the concave area affects the vehicle, prompting and/or controlling the vehicle to take evasive measures.

Further, the detection information of the vehicle side road surface includes a detection distance between a vehicle body detection position and the vehicle side road surface, and the determining whether the vehicle side road surface has a convex area or a concave area according to the detection information includes:

Comparing the detection distance with a preset distance, wherein the preset distance is determined according to the distance between the detection position of the vehicle body and the flat road surface;

If the detection distance is greater than the preset distance, determining that a concave area exists on the road surface on the side of the vehicle;

And if the detection distance is smaller than the preset distance, determining that a convex area exists on the road surface beside the vehicle.

Further, the obtaining the area data of the convex area or the concave area includes:

Obtaining the height of the convex area or the depth of the concave area according to the detection distance between the vehicle body detection position and the vehicle side road surface;

and obtaining the distance between the convex area or the concave area and the side of the vehicle according to the position information of the convex area or the concave area.

Further, the determining whether the raised area or the recessed area affects the vehicle according to the area data includes:

judging whether the distance is smaller than a first threshold value when the vehicle is in a driving state;

If the first threshold value is smaller than the first threshold value, determining that the convex area or the concave area influences vehicle running;

judging whether the height of the raised area is higher than a second threshold value or whether the depth of the recessed area is greater than a third threshold value when the vehicle is in a parking state;

if yes, further judging whether the distance is smaller than a fourth threshold value;

if yes, determining that the convex area or the concave area influences parking of the vehicle;

judging whether the distance is smaller than a fifth threshold value when the vehicle is in a parking state;

if so, it is determined that the raised area or the recessed area affects vehicle parking.

Further, in the case where the convex area or the concave area affects the vehicle, controlling the vehicle to take evasive measures includes:

judging whether a vehicle door opening intention exists when the vehicle is in a driving state;

If yes, locking the vehicle to prohibit the vehicle door from being opened, otherwise, controlling the vehicle to shift to the opposite direction of the convex area or the concave area;

When the vehicle is in a parking state, controlling the suspension of the vehicle to rise so that the height of the lower edge of the vehicle door is higher than the height of the raised area after the vehicle door is opened;

And when the vehicle is in a parking state, parking is interrupted.

Further, after parking is interrupted when the vehicle is in a parking state, the method further comprises:

sending a notification to an intelligent terminal of a user;

Re-planning a parking route in response to a parking instruction of a user;

Parking is performed based on the new parking route.

Further, in the case where the convex area or the concave area affects the vehicle, the prompting is performed, including:

displaying the convex area or the concave area in a screen of the vehicle based on the area data; and/or the number of the groups of groups,

And carrying out sound warning or voice reminding.

Further, the method for obtaining the detection information of the road surface at the side of the vehicle at least comprises one of the following steps:

Acquiring the detection information by using an ultrasonic sensor;

Acquiring the detection information by using an infrared sensor;

obtaining the detection information by using a laser radar;

and obtaining the detection information by using a binocular camera.

In a second aspect, there is provided a control system of a vehicle, including:

the acquisition module is used for acquiring detection information of the road surface on the side of the vehicle;

The judging module is used for judging whether a convex area or a concave area exists on the road surface at the side of the vehicle according to the detection information;

a region determination module for obtaining region data of a raised region or a recessed region if the raised region or the recessed region exists on the vehicle-side road surface;

And the control module is used for determining whether the raised area or the recessed area affects the vehicle according to the area data, and prompting and/or controlling the vehicle to take evasive measures when the raised area or the recessed area affects the vehicle.

In a third aspect, there is provided a vehicle comprising: the control system of the vehicle according to the second aspect.

According to the vehicle control method, the detection information of the side road surface of the vehicle is obtained, so that whether the side road surface of the vehicle has the raised area or the recessed area can be judged according to the detection information, and the side road surface of the vehicle has the raised area or the recessed area. According to the area data of the areas, whether the convex area or the concave area affects the vehicle or not is determined, and further, when the vehicle is affected, prompting and/or controlling the vehicle to take evasive measures can be carried out. Therefore, under the condition that the vehicle is dangerous during driving, parking and even parking, the vehicle is reminded and even automatically controlled to deal with the situation, and the safety of the vehicle is effectively improved.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:

FIG. 1 is a flowchart of a method for controlling a vehicle according to an embodiment of the present application;

FIG. 2 is a flowchart for determining whether a convex area or a concave area affects a vehicle when the vehicle is in a driving state in the vehicle control method according to the embodiment of the present application;

FIG. 3 is a flowchart for determining whether a convex area or a concave area affects a vehicle when the vehicle is in a parking state in the vehicle control method according to the embodiment of the present application;

FIG. 4 is a flowchart for determining whether a protruding area or a recessed area affects a vehicle when the vehicle is in a parking state in the vehicle control method according to the embodiment of the present application;

FIG. 5 is a flow chart of a method for controlling a vehicle according to an embodiment of the present application for recovering a raised step or a road edge beside the vehicle;

FIG. 6 is a block diagram of a control system of a vehicle according to an embodiment of the present application;

fig. 7 is a block diagram of a computer device according to an embodiment of the present application.

Detailed Description

The present application will be described in further detail with reference to examples and drawings. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to be limiting. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.

It should be noted that, without conflict, the embodiments of the present application, i.e., features of the embodiments, may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

The following describes a control method and system of a vehicle and the vehicle according to the embodiments of the present application in detail with reference to the accompanying drawings.

Fig. 1 is a flowchart of a control method of a vehicle according to an embodiment of the present application. As shown in fig. 1, a control method of a vehicle according to an embodiment of the present application includes the steps of:

S101: detection information of a road surface on the side of the vehicle is obtained.

In a specific example, the manner of obtaining the detection information of the vehicle-side road surface may be one of the following manners: acquiring detection information by using an ultrasonic sensor; acquiring detection information by using an infrared sensor; obtaining detection information by using a laser radar; and obtaining detection information by using the binocular camera.

Wherein, ultrasonic sensor, infrared sensor, laser radar or binocular camera can be with the help of the existing detection device that wades in the vehicle. For example: the wading detection device is usually mounted under the outside mirror or on the door side, so that the wading detection device can be used to detect the condition of the road surface on the vehicle side, for example: the distance between the position of the wading detection device and the road surface on the side of the vehicle is detected, and the distance is taken as detection information. Namely: the detection information of the vehicle-side road surface includes the detection distance between the vehicle body detection position (such as the position where the wading detection device is located in the present embodiment) and the vehicle-side road surface.

Taking an ultrasonic sensor as an example, by emitting ultrasonic waves in the direction of a road surface and then receiving reflected waves after reflection from the road surface, the distance between the position of the wading detection device and the road surface on the side of the vehicle can be determined according to the emission time and the time of the received reflected waves. Specifically, the distance between the position of the wading detection device and the road surface on the side of the vehicle may be determined according to the time difference between the two times, and the like.

S102: judging whether the convex area or the concave area exists on the road surface at the side of the vehicle according to the detection information.

Judging whether a convex area or a concave area exists on the side road surface of the vehicle according to the detection information, for example: taking infrared as an example, the detection result is a plurality of continuous points, then according to the height values of the continuous points, the position areas with different heights can be depicted, and taking the convex position as an example, the convex position area can be restored. Of course, it is also possible to determine whether the vehicle-side road surface has a convex area or a concave area by combining the history data.

The raised areas may be raised obstacles, such as road edges, raised steps, etc. The recessed areas are typically referred to as pits, holes, or the like.

In one embodiment of the present invention, the method for judging whether the convex area or the concave area exists on the road surface on the side of the vehicle according to the detection information may include the following steps:

S1021: and comparing the detection distance between the vehicle body detection position and the vehicle side road surface with a preset distance, wherein the preset distance is determined according to the distance between the vehicle body detection position and the flat road surface. For example: when the vehicle is on a flat road, the distance between the vehicle body detection position and the road is measured, and then the distance is taken as a preset distance.

S1022: and if the detection distance between the vehicle body detection position and the vehicle side road surface is greater than the preset distance, determining that a concave area exists on the vehicle side road surface.

For example: the detected distance between the detected vehicle body detection position and the road surface at the side of the vehicle is 1.2 meters, and the preset distance is 1 meter, and the detected distance is larger than the preset distance, so that the detected vehicle body detection position can be determined to be a concave area, for example, a pit with the depth of about 20 cm.

S1023: if the detection distance is smaller than the preset distance, determining that a convex area exists on the road surface beside the vehicle.

Similarly to the manner of determining whether or not the vehicle side road surface has the depressed area, it is assumed that the detected distance between the detected vehicle body detection position and the vehicle side road surface is 0.9m, and the preset distance is 1m, and since the detected distance is smaller than the preset distance, it is possible to determine a raised area, such as a protrusion, for example, a road edge about 10 cm high.

S103: if there is a raised area or a recessed area on the vehicle-side road surface, area data of the raised area or the recessed area is obtained.

Wherein the area data includes, but is not limited to, the distance between the convex area or the concave area and the vehicle body, namely: the spacing between the raised or recessed areas and the corresponding vehicle side surface. The region data may also include the height of the raised regions, the depth of the recessed regions, etc.

Specifically, the manner of obtaining the region data of the convex region or the concave region is realized by, for example, the following steps:

S1031: the height of the raised area or the depth of the recessed area is obtained according to the detection distance between the vehicle body detection position and the vehicle side road surface. Namely: the detection distance between the detected vehicle body detection position and the vehicle side road surface is 1.2 meters, when the preset distance is 1 meter, the difference between the detected vehicle body detection position and the vehicle side road surface is 20 cm, and the concave area is 20 cm, namely: the depth is 20 cm, that is, the detection distance is a concave area when the detection distance is larger than the preset distance; the detected distance between the detected vehicle body detection position and the road surface on the side of the vehicle is 0.9 meter, when the preset distance is 1 meter, the difference between the detected vehicle body detection position and the road surface on the side of the vehicle is 10 cm, and the raised area is 10 cm, namely, when the detected distance is smaller than the preset distance, the raised area is formed.

S1032: and obtaining the distance between the convex area or the concave area and the side of the vehicle according to the position information of the convex area or the concave area.

The position information of the raised area or the recessed area can be determined according to the detected position of the road surface, and then the distance between the raised area or the recessed area and the corresponding side surface of the vehicle can be obtained according to the position information of the raised area or the recessed area.

For example: the position of the convex area is determined to be the road surface position with the angle of 20 degrees downwards obliquely from the position of the wading detection device, so that the distance between the position of the wading detection device and the flat road surface and the distance between the convex area or the concave area and the side of the vehicle can be solved through a trigonometric function.

S104: based on the zone data, it is determined whether the raised or recessed zone affects the vehicle.

Influencing the vehicle generally refers to influencing the opening of the vehicle door, influencing the driving safety, etc. For example: under the condition of parking close to the road edge, the height of the road edge is too high, so that the road edge is easy to collide when the vehicle door is opened, and the opening of the vehicle door is influenced. And the following steps: in the driving process, obstacles such as a road edge or a pit are close to the road side equidistantly, so that vehicles are easily scratched to the road edge or sink into the pit, and driving safety is further affected.

Specifically, in one embodiment of the present invention, determining whether a raised area or a recessed area affects a vehicle based on area data includes: judging whether the distance is smaller than a first threshold value when the vehicle is in a driving state; if the distance is smaller than a first threshold value, determining that the convex area or the concave area affects the running of the vehicle; judging whether the height of the raised area is higher than a second threshold value or whether the depth of the recessed area is greater than a third threshold value when the vehicle is in a parking state; if yes, further judging whether the distance is smaller than a fourth threshold value; if yes, determining that the convex area or the concave area affects parking of the vehicle; judging whether the distance is smaller than a fifth threshold value when the vehicle is in a parking state; if so, it is determined that the raised area or the recessed area affects vehicle parking.

As shown in fig. 2, in order to determine whether the raised area or the recessed area affects the vehicle when the vehicle is in a driving state, the method specifically includes:

s201: judging whether the distance is smaller than a first threshold value when the vehicle is in a driving state;

s202: if the distance is smaller than the first threshold value, determining that the convex area or the concave area affects the running of the vehicle, otherwise, determining that the convex area or the concave area does not affect the running of the vehicle.

Wherein the first threshold value may be empirically predetermined, for example, the first threshold value is 40 centimeters.

Specifically, when an obstacle is present beside the vehicle in a driving state, the driver may feel that his mind is strained and feel that his mind is about to collide, and the safety is lacking, so that the safety distance, which is a distance that the driver is not likely to feel to collide when the obstacle is present beside the vehicle during driving, may be determined in advance based on the safety distance, and the safety distance is a first threshold value, for example: 40 cm.

As shown in fig. 3, in order to determine whether the raised area or the recessed area affects the vehicle when the vehicle is in a parking state, the method specifically includes:

s301: judging whether the height of the raised area is higher than a second threshold value or whether the depth of the recessed area is greater than a third threshold value when the vehicle is in a parking state;

S302: if the height of the convex area is higher than the second threshold value or the depth of the concave area is higher than the third threshold value, further judging whether the distance is smaller than the fourth threshold value;

s303: if the distance is smaller than the fourth threshold value, determining that the convex area or the concave area affects the parking of the vehicle, otherwise, determining that the convex area or the concave area does not affect the parking of the vehicle.

The second threshold value, the third threshold value and the fourth threshold value may be predetermined empirically, for example, the second threshold value is 15 cm, the third threshold value is 8 cm and the fourth threshold value is 50 cm.

Specifically, if the obstacle beside the vehicle is too high while the vehicle is in a stopped state, the opening of the door may be affected, for example: the lower edge of the door is 15 cm from the road surface after the door is opened, the door opening is affected if the height of the obstacle is greater than about 15 cm, and thus the second threshold value may be set to a value slightly smaller than 15 cm, for example, 13 cm, and similarly, if the depth of the recessed area is greater than 10 cm, for example, the user may easily step into the recessed area to injure the user after getting off the vehicle, and thus the third threshold value may be set to a value less than 10 cm, for example, 8 cm. In addition, if the recessed area or the raised area is far from the side of the vehicle, the door opening is not affected or the user gets off the vehicle and does not step on the recessed area, for example: the interval of 50 cm does not affect the opening of the door or the getting-off of the user, and therefore, the interval in this state, i.e., the first threshold value, may be set to 40 cm.

As shown in fig. 4, in order to determine whether the raised area or the recessed area affects the vehicle when the vehicle is in a parking state, the method specifically includes:

s401: judging whether the distance is smaller than a fifth threshold value when the vehicle is in a parking state;

S402: and if the distance is smaller than a fifth threshold value, determining that the convex area or the concave area affects the parking of the vehicle, otherwise, determining that the convex area or the concave area does not affect the parking of the vehicle.

Wherein the fifth threshold is 30 cm.

Specifically, if the distance from the convex area or the concave area on both sides is too short while the vehicle is in the parking state, it is possible that the vehicle may collide at the time of parking, for example: the fifth threshold may be set at 30 cm if the distance from the side is at least 30 cm. In a specific example, the parking may be automatic parking.

S105: if the raised or recessed areas affect the vehicle, prompting and/or controlling the vehicle to take evasive measures is performed. Namely: the chassis, the door, etc. of the vehicle can be controlled according to the ground height value of the position corresponding to the detection point detected immediately, for example: control chassis elevation, inhibit door opening if the door lower edge can touch the raised location area, etc. Of course, the control of the vehicle may be performed in combination with the history data, and thus, the control of the vehicle may be more accurate and reliable. In addition, the vehicle control is performed in a manner of instant/historical data fusion. For example: the camera head looking around image is fused, the raised position area is identified through the pre-trained identification model, a preliminary identification result of the raised position area is obtained, and then the preliminary identification result is verified according to the water depth detection sensor and the height data detected by ultrasonic waves, so that the accuracy and the reliability of perception can be effectively improved.

Specifically, in one embodiment of the present invention, in a case where the convex area or the concave area affects the vehicle, controlling the vehicle to take evasive measures includes: judging whether a vehicle door opening intention exists when the vehicle is in a driving state; if yes, locking the vehicle to prohibit the vehicle door from being opened, otherwise, controlling the vehicle to shift to the opposite direction of the convex area or the concave area; when the vehicle is in a parking state, controlling the suspension of the vehicle to rise so that the height of the lower edge of the vehicle door is higher than the height of the raised area after the vehicle door is opened; and when the vehicle is in a parking state, parking is interrupted.

That is, if the vehicle is in a driving state, if it is relatively close to an obstacle or pit or the like on the side, the driver feels unsafe when driving, and at this time, for example, the vehicle speed is low (for example, less than 25 km/h), there is also an intention to open the door, for example: if the user tries to unlock the vehicle door lock, the door is prohibited from being opened, if the user does not have the intention to open the door, the vehicle is automatically controlled to slightly deviate in the opposite direction of the obstacle for driving safety and the like if the vehicle is too close to the side obstacle and the like, and thus the driving safety is effectively improved. If the vehicle is parked to get off, if the obstacle on the side surface of the vehicle is too high, the door opening can be influenced, and at the moment, the suspension of the vehicle can be controlled to automatically lift a little, so that the obstacle can not influence the door opening of the vehicle, the collision is avoided, people are prevented from being trapped in the vehicle, and the safety and the reliability of the vehicle are improved. In this example, the suspension is an air suspension, for example, for lifting. In the automatic parking, if the obstacles beside the vehicle are overtightened equidistantly, the obstacles are likely to collide when rotating in the direction, so that the automatic parking is interrupted, and the safety and the reliability of the parking process are improved.

On the basis of the example, in one embodiment of the present invention, after parking is interrupted while the vehicle is in a parked state, further comprising: sending a notification to an intelligent terminal of a user; re-planning a parking route in response to a parking instruction of a user; parking is performed based on the new parking route.

On the basis of this example, in a specific example, in a case where the convex area or the concave area affects the vehicle, the prompting includes: displaying the convex area or the concave area in a screen of the vehicle based on the area data; and/or, carrying out sound warning or voice reminding.

In the specific application, when the vehicle is in the driving process, when the short-distance road edge or deep ditch and other areas beside the vehicle are detected, the user can be reminded through the display of the instrument screen, further, the user can be reminded through sound, and of course, the 360-degree looking-around function and other functions can be automatically opened when the alarm level is higher, so that the user is assisted in checking. In addition, when the vehicle is too close to a road edge or deep trench, the vehicle may be controlled to move laterally in the opposite direction, or a deceleration brake may be applied to reduce or avoid the risk of collision or trench drop.

When the speed of the vehicle is detected to be low, such as less than 25 km/h, a prompt message is sent to a user and the height of the side surface of the vehicle is tracked and restored when the height of the side surface of the vehicle is detected to be higher than the height of the vehicle body or the vehicle frame. Further, when the road surface height of the side face of the vehicle is detected to be higher than the vehicle body or the vehicle frame, the data of the looking-around camera is called and displayed on the display screen, and the data for restoring the road surface height of the side face of the vehicle is highlighted in the looking-around video.

When the vehicle runs to a scene of narrowing a road such as a toll gate/inspection station, the distance between the vehicle and the toll gate/inspection gate can be controlled in an auxiliary manner through the detected road edge. Thereby assisting the user to pass smoothly.

When the vehicle is parked, the user can be reminded through the instrument screen display when the short-distance road edge or deep ditch beside the vehicle is detected, and further, when the user selects to unlock the vehicle door, a stronger reminder, such as a sound reminder, can be sent out.

When the vehicle is parked, when a short-distance road edge beside the vehicle is detected, the auxiliary air suspension lifting function can be linked, and the height of the parked suspension is controlled, so that the phenomenon that the suspension is lowered too low to influence the normal opening of the vehicle door is avoided. For example: detecting that the vehicle is stationary, detecting that the height of the road edge is higher than the gap height between the vehicle body and the ground, and controlling the height of the vehicle suspension so that the height of the road edge is lower than the gap height between the vehicle body and the ground; under the condition that the speed of the vehicle is detected to be very small, the road surface height on the side surface of the vehicle is detected to be higher than the vehicle body or the vehicle frame, the opening intention of the user is detected, and dangerous prompt information is sent to the user and the opening of the vehicle door is prevented, for example: a look-around video may be displayed. Controlling the height of the vehicle suspension so that the height of the road edge is lower than the clearance height between the vehicle body and the ground under the permission of a user; under the condition that the speed of the vehicle is detected to be very low, if the road surface height at the side of the vehicle is detected to be higher than the vehicle body or the vehicle frame, the protruding steps or the road edges at the side of the vehicle can be restored by detecting the protruding obstacle targets at the side of the vehicle and tracking the targets; in the data of the protruding steps or the road edges beside the restored vehicle, the fact that the side face of the length direction of the current position of the vehicle is provided with the high steps or the road edges is detected, the opening intention of the user is detected, dangerous prompt information is sent to the user, and the opening of the vehicle door is prevented. The elevation of the vehicle suspension can be controlled, if allowed by the user, so that the elevation of the road edge is lower than the clearance height of the vehicle body from the ground. When the vehicle is parked automatically, remotely or in a bus, the parking action can be interrupted and the user can be informed remotely through an intelligent terminal such as the user's smart phone when a short-distance road edge or deep trench beside the vehicle is detected. Of course, a new parking path may also be re-planned to complete the automatic parking.

As shown in fig. 5, by detecting a protruding obstacle target beside a vehicle and performing target tracking, a protruding step or a road edge beside the vehicle is restored, which specifically includes:

s501: storing historical probe information collected during travel of the vehicle, for example: acquiring height data along two sides of a vehicle;

s502: and screening the history detection information to obtain the positions of the bulges on the two sides of the vehicle. For example: noise points, abnormal values and the like are removed, and further, the positions of protrusions on the two sides of the vehicle along the way can be determined more accurately.

S503: and combining the map and the vehicle position to obtain the ground height value of the position corresponding to the detection point. Further, a raised position area beside the vehicle is restored;

S504: projecting the detection points with the position information and the ground height values into the looking-around image of the looking-around camera, and highlighting the raised position areas on both sides of the vehicle. Specifically, a position area where the detection point height exceeds a predetermined value is highlighted. Wherein highlighting may be performed using a conspicuous color such as red, blue, etc. And the corresponding height can be marked near the highlighted detection point to remind the user.

Likewise, in the case of a recessed area, this can also be displayed in the same manner. Furthermore, the driver can more intuitively check the situation around the vehicle body, and further, the driving safety and reliability are effectively improved. In addition, in the reversing process in the vehicle, the position area information of the history bulge can be acquired, and projection highlighting is performed along with movement of the looking-around image.

According to the vehicle control method, the detection information of the vehicle side road surface is obtained, so that whether the vehicle side road surface has the raised area or the recessed area can be judged according to the detection information, and the situation that the vehicle side road surface has the raised area or the recessed area can be judged. According to the area data of the areas, whether the convex area or the concave area affects the vehicle or not is determined, and further, when the vehicle is affected, prompting and/or controlling the vehicle to take evasive measures can be carried out. Therefore, under the condition that the vehicle is dangerous during driving, parking and even parking, the vehicle is reminded and even automatically controlled to deal with the situation, and the safety of the vehicle is effectively improved.

For example: the height data of the road surface at the side of the vehicle is utilized to restore the height of the low obstacle around the vehicle, and the vehicle door is controlled to be opened or closed so as to reduce the collision risk, and meanwhile, the height of the vehicle suspension can be controlled, so that the situation that the user is trapped due to the fact that the vehicle door cannot be opened is avoided, and the safety and the reliability of the vehicle are improved.

Fig. 6 is a block diagram of a control system of a vehicle according to an embodiment of the present application. As shown in fig. 6, a control system of a vehicle according to an embodiment of the present application includes: an acquisition module 610, a judgment module 620, a region determination module 630, and a control module 640, wherein:

an acquisition module 610, configured to acquire detection information of a road surface on a side of a vehicle;

a judging module 620, configured to judge whether a protruding area or a recessed area exists on the road surface on the side of the vehicle according to the detection information;

A region determination module 630 for obtaining region data of a raised region or a recessed region if the vehicle-side road surface has the raised region or the recessed region;

And the control module 640 is used for determining whether the raised area or the recessed area affects the vehicle according to the area data, and prompting and/or controlling the vehicle to take evasive measures when the raised area or the recessed area affects the vehicle.

According to the control system of the vehicle, the detection information of the side road surface of the vehicle is obtained, so that whether the side road surface of the vehicle has the raised area or the recessed area can be judged according to the detection information, and the side road surface of the vehicle has the raised area or the recessed area. According to the area data of the areas, whether the convex area or the concave area affects the vehicle or not is determined, and further, when the vehicle is affected, prompting and/or controlling the vehicle to take evasive measures can be carried out. Therefore, under the condition that the vehicle is dangerous during driving, parking and even parking, the vehicle is reminded and even automatically controlled to deal with the situation, and the safety of the vehicle is effectively improved.

Specific limitations regarding the control system of the vehicle may be found in the above limitations regarding the control method of the vehicle, and will not be described in detail herein. The various modules of the control system of the vehicle described above may be implemented in whole or in part in software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory of the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, there is provided a vehicle including: the control system of a vehicle according to any one of the above embodiments. The vehicle can judge whether the convex area or the concave area exists on the side road surface of the vehicle according to the detection information by acquiring the detection information of the side road surface of the vehicle, and when the convex area or the concave area exists on the side road surface of the vehicle, the vehicle can judge whether the convex area or the concave area exists on the side road surface of the vehicle. According to the area data of the areas, whether the convex area or the concave area affects the vehicle or not is determined, and further, when the vehicle is affected, prompting and/or controlling the vehicle to take evasive measures can be carried out. Therefore, under the condition that the vehicle is dangerous during driving, parking and even parking, the vehicle is reminded and even automatically controlled to deal with the situation, and the safety of the vehicle is effectively improved.

In addition, other structures and functions of the vehicle according to the embodiment of the present application are known to those skilled in the art, and will not be described herein.

Referring now to FIG. 7, FIG. 7 shows a schematic diagram of a computer device suitable for use in implementing embodiments of the present application.

As shown in fig. 7, the computer system includes a Central Processing Unit (CPU) 1001, which can execute various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 1002 or a program loaded from a storage section 1008 into a Random Access Memory (RAM) 1003. In the RAM1003, various programs and data required for operation instructions of the system are also stored. The CPU1001, ROM1002, and RAM1003 are connected to each other by a bus 1004. An input/output (I/O) interface 1005 is also connected to bus 1004.

The following components are connected to the I/O interface 1005; an input section 1006 including a keyboard, a mouse, and the like; an output portion 1007 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc., and a speaker, etc.; a storage portion 1008 including a hard disk or the like; and a communication section 1009 including a network interface card such as a LAN card, a modem, or the like. The communication section 1009 performs communication processing via a network such as the internet. The drive 1010 is also connected to the I/O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like, is installed as needed in the drive 1010, so that a computer program read out therefrom is installed as needed in the storage section 1008.

In particular, the process described above with reference to flowchart fig. 1 may be implemented as a computer software program according to an embodiment of the application. For example, embodiments of the present application 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 flowcharts. In such an embodiment, the computer program contains 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 1009, and/or installed from the removable medium 1011. The above-described functions defined in the system of the present application are performed when the computer program is executed by a Central Processing Unit (CPU) 1001.

The computer readable medium shown in the present application 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 application, 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 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 instructions of possible implementations of systems, methods and computer program products according to various embodiments of the present application. 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, blocks shown in two separate connections may in fact be performed substantially in parallel, or they may sometimes be performed in the reverse order, depending on the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/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 units or modules involved in the embodiments of the present application may be implemented in software or in hardware. The described units or modules may also be provided in a processor. Wherein the names of the units or modules do not in some cases constitute a limitation of the units or modules themselves.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features of each of the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (10)

1. A control method of a vehicle, characterized by comprising:

Acquiring detection information of a road surface on the side of the vehicle;

Judging whether a convex area or a concave area exists on the road surface at the side of the vehicle according to the detection information;

If a convex area or a concave area exists on the vehicle side road surface, obtaining area data of the convex area or the concave area;

Determining whether the raised area or the recessed area affects a vehicle according to the area data;

and if the convex area or the concave area affects the vehicle, prompting and/or controlling the vehicle to take evasive measures.

2. The control method of a vehicle according to claim 1, wherein the detection information of the vehicle-side road surface includes a detection distance between a vehicle body detection position and the vehicle-side road surface, and the determining whether the vehicle-side road surface has a convex area or a concave area based on the detection information includes:

Comparing the detection distance with a preset distance, wherein the preset distance is determined according to the distance between the detection position of the vehicle body and the flat road surface;

If the detection distance is greater than the preset distance, determining that a concave area exists on the road surface on the side of the vehicle;

And if the detection distance is smaller than the preset distance, determining that a convex area exists on the road surface beside the vehicle.

3. The control method of a vehicle according to claim 1 or 2, characterized in that the obtaining of the area data of the convex area or the concave area includes:

Obtaining the height of the convex area or the depth of the concave area according to the detection distance between the vehicle body detection position and the vehicle side road surface;

and obtaining the distance between the convex area or the concave area and the side of the vehicle according to the position information of the convex area or the concave area.

4. A control method of a vehicle according to claim 3, wherein the determining whether the convex area or the concave area affects the vehicle based on the area data includes:

judging whether the distance is smaller than a first threshold value when the vehicle is in a driving state;

If the first threshold value is smaller than the first threshold value, determining that the convex area or the concave area influences vehicle running;

judging whether the height of the raised area is higher than a second threshold value or whether the depth of the recessed area is greater than a third threshold value when the vehicle is in a parking state;

if yes, further judging whether the distance is smaller than a fourth threshold value;

if yes, determining that the convex area or the concave area influences parking of the vehicle;

judging whether the distance is smaller than a fifth threshold value when the vehicle is in a parking state;

if so, it is determined that the raised area or the recessed area affects vehicle parking.

5. The control method of a vehicle according to claim 4, characterized in that, in a case where the convex area or the concave area affects the vehicle, the control of the vehicle takes evasive measures, including:

judging whether a vehicle door opening intention exists when the vehicle is in a driving state;

If yes, locking the vehicle to prohibit the vehicle door from being opened, otherwise, controlling the vehicle to shift to the opposite direction of the convex area or the concave area;

When the vehicle is in a parking state, controlling the suspension of the vehicle to rise so that the height of the lower edge of the vehicle door is higher than the height of the raised area after the vehicle door is opened;

And when the vehicle is in a parking state, parking is interrupted.

6. The control method of a vehicle according to claim 5, characterized by further comprising, after stopping parking while the vehicle is in a parked state:

sending a notification to an intelligent terminal of a user;

Re-planning a parking route in response to a parking instruction of a user;

Parking is performed based on the new parking route.

7. The control method of a vehicle according to claim 1, characterized in that, in a case where the convex area or the concave area affects the vehicle, the prompting is made, comprising:

displaying the convex area or the concave area in a screen of the vehicle based on the area data; and/or the number of the groups of groups,

And carrying out sound warning or voice reminding.

8. The control method of a vehicle according to claim 1, wherein the means for obtaining the detection information of the road surface on the side of the vehicle includes at least one of:

Acquiring the detection information by using an ultrasonic sensor;

Acquiring the detection information by using an infrared sensor;

obtaining the detection information by using a laser radar;

and obtaining the detection information by using a binocular camera.

9. A control system of a vehicle, characterized by comprising:

the acquisition module is used for acquiring detection information of the road surface on the side of the vehicle;

The judging module is used for judging whether a convex area or a concave area exists on the road surface at the side of the vehicle according to the detection information;

a region determination module for obtaining region data of a raised region or a recessed region if the raised region or the recessed region exists on the vehicle-side road surface;

And the control module is used for determining whether the raised area or the recessed area affects the vehicle according to the area data, and prompting and/or controlling the vehicle to take evasive measures when the raised area or the recessed area affects the vehicle.

10. A vehicle, characterized by comprising: the control system of a vehicle according to claim 9.