WO2019127310A1 - 车辆控制方法、车辆控制设备及车辆 - Google Patents
车辆控制方法、车辆控制设备及车辆 Download PDFInfo
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- WO2019127310A1 WO2019127310A1 PCT/CN2017/119691 CN2017119691W WO2019127310A1 WO 2019127310 A1 WO2019127310 A1 WO 2019127310A1 CN 2017119691 W CN2017119691 W CN 2017119691W WO 2019127310 A1 WO2019127310 A1 WO 2019127310A1
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- vehicle
- distance
- information
- rear vehicle
- determining
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000001514 detection method Methods 0.000 claims description 121
- 230000000007 visual effect Effects 0.000 claims description 37
- 230000004927 fusion Effects 0.000 claims description 15
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 9
- 238000003062 neural network model Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000000523 sample Substances 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- B60W30/095—Predicting travel path or likelihood of collision
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
Definitions
- Embodiments of the present invention relate to the field of drones, and more particularly to a vehicle control method, a vehicle control device, and a vehicle.
- Embodiments of the present invention provide a vehicle control method, a vehicle control device, and a vehicle to prevent a collision between a vehicle and a vehicle behind it.
- a first aspect of the embodiments of the present invention provides a vehicle control method, including:
- the collision avoidance operation is performed according to the distance between the vehicle and the vehicle coming behind it, and the safe distance of the rear vehicle.
- a second aspect of the embodiments of the present invention provides a vehicle control device, including: a memory and a processor;
- the memory is for storing program code
- the processor calls the program code to perform the following operations when the program code is executed:
- the collision avoidance operation is performed according to the distance between the vehicle and the vehicle coming behind it, and the safe distance of the rear vehicle.
- a third aspect of the embodiments of the present invention provides a vehicle, including:
- a power system mounted on the chassis for providing power
- the vehicle control method, the vehicle control device, and the vehicle provided by the embodiment determine the safety distance of the rear vehicle according to the state information of the rear vehicle, by acquiring the state information of the vehicle coming from the rear of the vehicle, and according to the vehicle and the rear of the vehicle.
- the distance between the car and the safe distance from the rear of the car, the anti-collision operation is carried out to ensure that the distance between the vehicle and the vehicle coming behind it is within a safe distance, thereby avoiding collision of the vehicle with the vehicle behind it.
- FIG. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention.
- FIG. 2 is a schematic diagram of a vehicle and a vehicle behind it according to an embodiment of the present invention
- FIG. 3 is a structural diagram of a vehicle control device according to an embodiment of the present invention.
- FIG. 4 is a structural diagram of a vehicle control device according to another embodiment of the present invention.
- a component when referred to as being "fixed” to another component, it can be directly on the other component or a component in the middle. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
- FIG. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:
- Step S101 Obtain a distance between the vehicle and the vehicle coming behind it.
- the vehicle 21 is a vehicle in front of the vehicle 22, that is, the vehicle 22 is a vehicle behind the vehicle 21.
- a detection device can be provided on the vehicle 21, which can be used to detect the distance of the vehicle 22 behind the vehicle 21 relative to the vehicle 21.
- the vehicle control method described in this embodiment is specifically applicable to a vehicle control device that can be disposed in a vehicle such as the vehicle 21.
- the vehicle control device includes one or more processors, which may specifically be general purpose or dedicated processors.
- the vehicle control method is also applicable to other devices. This embodiment is schematically illustrated by taking a vehicle control device as an example.
- Obtaining a distance between the vehicle and the vehicle behind it comprising: acquiring detection data of the detection device provided on the vehicle; determining, according to the detection data of the detection device provided on the vehicle, the rear vehicle and the The distance between the vehicles.
- the vehicle control device may acquire detection data of the detection device provided on the vehicle 21, and determine a distance between the vehicle 22 and the vehicle 21 based on the detection data of the detection device.
- the vehicle control device may use the detection data of the detection device as the distance between the vehicle 22 and the vehicle 21; if the detection data of the detection device is reliable Not high, the vehicle control device can also perform corresponding processing on the detection data of the detection device to obtain the distance between the vehicle 22 and the vehicle 21.
- the vehicle 21 may be provided with at least one of a radar, a visual detecting device, an ultrasonic detecting device, and a TOF detecting device
- the vehicle control device may be according to a radar, a visual detecting device, an ultrasonic detecting device, and a TOF detecting device.
- the detection data of at least one of the detection devices determines the distance between the vehicle 22 and the vehicle 21.
- the vehicle 21 is provided with a monocular camera that can determine the distance between the vehicle 22 and the vehicle 21 based on the image information of the vehicle 22 that the monocular camera photographed at different times.
- the vehicle 21 is provided with a radar and visual detection device that can also perform data fusion of the radar and visual detection device detection data to obtain the distance between the vehicle 22 and the vehicle 21.
- the determining according to the detection data of at least one of the radar, the visual detecting device, the ultrasonic detecting device, and the TOF detecting device disposed on the vehicle, determining a distance between the rear vehicle and the vehicle, there are several possible implementations as follows:
- One possible implementation is to determine the distance between the rear vehicle and the vehicle based on the detection data of the visual detection device provided on the vehicle.
- an implementation manner of determining a distance between the rear vehicle and the vehicle is: according to the monocular camera set on the vehicle at different times The captured image information of the rear vehicle is determined, and the distance between the rear vehicle and the vehicle is determined.
- the vehicle 21 is provided with a monocular camera, and the distance between the vehicle 22 and the vehicle 21 is determined based on the image information of the vehicle 22 taken by the monocular camera at different times.
- the determining, according to the detection data of the visual detection device disposed on the vehicle, another way of determining the distance between the rear vehicle and the vehicle is: setting according to the vehicle
- the binocular camera determines different distances between the rear vehicle and the vehicle at different image information of the rear vehicle that is taken at the same time.
- the vehicle 21 is provided with a binocular camera, and the distance between the vehicle 22 and the vehicle 21 is determined based on different image information of the vehicle 22 taken by the binocular camera at the same time.
- Another possible implementation manner is: determining data about the rear vehicle and the data fusion by detecting data of at least two detection devices of the radar, the visual detection device, the ultrasonic detection device, and the TOF detection device provided on the vehicle. The distance between the vehicles.
- the vehicle 21 is provided with at least two types of radars, visual detection devices, ultrasonic detection devices, and TOF detection devices. Since the data forms and reliability of the detection data of different detection devices are different, the vehicle 21 The vehicle control device may calibrate the at least two types of detecting devices to obtain a mutual positional relationship between the at least two detecting devices, and unify the detecting data of the at least two detecting devices into the same coordinate system, and the at least two detecting devices The probe data is data fused to obtain the distance between the vehicle 22 and the vehicle 21.
- This embodiment is schematically illustrated by taking data fusion of the detection data of the radar and the visual detection device as an example.
- the data fusion is performed by detecting data of at least two detection devices of the radar, the visual detection device, the ultrasonic detection device, and the TOF detection device disposed on the vehicle, and determining the rear vehicle and the vehicle
- the distance between the two includes: determining a distance between the rear vehicle and the vehicle by data fusion of the radar and visual detection device set data on the vehicle.
- the vehicle 21 is provided with a radar and a visual detecting device, and the radar is specifically a laser radar.
- the visual detecting device is specifically a monocular camera. Since the detection data of the monocular camera and the actual data have a proportional relationship, the following formula (1) ) the relationship shown:
- X W represents the actual data
- X C represents the probe data of the monocular camera
- s is an unknown scale factor
- X i W represents the detection data after the laser radar detects the point i
- X iC represents the detection data after the point camera detects the point i
- the scale factor s can be calculated, and according to the scale factor s, data fusion of the detection data of the lidar and the monocular camera can be performed.
- the detection data of the monocular camera can be replaced by the detection data of the laser radar.
- Step S102 Obtain state information of the vehicle coming in from the rear of the vehicle.
- the vehicle control device may also acquire state information of the vehicle 22.
- the state information of the vehicle 22 may specifically include vehicle type information of the vehicle 22, speed information of the vehicle 22 with respect to the vehicle 21, speed information of the vehicle 22, and acceleration of the vehicle 22. Information, etc.
- the acquiring state information of the rear vehicle of the vehicle includes at least one of: acquiring vehicle type information of the rear vehicle of the vehicle; and acquiring speed information of the rear vehicle relative to the vehicle Or the speed information of the rear vehicle; and the acceleration information of the rear vehicle of the vehicle.
- the obtaining vehicle type information of the rear vehicle of the vehicle includes: acquiring image information of the vehicle behind the vehicle by the photographing device; and determining vehicle type information of the rear vehicle according to the image information of the rear vehicle. .
- the vehicle 21 may be provided with a photographing device such as a camera, which can collect image information of the vehicle 22, and the vehicle control device can acquire image information of the vehicle 22 through the camera, and further image the image information of the vehicle 22. Processing, determining vehicle type information of the vehicle 22, for example, the vehicle 22 is a container truck, a dump truck, or a car.
- a photographing device such as a camera
- the vehicle control device can acquire image information of the vehicle 22 through the camera, and further image the image information of the vehicle 22. Processing, determining vehicle type information of the vehicle 22, for example, the vehicle 22 is a container truck, a dump truck, or a car.
- the determining the vehicle type information of the rear vehicle according to the image information of the rear vehicle includes: performing image processing on the image information of the rear vehicle by using a neural network model, and obtaining the rear vehicle Model information.
- the vehicle control device may perform real-time processing of image information of the vehicle 22 using a neural network model to identify vehicle type information of the vehicle 22.
- the acquiring speed information of the rear vehicle relative to the vehicle includes: determining, according to a distance between the rear vehicle and the vehicle, and time information corresponding to the detection data, The speed information of the rear vehicle relative to the vehicle is described.
- the vehicle 21 is provided with a visual detecting device that can detect the distance between the vehicle 22 and the vehicle 21 based on the image information of the adjacent two or non-adjacent two-frame vehicles 22, assuming that a time is detected at time t1.
- the image information of the frame vehicle 22 detects that the distance between the vehicle 22 and the vehicle 21 is S1 according to the frame image information; the image information of the other frame of the vehicle 22 is detected at time t2, and the vehicle 22 and the vehicle are detected based on the frame image information.
- the distance between 21 is S2; from t1 to t2, the amount of change between the distance between the vehicle 22 and the vehicle 21 is (S1-S2), and according to (S1-S2) and (t1-t2), the relative position of the vehicle 22 can be determined.
- the speed of the vehicle 21 is (S1-S2)/(t1-t2).
- the acquiring status information of the rear vehicle of the vehicle includes: acquiring image information of the vehicle coming behind the vehicle by the photographing device; determining, by the image information, the rear vehicle Identifying the information; transmitting the identification information to the server; and receiving status information of the rear-mounted vehicle sent by the server.
- the vehicle 21 may be provided with a photographing device such as a camera, which can collect image information of the vehicle 22, and the vehicle control device can acquire image information of the vehicle 22 through the camera, and further image the image information of the vehicle 22.
- the process identifies the identification information of the vehicle 22, such as the license plate number, from the image information of the vehicle 22.
- the vehicle control device can also transmit the license plate number of the vehicle 22 to the server.
- the server may specifically be a cloud platform, and the vehicle traveling on the road may send one or more of its status information such as speed information, location information, license plate number, vehicle type information, acceleration information, etc. to the server in real time.
- the server After the server receives the license plate number of the vehicle 22 transmitted by the vehicle 21, the state information of the vehicle 22 associated with the license plate number of the vehicle 22 may be acquired from the database or storage system corresponding to the server, and the state of the vehicle 22 is obtained. Information is sent to the vehicle control device in the vehicle 21.
- the other way of acquiring the speed information of the rear vehicle relative to the vehicle is: determining the rear vehicle relative to the vehicle according to the speed information of the vehicle and the speed information of the rear vehicle sent by the server.
- Speed information of the vehicle For example, the vehicle 21 transmits the license plate number of the vehicle 22 to the server, and the server transmits the status information of the vehicle 22 to the vehicle 21, the status information of the vehicle 22 includes the speed information of the vehicle 22, and the vehicle control device in the vehicle 21 can be based on the vehicle.
- the speed information of 22 and the speed information of the vehicle 21 determine speed information of the vehicle 22 with respect to the vehicle 21.
- the vehicle control device may determine the speed information of the vehicle 21 according to a positioning device in the vehicle 21, such as a Global Positioning System (GPS) positioning device or a driving system in the vehicle 21 .
- GPS Global Positioning System
- the manner of acquiring the speed information of the rear vehicle relative to the vehicle is: the vehicle 21 sends the state information of the vehicle 21, such as speed information, position information, license plate number, vehicle type information, acceleration information, etc., to the vehicle
- the server and vehicle 22 transmit status information of the vehicle 22 such as speed information, position information, license plate number, vehicle type information, acceleration information, and the like to the server.
- the server receives the license plate number of the vehicle 22 transmitted by the vehicle 21, based on the speed information reported by the vehicle 21 and the speed information reported by the vehicle 22, the speed information of the vehicle 22 with respect to the vehicle 21 is determined, and the vehicle 22 is relative to the vehicle.
- the speed information of 21 is transmitted to the vehicle 21.
- Step S103 Determine a safety distance of the rear vehicle according to the state information of the rear vehicle.
- the vehicle control device in the vehicle 21 acquires state information of the vehicle 22 such as vehicle type information of the vehicle 22, speed information of the vehicle 22 with respect to the vehicle 21, speed information of the vehicle 22, acceleration information of the vehicle 22, and the like, the vehicle may be The status information of 22 determines the safe distance of the vehicle 22.
- the vehicle control device in the vehicle 21 can determine the safety distance of the vehicle 22 based on the vehicle type information of the vehicle 22.
- the safety distance of the vehicle can also change in real time as the state information of the vehicle changes. For example, when the speed information of the vehicle 22 with respect to the vehicle 21 changes in real time, the safety distance of the vehicle 22 also changes in real time. Therefore, the vehicle control device in the vehicle 21 can determine the current safe distance of the vehicle 22 based on the current state information of the vehicle 22.
- Step S104 performing an anti-collision operation according to the distance between the vehicle and the vehicle coming behind it, and the safety distance of the rear vehicle.
- the vehicle control device in the vehicle 21 determines the distance between the vehicle 22 and the vehicle 21 according to the above steps, and after the safety distance of the vehicle 22, by comparing the distance between the vehicle 22 and the vehicle 21, and the safety distance of the vehicle 22, The collision avoidance operation is performed when the distance between the vehicle 22 and the vehicle 21 is less than the safe distance of the vehicle 22.
- the anti-collision operation is performed according to the distance between the vehicle and the vehicle coming behind it, and the safety distance of the rear vehicle, including the following feasible implementation manners:
- a feasible implementation manner is: if the distance between the rear vehicle and the vehicle is less than the safety distance of the rear vehicle, the vehicle distance prompt information is generated.
- the vehicle control device in the vehicle 21 determines that the distance between the vehicle 22 and the vehicle 21 is less than the safety distance of the vehicle 22, the distance indication information is generated.
- the generating the distance indication information includes: generating vehicle distance indication information by controlling a vehicle light of the vehicle, wherein the distance information is used to prompt the driver of the rear vehicle.
- the vehicle control device in the vehicle 21 may control the lights of the vehicle 21, such as taillights to be turned on or intermittently on, to alert the driver within the vehicle 22 to the distance between the vehicle 22 and the vehicle 21, avoiding the vehicle 22 and the vehicle 21. The distance is too close to avoid collision of the vehicle 21 and the vehicle 22.
- the generating the vehicle distance hint information includes: generating prompt information prompting a driver of the vehicle.
- the vehicle control device in the vehicle 21 determines that the distance between the vehicle 22 and the vehicle 21 is less than the safety distance of the vehicle 22, the driver of the vehicle may also be prompted to pay attention to the warning, for example, prompting the driver of the vehicle: the rear vehicle
- the distance between the vehicles is less than or equal to the safety distance.
- the driver of the vehicle may be prompted to accelerate or change lanes.
- the vehicle control device in the vehicle 21 may provide voice prompts and texts. A reminder or the like is used to prompt the driver of the vehicle to accelerate or change lanes, thereby avoiding collision between the vehicle 21 and the vehicle 22.
- Another possible implementation manner is to control the vehicle to change lanes or accelerate if the distance between the rear vehicle and the vehicle is less than the safety distance of the rear vehicle.
- the vehicle control device in the vehicle 21 determines that the distance between the vehicle 22 and the vehicle 21 is less than the safe distance of the vehicle 22, it is also possible to control the vehicle 21 to change lanes or accelerate, thereby avoiding collision of the vehicle 21 and the vehicle 22.
- the safety distance of the rear vehicle is determined according to the state information of the rear vehicle, and the distance between the vehicle and the rear of the vehicle, and the safety distance of the rear vehicle.
- the anti-collision operation is performed to ensure that the distance between the vehicle and the vehicle behind it is within a safe distance, thereby preventing the vehicle from colliding with the vehicle behind it.
- FIG. 3 is a structural diagram of a vehicle control device according to an embodiment of the present invention.
- the vehicle control device 30 includes a memory 31 and a processor 32.
- the memory 31 is configured to store program code; the processor 32 calls the program code, when the program code is executed, for performing the following operations: acquiring a distance between the vehicle and the vehicle behind it; acquiring the rear of the vehicle State information; determining a safety distance of the rear vehicle according to the state information of the rear vehicle; performing an anti-collision operation according to a distance between the vehicle and the vehicle coming behind the vehicle, and a safety distance of the rear vehicle .
- the method is specifically configured to: acquire at least one of: acquiring vehicle type information of the rear vehicle of the vehicle; and acquiring the rear vehicle with respect to the vehicle Speed information of the vehicle or speed information of the rear vehicle; acquiring acceleration information of the vehicle coming behind the vehicle.
- the method is specifically configured to: acquire image information of the vehicle behind the vehicle by the photographing device; and determine, according to the image information of the rear vehicle The vehicle type information of the rear car.
- the processor 32 determines, according to the image information of the rear vehicle, the image information of the rear vehicle, and uses the neural network model to perform image processing on the image information of the rear vehicle.
- the vehicle type information of the rear car is the vehicle type information of the rear car.
- the processor 32 when acquiring the distance between the vehicle and the vehicle behind it, is specifically configured to: acquire detection data of the detection device disposed on the vehicle; and determine, according to the detection data of the detection device set on the vehicle, The distance between the rear vehicle and the vehicle.
- the processor 32 determines, according to the detection data of the detecting device disposed on the vehicle, the distance between the rear vehicle and the vehicle, specifically, according to the radar and the vision set on the vehicle. Detecting data of at least one of the detecting device, the ultrasonic detecting device, and the TOF detecting device determines a distance between the rear vehicle and the vehicle.
- the processor 32 determines, according to the detection data of at least one of the radar, the visual detection device, the ultrasonic detection device, and the TOF detection device disposed on the vehicle, between the rear vehicle and the vehicle.
- the distance is specifically used to determine the distance between the rear vehicle and the vehicle according to the detection data of the visual detection device provided on the vehicle.
- the processor 32 determines, according to the detection data of at least one of the radar, the visual detection device, the ultrasonic detection device, and the TOF detection device disposed on the vehicle, between the rear vehicle and the vehicle.
- the distance is specifically used to:
- the distance between the rear vehicle and the vehicle is determined by data fusion of the detection data of at least two of the radar, the visual detection device, the ultrasonic detection device, and the TOF detection device disposed on the vehicle.
- the processor 32 determines, by the data fusion of the detection data of the at least two detection devices of the radar, the visual detection device, the ultrasonic detection device, and the TOF detection device disposed on the vehicle, to determine the rear vehicle and the The distance between the vehicles is specifically used to determine the distance between the rear vehicle and the vehicle by data fusion of the radar and visual detection devices provided on the vehicle.
- the method is specifically configured to: according to the distance between the rear vehicle and the vehicle, and the time corresponding to the detection data. Information determines speed information of the rear vehicle relative to the vehicle.
- the vehicle control device 30 further includes a communication interface 33.
- the method is specifically configured to: acquire image information of the vehicle behind the vehicle by the photographing device. Determining the identification information of the rear vehicle from the image information; transmitting the identification information to the server through the communication interface 33; and receiving the status information of the rear vehicle sent by the server through the communication interface 33.
- the processor 32 is configured to: when the anti-collision operation is performed according to the distance between the vehicle and the vehicle behind the vehicle, and the safety distance of the rear vehicle, specifically: if the rear vehicle and the vehicle The distance between the vehicles is less than the safe distance of the rear vehicle, and the vehicle distance prompt information is generated.
- the processor 32 when the processor 32 generates the vehicle distance prompt information, the processor 32 is configured to: generate vehicle distance prompt information by using the vehicle lights of the vehicle, and the vehicle distance prompt information is used to prompt the driver of the rear vehicle.
- the processor 32 when the processor 32 generates the vehicle distance prompt information, specifically, the processor 32 generates prompt information for prompting the driver of the vehicle.
- the processor 32 is configured to: when the anti-collision operation is performed according to the distance between the vehicle and the vehicle behind the vehicle, and the safety distance of the rear vehicle, specifically: if the rear vehicle and the vehicle The distance between the vehicles is less than the safe distance of the rear vehicle, and the vehicle is controlled to change lanes or accelerate.
- the safety distance of the rear vehicle is determined according to the state information of the rear vehicle, and the distance between the vehicle and the rear of the vehicle, and the safety distance of the rear vehicle.
- the anti-collision operation is performed to ensure that the distance between the vehicle and the vehicle behind it is within a safe distance, thereby preventing the vehicle from colliding with the vehicle behind it.
- Embodiments of the present invention provide a vehicle.
- the vehicle includes a chassis, a power system, a vehicle body, and a vehicle control device; wherein a power system is mounted on the chassis for providing power; a vehicle body is mounted on the chassis; and specific principles and implementations of the vehicle control device are Similar to the above embodiment, details are not described herein again.
- the disclosed apparatus and method may be implemented in other manners.
- the device embodiments described above are merely illustrative.
- the division of the unit is only a logical function division.
- there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
- the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
- the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
- each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
- the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
- the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
- the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
- the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .
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Abstract
一种车辆控制方法、车辆控制设备及车辆，方法包括：获取车辆（21）与其后方来车（22）之间的距离；获取车辆（21）的后方来车（22）的状态信息；根据后方来车（22）的状态信息，确定后方来车（22）的安全距离；根据车辆（21）与其后方来车（22）之间的距离，以及后方来车（22）的安全距离，执行防碰撞操作，确保车辆（21）与其后方来车（22）之间的距离在安全距离内，避免该车辆（21）与其后方来车（22）发生碰撞。
Description
本发明实施例涉及无人机领域，尤其涉及一种车辆控制方法、车辆控制设备及车辆。
现有技术中车辆驾驶员在车辆行驶中，司机更多地关注了车辆前方的交通状况，而忽略了车辆后方的交通状况，从而导致交通事故的发生。
发明内容
本发明实施例提供一种车辆控制方法、车辆控制设备及车辆，以防止车辆与其后方来车发生碰撞。
本发明实施例的第一方面是提供一种车辆控制方法，包括：
获取车辆与其后方来车之间的距离；
获取所述车辆的后方来车的状态信息；
根据所述后方来车的状态信息，确定所述后方来车的安全距离；
根据所述车辆与其后方来车之间的距离，以及所述后方来车的安全距离，执行防碰撞操作。
本发明实施例的第二方面是提供一种车辆控制设备，包括：存储器和处理器；
所述存储器用于存储程序代码；
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
获取车辆与其后方来车之间的距离；
获取所述车辆的后方来车的状态信息；
根据所述后方来车的状态信息，确定所述后方来车的安全距离；
根据所述车辆与其后方来车之间的距离，以及所述后方来车的安全距离，执行防碰撞操作。
本发明实施例的第三方面是提供一种车辆，包括：
底盘；
动力系统，安装在所述底盘，用于提供动力；
车身，安装在所述底盘；
以及第二方面所述的车辆控制设备。
本实施例提供的车辆控制方法、车辆控制设备及车辆，通过获取车辆的后方来车的状态信息，根据后方来车的状态信息，确定后方来车的安全距离，并根据该车辆与其后方来车之间的距离，以及后方来车的安全距离，执行防碰撞操作，确保该车辆与其后方来车之间的距离在安全距离内，从而避免该车辆与其后方来车发生碰撞。
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的车辆控制方法的流程图；
图2为本发明实施例提供的车辆与其后方来车的示意图；
图3为本发明实施例提供的车辆控制设备的结构图；
图4为本发明另一实施例提供的车辆控制设备的结构图。
附图标记：
21-车辆 22-车辆 30-车辆控制设备
31-存储器 32-处理器 33-通讯接口
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在 另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本发明实施例提供一种车辆控制方法。图1为本发明实施例提供的车辆控制方法的流程图。如图1所示，本实施例中的方法，可以包括：
步骤S101、获取车辆与其后方来车之间的距离。
如图2所示，车辆21是车辆22前方的车辆，即车辆22是车辆21的后方来车。车辆21上可设置有探测设备，该探测设备可用于检测车辆21后面的车辆22相对于车辆21的距离。
本实施例所述的车辆控制方法具体可应用于车辆控制设备，该车辆控制设备可设置在车辆中例如车辆21中。该车辆控制设备包括一个或多个处理器，该一个或多个处理器具体可以是通用或者专用的处理器。在其他实施例中，该车辆控制方法还可应用于其他设备，本实施例以车辆控制设备为例进行示意性说明。
所述获取车辆与其后方来车之间的距离，包括：获取所述车辆上设置的探测设备的探测数据；根据所述车辆上设置的探测设备的探测数据，确定所述后方来车与所述车辆之间的距离。
具体的，该车辆控制设备可获取车辆21上设置的探测设备的探测数据，并根据该探测设备的探测数据确定车辆22与车辆21之间的距离。可选的，如果该探测设备的探测数据的可靠性较高，该车辆控制设备可以将该探测设备的探测数据作为车辆22与车辆21之间的距离；如果该探测设备的探测数据的可靠性不高，该车辆控制设备还可以对该探测设备的探测数据进行相应的处理以得到车辆22与车辆21之间的距离。
可选的，所述根据所述车辆上设置的探测设备的探测数据，确定所述后方来车与所述车辆之间的距离，包括：根据所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少一种探测设备的探测数据，确定所述后方来车与所述车辆之间的距离。
具体的，车辆21上可设置有雷达、视觉探测设备、超声波探测设备、TOF探测设备中的至少一种探测设备，该车辆控制设备可根据雷达、视觉探测设备、超声波探测设备、TOF探测设备中的至少一种探测设备的探测数据确定车辆22与车辆21之间的距离。例如，车辆21上设置有单目摄像头，该车辆控制设备可根据该单目摄像头在不同时刻拍摄的车辆22的图像信息确定车辆22与车辆21之间的距离。再例如，车辆21上设置有雷达和视觉探测设备，该车辆控制设备还可以对雷达和视觉探测设备的探测数据进行数据融合以得到车辆22与车辆21之间的距离。
具体的，所述根据所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少一种探测设备的探测数据，确定所述后方来车与所述车辆之间的距离，包括如下几种可能的实现方式：
一种可能的实现方式是：根据所述车辆上设置的视觉探测设备的探测数据，确定所述后方来车与所述车辆之间的距离。
所述根据所述车辆上设置的视觉探测设备的探测数据，确定所述后方来车与所述车辆之间的距离的一种实现方式是：根据所述车辆上设置的单目摄像头在不同时刻拍摄的所述后方来车的图像信息，确定所述后方来车与所述车辆之间的距离。例如，车辆21上设置有单目摄像头，根据该单目摄像头在不同时刻拍摄的车辆22的图像信息确定车辆22与车辆21之间的距离。
在其他实施例中，所述根据所述车辆上设置的视觉探测设备的探测数据，确定所述后方来车与所述车辆之间的距离的另一种实现方式是：根据所述车辆上设置的双目摄像头在同一时刻拍摄的所述后方来车的不同图像信息，确定所述后方来车与所述车辆之间的距离。例如，车辆21上设置有双目摄像头，根据该双目摄像头在同一时刻拍摄的车辆22的不同图像信息确定车辆22与车辆21之间的距离。
另一种可能的实现方式是：通过对所述车辆上设置的雷达、视觉探测 设备、超声波探测设备、TOF探测设备中至少两种探测设备的探测数据进行数据融合，确定所述后方来车与所述车辆之间的距离。
例如，车辆21上设置有雷达、视觉探测设备、超声波探测设备、TOF探测设备中的至少两种探测设备，由于不同探测设备的探测数据的数据形式以及可靠性不同，因此，车辆21中的该车辆控制设备可对该至少两种探测设备进行标定得到该至少两种探测设备的相互位置关系，并将该至少两种探测设备的探测数据统一到同一坐标系中，对该至少两种探测设备的探测数据进行数据融合，从而得到车辆22与车辆21之间的距离。
本实施例以对雷达和视觉探测设备的探测数据进行数据融合为例进行示意性说明。
可选的，所述通过对所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少两种探测设备的探测数据进行数据融合，确定所述后方来车与所述车辆之间的距离，包括：通过对所述车辆上设置的雷达和视觉探测设备的探测数据进行数据融合，确定所述后方来车与所述车辆之间的距离。
例如，车辆21上设置有雷达和视觉探测设备，该雷达具体为激光雷达，该视觉探测设备具体为单目摄像头，由于单目摄像头的探测数据和实际数据存在一个比例关系，即如下公式(1)所示的关系：
X
W＝sX
C (1)
其中，X
W表示实际数据，X
C表示单目摄像头的探测数据，s为未知的比例因子。
进一步地，在激光雷达所在射线方向上确定距离激光束最近的点i，X
i
W表示激光雷达检测到点i后的探测数据，X
iC表示单目摄像头检测到点i后的探测数据；X
iC和X
i
W之间的关系可表示为如下公式(2)：
X
i
W＝sX
iC (2)
根据公式(2)可计算出比例因子s，根据比例因子s可对激光雷达和单目摄像头的探测数据进行数据融合。
由于激光雷达的探测数据的可靠性更高，因此，可用激光雷达的探测数据替代单目摄像头的探测数据。
步骤S102、获取所述车辆的后方来车的状态信息。
该车辆控制设备还可以获取车辆22的状态信息，具体的，车辆22的状态信息具体可以包括车辆22的车型信息、车辆22相对于车辆21的速度信息、车辆22的速度信息、车辆22的加速度信息等。
可选的，所述获取所述车辆的后方来车的状态信息，包括如下至少一种：获取所述车辆的后方来车的车型信息；获取所述后方来车相对于所述车辆的速度信息，或者所述后方来车的速度信息；获取所述车辆的后方来车的加速度信息。
其中，获取所述车辆的后方来车的车型信息，包括：通过拍摄设备获取所述车辆的后方来车的图像信息；根据所述后方来车的图像信息，确定所述后方来车的车型信息。
例如，车辆21上可设置有拍摄设备例如摄像头，该摄像头可采集车辆22的图像信息，该车辆控制设备可通过该摄像头获取到车辆22的图像信息，进一步地对该车辆22的图像信息进行图像处理，确定出车辆22的车型信息，例如该车辆22是货柜车、泥头车、或小汽车等。
具体的，所述根据所述后方来车的图像信息，确定所述后方来车的车型信息，包括：采用神经网络模型对所述后方来车的图像信息进行图像处理，得到所述后方来车的车型信息。例如，该车辆控制设备可采用神经网络模型对车辆22的图像信息进行实时处理以识别出车辆22的车型信息。
可选的，所述获取所述后方来车相对于所述车辆的速度信息，包括：根据所述后方来车与所述车辆之间的距离，以及所述探测数据对应的时间信息，确定所述后方来车相对于所述车辆的速度信息。
例如，车辆21上设置有视觉探测设备，该视觉探测设备可根据相邻两帧或非相邻两帧车辆22的图像信息检测出车辆22与车辆21之间的距离，假设t1时刻检测到一帧车辆22的图像信息，根据该帧图像信息检测出车辆22与车辆21之间的距离为S1；t2时刻检测到另一帧车辆22的图像信息，根据该帧图像信息检测出车辆22与车辆21之间的距离为S2；从t1到t2，车辆22与车辆21之间的距离的变化量为(S1-S2)，根据(S1-S2)和(t1-t2)可确定出车辆22相对于车辆21的速度为(S1-S2)/(t1-t2)。
在其他实施例中，所述获取所述车辆的后方来车的状态信息，包括： 通过拍摄设备获取所述车辆的后方来车的图像信息；从所述图像信息中确定所述后方来车的标识信息；将所述标识信息发送给服务器；接收所述服务器发送的所述后方来车的状态信息。
例如，车辆21上可设置有拍摄设备例如摄像头，该摄像头可采集车辆22的图像信息，该车辆控制设备可通过该摄像头获取到车辆22的图像信息，进一步地对该车辆22的图像信息进行图像处理，从该车辆22的图像信息中识别出车辆22的标识信息例如车牌号，进一步地，该车辆控制设备还可以将车辆22的车牌号发送给服务器。该服务器具体可以是云平台，路上行驶的车辆可以实时的将其状态信息例如速度信息、位置信息、车牌号、车型信息、加速度信息等中的一种或多种发送给该服务器。当该服务器接收到车辆21发送的车辆22的车牌号之后，可以从该服务器对应的数据库或存储系统中获取出与车辆22的车牌号关联的车辆22的状态信息，并将该车辆22的状态信息发送给车辆21中的车辆控制设备。
所述获取所述后方来车相对于所述车辆的速度信息的另一种方式是：根据所述车辆的速度信息和服务器发送的后方来车的速度信息，确定所述后方来车相对于所述车辆的速度信息。例如，车辆21将车辆22的车牌号发送给服务器，服务器将车辆22的状态信息发送给车辆21，该车辆22的状态信息中包括车辆22的速度信息，车辆21中的车辆控制设备可根据车辆22的速度信息和车辆21的速度信息确定出车辆22相对于车辆21的速度信息。可选的，该车辆控制设备可根据车辆21内的定位设备例如全球定位系统(Global Positioning System，简称GPS)定位设备或者车辆21内的驾驶系统确定出车辆21的速度信息。
所述获取所述后方来车相对于所述车辆的速度信息的再一种方式是：车辆21将车辆21的状态信息例如速度信息、位置信息、车牌号、车型信息、加速度信息等发送给该服务器，车辆22将车辆22的状态信息例如速度信息、位置信息、车牌号、车型信息、加速度信息等发送给该服务器。当该服务器接收到车辆21发送的车辆22的车牌号时，根据车辆21上报的速度信息和车辆22上报的速度信息，确定出车辆22相对于车辆21的速度信息，并将车辆22相对于车辆21的速度信息发送给车辆21。
步骤S103、根据所述后方来车的状态信息，确定所述后方来车的安全 距离。
当车辆21中的车辆控制设备获取到车辆22的状态信息例如车辆22的车型信息、车辆22相对于车辆21的速度信息、车辆22的速度信息、车辆22的加速度信息等时，可根据该车辆22的状态信息确定车辆22的安全距离。
具体的，由于不同的车型对应的刹车距离不同，因此不同的车型可对应不同的安全距离，同一车型可对应一个相对固定的安全距离。因此，车辆21中的车辆控制设备可根据车辆22的车型信息确定出车辆22的安全距离。
另外，同车型的车辆以不同速度行驶时，刹车距离也不同，因此，同一车型、不同速度可对应不同的安全距离。因此，车辆的安全距离还可以随着车辆的状态信息的变化而实时变化，例如，当车辆22相对于车辆21的速度信息在实时变化时，车辆22的安全距离也是实时变化的。因此，车辆21中的车辆控制设备可根据车辆22当前的状态信息确定出车辆22当前的安全距离。
步骤S104、根据所述车辆与其后方来车之间的距离，以及所述后方来车的安全距离，执行防碰撞操作。
车辆21中的车辆控制设备根据上述步骤确定出车辆22与车辆21之间的距离，以及车辆22的安全距离之后，可通过比较车辆22与车辆21之间的距离，以及车辆22的安全距离，当车辆22与车辆21之间的距离小于车辆22的安全距离时执行防碰撞操作。
所述根据所述车辆与其后方来车之间的距离，以及所述后方来车的安全距离，执行防碰撞操作，包括如下几种可行的实现方式：
一种可行的实现方式是：若所述后方来车与所述车辆之间的距离小于所述后方来车的安全距离，则生成车距提示信息。
例如，当车辆21中的车辆控制设备确定出车辆22与车辆21之间的距离小于车辆22的安全距离时，生成车距提示信息。
所述生成车距提示信息，包括：通过控制所述车辆的车灯，生成车距提示信息，所述车距提示信息用于提示所述后方来车的司机。
例如，车辆21中的车辆控制设备可控制车辆21的车灯例如尾灯开启 或间断性亮灭，以提示车辆22内的司机注意保持车辆22和车辆21之间的距离，避免车辆22和车辆21距离太近，从而避免车辆21和车辆22发生碰撞。
在其他实施例中，所述生成车距提示信息，包括：生成提示所述车辆的司机的提示信息。例如，当车辆21中的车辆控制设备确定出车辆22与车辆21之间的距离小于车辆22的安全距离时，还可以提示本车的司机注意警戒，例如提示本车的司机：后方来车的车距已小于或等于安全距离，当后方来车的车距持续小于安全距离时，还可以提示本车的司机加速或变道行驶，具体的，车辆21中的车辆控制设备可语音提示、文字提示等方式来提示本车的司机加速或变道行驶，从而避免车辆21和车辆22发生碰撞。
另一种可行的实现方式是：若所述后方来车与所述车辆之间的距离小于所述后方来车的安全距离，则控制所述车辆变道或加速。
例如，当车辆21中的车辆控制设备确定出车辆22与车辆21之间的距离小于车辆22的安全距离时，还可以控制车辆21变道或加速，从而避免车辆21和车辆22发生碰撞。
本实施例通过获取车辆的后方来车的状态信息，根据后方来车的状态信息，确定后方来车的安全距离，并根据该车辆与其后方来车之间的距离，以及后方来车的安全距离，执行防碰撞操作，确保该车辆与其后方来车之间的距离在安全距离内，从而避免该车辆与其后方来车发生碰撞。
本发明实施例提供一种车辆控制设备。图3为本发明实施例提供的车辆控制设备的结构图，如图3所示，车辆控制设备30包括：存储器31和处理器32。存储器31用于存储程序代码；处理器32调用所述程序代码，当程序代码被执行时，用于执行以下操作：获取车辆与其后方来车之间的距离；获取所述车辆的后方来车的状态信息；根据所述后方来车的状态信息，确定所述后方来车的安全距离；根据所述车辆与其后方来车之间的距离，以及所述后方来车的安全距离，执行防碰撞操作。
可选的，处理器32获取所述车辆的后方来车的状态信息时，具体用于如下至少一种：获取所述车辆的后方来车的车型信息；获取所述后方来 车相对于所述车辆的速度信息，或者所述后方来车的速度信息；获取所述车辆的后方来车的加速度信息。
可选的，处理器32获取所述车辆的后方来车的车型信息时，具体用于：通过拍摄设备获取所述车辆的后方来车的图像信息；根据所述后方来车的图像信息，确定所述后方来车的车型信息。
可选的，处理器32根据所述后方来车的图像信息，确定所述后方来车的车型信息时，具体用于：采用神经网络模型对所述后方来车的图像信息进行图像处理，得到所述后方来车的车型信息。
可选的，处理器32获取车辆与其后方来车之间的距离时，具体用于：获取所述车辆上设置的探测设备的探测数据；根据所述车辆上设置的探测设备的探测数据，确定所述后方来车与所述车辆之间的距离。
可选的，处理器32根据所述车辆上设置的探测设备的探测数据，确定所述后方来车与所述车辆之间的距离时，具体用于：根据所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少一种探测设备的探测数据，确定所述后方来车与所述车辆之间的距离。
可选的，处理器32根据所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少一种探测设备的探测数据，确定所述后方来车与所述车辆之间的距离时，具体用于：根据所述车辆上设置的视觉探测设备的探测数据，确定所述后方来车与所述车辆之间的距离。
可选的，处理器32根据所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少一种探测设备的探测数据，确定所述后方来车与所述车辆之间的距离时，具体用于：
通过对所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少两种探测设备的探测数据进行数据融合，确定所述后方来车与所述车辆之间的距离。
可选的，处理器32通过对所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少两种探测设备的探测数据进行数据融合，确定所述后方来车与所述车辆之间的距离时，具体用于：通过对所述车辆上设置的雷达和视觉探测设备的探测数据进行数据融合，确定所述后方来车与所述车辆之间的距离。
可选的，处理器32获取所述后方来车相对于所述车辆的速度信息时，具体用于：根据所述后方来车与所述车辆之间的距离，以及所述探测数据对应的时间信息，确定所述后方来车相对于所述车辆的速度信息。
如图4所示，车辆控制设备30还包括通讯接口33；处理器32获取所述车辆的后方来车的状态信息时，具体用于：通过拍摄设备获取所述车辆的后方来车的图像信息；从所述图像信息中确定所述后方来车的标识信息；通过通讯接口33将所述标识信息发送给服务器；通过通讯接口33接收所述服务器发送的所述后方来车的状态信息。
可选的，处理器32根据所述车辆与其后方来车之间的距离，以及所述后方来车的安全距离，执行防碰撞操作时，具体用于：若所述后方来车与所述车辆之间的距离小于所述后方来车的安全距离，则生成车距提示信息。
可选的，处理器32生成车距提示信息时，具体用于：通过控制所述车辆的车灯，生成车距提示信息，所述车距提示信息用于提示所述后方来车的司机。
可选的，处理器32生成车距提示信息时，具体用于：生成提示所述车辆的司机的提示信息。
可选的，处理器32根据所述车辆与其后方来车之间的距离，以及所述后方来车的安全距离，执行防碰撞操作时，具体用于：若所述后方来车与所述车辆之间的距离小于所述后方来车的安全距离，则控制所述车辆变道或加速。
本发明实施例提供的车辆控制设备的具体原理和实现方式均与图1所示实施例类似，此处不再赘述。
本实施例通过获取车辆的后方来车的状态信息，根据后方来车的状态信息，确定后方来车的安全距离，并根据该车辆与其后方来车之间的距离，以及后方来车的安全距离，执行防碰撞操作，确保该车辆与其后方来车之间的距离在安全距离内，从而避免该车辆与其后方来车发生碰撞。
本发明实施例提供一种车辆。该车辆包括底盘、动力系统、车身、以及车辆控制设备；其中，动力系统安装在所述底盘，用于提供动力；车身， 安装在所述底盘；所述车辆控制设备的具体原理和实现方式均与上述实施例类似，此处不再赘述。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。
Claims (31)
- 一种车辆控制方法，其特征在于，包括：获取车辆与其后方来车之间的距离；获取所述车辆的后方来车的状态信息；根据所述后方来车的状态信息，确定所述后方来车的安全距离；根据所述车辆与其后方来车之间的距离，以及所述后方来车的安全距离，执行防碰撞操作。
- 根据权利要求1所述的方法，其特征在于，所述获取所述车辆的后方来车的状态信息，包括如下至少一种：获取所述车辆的后方来车的车型信息；获取所述后方来车相对于所述车辆的速度信息，或者所述后方来车的速度信息；获取所述车辆的后方来车的加速度信息。
- 根据权利要求2所述的方法，其特征在于，所述获取所述车辆的后方来车的车型信息，包括：通过拍摄设备获取所述车辆的后方来车的图像信息；根据所述后方来车的图像信息，确定所述后方来车的车型信息。
- 根据权利要求3所述的方法，其特征在于，所述根据所述后方来车的图像信息，确定所述后方来车的车型信息，包括：采用神经网络模型对所述后方来车的图像信息进行图像处理，得到所述后方来车的车型信息。
- 根据权利要求1所述的方法，其特征在于，所述获取车辆与其后方来车之间的距离，包括：获取所述车辆上设置的探测设备的探测数据；根据所述车辆上设置的探测设备的探测数据，确定所述后方来车与所述车辆之间的距离。
- 根据权利要求5所述的方法，其特征在于，所述根据所述车辆上设置的探测设备的探测数据，确定所述后方来车与所述车辆之间的距离，包括：根据所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF 探测设备中至少一种探测设备的探测数据，确定所述后方来车与所述车辆之间的距离。
- 根据权利要求6所述的方法，其特征在于，所述根据所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少一种探测设备的探测数据，确定所述后方来车与所述车辆之间的距离，包括：根据所述车辆上设置的视觉探测设备的探测数据，确定所述后方来车与所述车辆之间的距离。
- 根据权利要求6所述的方法，其特征在于，所述根据所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少一种探测设备的探测数据，确定所述后方来车与所述车辆之间的距离，包括：通过对所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少两种探测设备的探测数据进行数据融合，确定所述后方来车与所述车辆之间的距离。
- 根据权利要求8所述的方法，其特征在于，所述通过对所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少两种探测设备的探测数据进行数据融合，确定所述后方来车与所述车辆之间的距离，包括：通过对所述车辆上设置的雷达和视觉探测设备的探测数据进行数据融合，确定所述后方来车与所述车辆之间的距离。
- 根据权利要求5-9任一项所述的方法，其特征在于，所述获取所述后方来车相对于所述车辆的速度信息，包括：根据所述后方来车与所述车辆之间的距离，以及所述探测数据对应的时间信息，确定所述后方来车相对于所述车辆的速度信息。
- 根据权利要求1或2所述的方法，其特征在于，所述获取所述车辆的后方来车的状态信息，包括：通过拍摄设备获取所述车辆的后方来车的图像信息；从所述图像信息中确定所述后方来车的标识信息；将所述标识信息发送给服务器；接收所述服务器发送的所述后方来车的状态信息。
- 根据权利要求1-11任一项所述的方法，其特征在于，所述根据所 述车辆与其后方来车之间的距离，以及所述后方来车的安全距离，执行防碰撞操作，包括：若所述后方来车与所述车辆之间的距离小于所述后方来车的安全距离，则生成车距提示信息。
- 根据权利要求12所述的方法，其特征在于，所述生成车距提示信息，包括：通过控制所述车辆的车灯，生成车距提示信息，所述车距提示信息用于提示所述后方来车的司机。
- 根据权利要求12所述的方法，其特征在于，所述生成车距提示信息，包括：生成提示所述车辆的司机的提示信息。
- 根据权利要求1-11任一项所述的方法，其特征在于，所述根据所述车辆与其后方来车之间的距离，以及所述后方来车的安全距离，执行防碰撞操作，包括：若所述后方来车与所述车辆之间的距离小于所述后方来车的安全距离，则控制所述车辆变道或加速。
- 一种车辆控制设备，其特征在于，包括：包括：存储器和处理器；所述存储器用于存储程序代码；所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：获取车辆与其后方来车之间的距离；获取所述车辆的后方来车的状态信息；根据所述后方来车的状态信息，确定所述后方来车的安全距离；根据所述车辆与其后方来车之间的距离，以及所述后方来车的安全距离，执行防碰撞操作。
- 根据权利要求16所述的车辆控制设备，其特征在于，所述处理器获取所述车辆的后方来车的状态信息时，具体用于如下至少一种：获取所述车辆的后方来车的车型信息；获取所述后方来车相对于所述车辆的速度信息，或者所述后方来车的速度信息；获取所述车辆的后方来车的加速度信息。
- 根据权利要求17所述的车辆控制设备，其特征在于，所述处理器获取所述车辆的后方来车的车型信息时，具体用于：通过拍摄设备获取所述车辆的后方来车的图像信息；根据所述后方来车的图像信息，确定所述后方来车的车型信息。
- 根据权利要求18所述的车辆控制设备，其特征在于，所述处理器根据所述后方来车的图像信息，确定所述后方来车的车型信息时，具体用于：采用神经网络模型对所述后方来车的图像信息进行图像处理，得到所述后方来车的车型信息。
- 根据权利要求16所述的车辆控制设备，其特征在于，所述处理器获取车辆与其后方来车之间的距离时，具体用于：获取所述车辆上设置的探测设备的探测数据；根据所述车辆上设置的探测设备的探测数据，确定所述后方来车与所述车辆之间的距离。
- 根据权利要求20所述的车辆控制设备，其特征在于，所述处理器根据所述车辆上设置的探测设备的探测数据，确定所述后方来车与所述车辆之间的距离时，具体用于：根据所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少一种探测设备的探测数据，确定所述后方来车与所述车辆之间的距离。
- 根据权利要求21所述的车辆控制设备，其特征在于，所述处理器根据所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少一种探测设备的探测数据，确定所述后方来车与所述车辆之间的距离时，具体用于：根据所述车辆上设置的视觉探测设备的探测数据，确定所述后方来车与所述车辆之间的距离。
- 根据权利要求21所述的车辆控制设备，其特征在于，所述处理器根据所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少一种探测设备的探测数据，确定所述后方来车与所述车辆之 间的距离时，具体用于：通过对所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少两种探测设备的探测数据进行数据融合，确定所述后方来车与所述车辆之间的距离。
- 根据权利要求23所述的车辆控制设备，其特征在于，所述处理器通过对所述车辆上设置的雷达、视觉探测设备、超声波探测设备、TOF探测设备中至少两种探测设备的探测数据进行数据融合，确定所述后方来车与所述车辆之间的距离时，具体用于：通过对所述车辆上设置的雷达和视觉探测设备的探测数据进行数据融合，确定所述后方来车与所述车辆之间的距离。
- 根据权利要求20-24任一项所述的车辆控制设备，其特征在于，所述处理器获取所述后方来车相对于所述车辆的速度信息时，具体用于：根据所述后方来车与所述车辆之间的距离，以及所述探测数据对应的时间信息，确定所述后方来车相对于所述车辆的速度信息。
- 根据权利要求16或17所述的车辆控制设备，其特征在于，还包括：通讯接口；所述处理器获取所述车辆的后方来车的车型信息时，具体用于：通过拍摄设备获取所述车辆的后方来车的图像信息；从所述图像信息中确定所述后方来车的标识信息；通过所述通讯接口将所述标识信息发送给服务器；通过所述通讯接口接收所述服务器发送的所述后方来车的状态信息。
- 根据权利要求16-26任一项所述的车辆控制设备，其特征在于，所述处理器根据所述车辆与其后方来车之间的距离，以及所述后方来车的安全距离，执行防碰撞操作时，具体用于：若所述后方来车与所述车辆之间的距离小于所述后方来车的安全距离，则生成车距提示信息。
- 根据权利要求27所述的车辆控制设备，其特征在于，所述处理器生成车距提示信息时，具体用于：通过控制所述车辆的车灯，生成车距提示信息，所述车距提示信息用于提示所述后方来车的司机。
- 根据权利要求27所述的车辆控制设备，其特征在于，所述处理器生成车距提示信息时，具体用于：生成提示所述车辆的司机的提示信息。
- 根据权利要求16-26任一项所述的车辆控制设备，其特征在于，所述处理器根据所述车辆与其后方来车之间的距离，以及所述后方来车的安全距离，执行防碰撞操作时，具体用于：若所述后方来车与所述车辆之间的距离小于所述后方来车的安全距离，则控制所述车辆变道或加速。
- 一种车辆，其特征在于，包括：底盘；动力系统，安装在所述底盘，用于提供动力；车身，安装在所述底盘；以及如权利要求16-30任一项所述的车辆控制设备。
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