WO2020191619A1 - 恶劣天气下的驾驶控制方法、装置、车辆及驾驶控制系统 - Google Patents

恶劣天气下的驾驶控制方法、装置、车辆及驾驶控制系统 Download PDF

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Publication number
WO2020191619A1
WO2020191619A1 PCT/CN2019/079694 CN2019079694W WO2020191619A1 WO 2020191619 A1 WO2020191619 A1 WO 2020191619A1 CN 2019079694 W CN2019079694 W CN 2019079694W WO 2020191619 A1 WO2020191619 A1 WO 2020191619A1
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WIPO (PCT)
Prior art keywords
vehicle
signal strength
indicator
color
light
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PCT/CN2019/079694
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English (en)
French (fr)
Inventor
赵海天
赖冠华
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深圳大学
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Application filed by 深圳大学 filed Critical 深圳大学
Priority to CN201980004828.5A priority Critical patent/CN112218786A/zh
Priority to PCT/CN2019/079694 priority patent/WO2020191619A1/zh
Publication of WO2020191619A1 publication Critical patent/WO2020191619A1/zh

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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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays

Definitions

  • This application relates to the field of driving assistance control, and in particular to a driving control method, device, vehicle and driving control system in inclement weather.
  • Autonomous driving is one of the main research directions of artificial intelligence and represents the cutting-edge technology level in this field.
  • the autopilot system is essentially an intelligent control machine composed of three parts: information perception, behavior decision-making and manipulation control three subsystems.
  • L0 refers to the driving of vehicles without automatic driving functions
  • L1 refers to the driving of autonomous vehicles with specific functions
  • the main representative functions are: ESC (Electronic Stability Control System), AEB ( Vehicle active safety technology), LKA (lane keeping assist function);
  • L2 refers to the driving of autonomous vehicles with combined functions, the main representative functions are: ACC (adaptive cruise control), automatic parking, etc.
  • L3, refers to controlled Autonomous vehicle driving, the main representative function is a highly automated driving function;
  • L4 refers to completely unmanned driving, the main representative function is fully automatic driving.
  • autonomous driving technology has made a qualitative leap in recent years, there is always a prerequisite for its technology to be successfully realized, that is, good weather.
  • most of the data collected in the process of training and testing the decision-making capabilities of autonomous vehicles is under normal weather.
  • various intelligent systems and auxiliary driving systems can operate well.
  • the machine vision of the automatic driving system can prevent rear-end collisions and collisions, and can provide real-time road positioning information to prevent vehicles from driving off the road.
  • Required vehicle and road positioning In inclement weather, accurate vehicle and road positioning information is required for yaw warning of vehicles driving off the road, and the accuracy of the existing sensor technology cannot meet the requirements.
  • the automatic driving system cannot see the road line information on the road and cannot perform intelligent assisted driving. Moreover, there is currently no effective solution.
  • the road reflection characteristics of the road are changed due to icing, snow, and water, and the visual sensor cannot accurately recognize and recognize or even obtain lane lines, effective images, and real-time navigation; Lidar is in rain, snow, and fog.
  • the poor performance in severe weather is due to the fact that the laser beam is too concentrated and cannot be made into a high-power device by itself.
  • the system is difficult to draw an accurate environmental map. Because the laser scanning system is active scanning, low-power lasers cannot pass through dense fog, while high-power lasers are not suitable for scanning in vehicles; under rain, snow, and fog, the detection range of millimeter-wave radar is restricted by frequency loss.
  • the infrared radar detection distance is relatively short, the detection distance is 3-50 meters, mainly to realize the reliable detection and control of moving objects under 40km/h and 25m distance.
  • the impact of fog is serious.
  • the obstacle detection is significantly affected, and the detection distance becomes shorter, which cannot meet the needs of real-time navigation.
  • its automatic driving system cannot operate without exception, and must be shut down. The driving operation is carried out by humans.
  • the embodiment of the application discloses a driving control method, device, vehicle, and driving control system in bad weather, which can realize intelligent assisted driving in bad weather such as rain, snow, fog and haze, so as to solve the above technical problems.
  • the driving control method in severe weather includes the steps of: when the vehicle is running, the first signal of the specific signal on the left side of the vehicle is obtained through the first sensor and the second sensor symmetrically arranged on the left and right sides of the vehicle. Intensity and the second signal intensity of the specific signal on the right side of the vehicle; compare the magnitude of the first signal intensity and the second signal intensity, and judge according to the magnitude relationship between the first signal intensity and the second signal intensity Whether the vehicle is currently yaw; and, according to whether the vehicle is yaw control, a corresponding warning prompt is generated.
  • the driving control device under severe weather disclosed in the embodiment of the present application includes a first sensor and a second sensor symmetrically arranged on the left and right sides of the vehicle.
  • the driving control device also includes a processor, the first sensor and the second sensor.
  • the two sensors are used to obtain the first signal strength of the specific signal on the left side of the vehicle and the second signal strength of the specific signal on the right side of the vehicle when the vehicle is running; the processor is used to compare the first signal strength with the The second signal strength is used to determine whether the vehicle is currently yaw based on the relationship between the first signal strength and the second signal strength, and a corresponding warning prompt is generated according to whether the vehicle is yaw control.
  • the vehicle disclosed in the embodiment of the present application includes the above-mentioned driving control device.
  • the driving control device includes a first sensor and a second sensor that are symmetrically arranged on the left and right sides of the vehicle.
  • the driving control device also includes a processor.
  • the first sensor and the second sensor are used when the vehicle is running, The first signal strength of the specific signal on the left side of the vehicle and the second signal strength of the specific signal on the right side of the vehicle are respectively obtained;
  • the processor is used to compare the magnitude of the first signal strength and the second signal strength, and according to The magnitude relationship between the first signal strength and the second signal strength determines whether the vehicle is currently yaw, and a corresponding warning prompt is generated according to whether the vehicle is yaw control.
  • the driving control system disclosed in the embodiment of the present application includes a driving control device arranged on a vehicle and a signal transmitting system arranged on both sides of the road.
  • the signal transmitting system includes several signal transmitting units, and the several signal transmitting units are spaced and distributed. Are arranged symmetrically on both sides of the road.
  • the several signal transmitting units transmit signals in real time.
  • the first sensor and the second sensor on the vehicle are used to obtain the left side of the vehicle when the vehicle is driving on the road.
  • the driving control method, device, vehicle and driving control system under severe weather of the present application can determine whether the vehicle is yaw according to the signal strength balance relationship on the left and right sides of the vehicle, and generate corresponding warning prompts according to whether the vehicle is yaw, so as to Remind the driver whether the vehicle is currently yaw.
  • FIG. 1 is a schematic diagram of modules of a driving control system in an embodiment of the application.
  • Fig. 2 is a schematic flowchart of a driving control method in an embodiment of the application.
  • FIG. 3 is a schematic diagram of an early warning prompt during normal driving in an embodiment of the application.
  • Fig. 4 is a schematic diagram of a vehicle in normal driving in an embodiment of the application.
  • Fig. 5 is a schematic diagram of a vehicle yaw to the right in an embodiment of the application.
  • Fig. 6 is a schematic diagram of an early warning prompt when the vehicle yaws to the right in an embodiment of the application.
  • Fig. 7 is a schematic diagram of a vehicle yaw to the left in an embodiment of the application.
  • FIG. 8 is a schematic diagram of an early warning prompt when the vehicle yaws to the left in an embodiment of the application.
  • FIG. 9 is a schematic diagram of modules of a vehicle driving device in an embodiment of the application.
  • Fig. 10 is a schematic diagram of modules of a driving control system in an embodiment of the application.
  • FIG. 1 is a schematic diagram of modules of the driving control system 100 in bad weather.
  • the driving control system 100 includes a road lighting system 10 dedicated to severe weather and a vehicle automatic driving system 20.
  • the vehicle automatic driving system 20 includes a road direction real-time construction subsystem 21 and a yaw detection subsystem 22 based on light intensity balance.
  • the special road lighting system 10 for severe weather is used to restore human vision under severe weather.
  • the road direction real-time construction subsystem 21 is used to construct the road direction in real time through a topology algorithm.
  • the yaw detection subsystem 22 based on light intensity balance is used to determine whether the vehicle is currently yaw based on the constructed road, and to generate a corresponding warning instruction according to whether the vehicle is yaw.
  • the present application can generate corresponding early warning instructions according to whether the vehicle is yaw, and provide corresponding reminders for the driving of the vehicle, and after judging that the driver cannot complete the correct driving operation completely and an accident may occur, control the vehicle to achieve Intelligent and safe driving all-weather.
  • the special road lighting system 10 for severe weather improves human vision.
  • the road direction real-time construction subsystem 21 and the yaw detection subsystem 22 based on light intensity balance constitute machine vision.
  • Human vision and machine vision graphics are highly integrated, and the driver Human eyes observe the road surface visually during driving, and machine vision also observes the road surface at the same time.
  • the machine vision describing the driving state of the vehicle and the yaw warning information is also synchronously presented on the front windshield in the form of graphics, making people Eye vision images are highly integrated with machine vision graphics.
  • machine vision first finds obstacles on the road, it will also observe and verify the obstacles through human vision.
  • the road lighting system 10 for severe weather includes a low-light position horizontally distributed street lamp subsystem 11, a luminous body-specific augmentation subsystem 12, a non-luminous body-specific augmentation subsystem 13, a road edge display subsystem 14, and a vehicle remote Distance flash warning subsystem 15 and dedicated signal transmission subsystem 16.
  • the efficiency of the vehicle's high beams is significantly lower because a large number of suspended aerosol molecular clusters gather in the air in front of the vehicle. This results in that part of the incident light directed to the object in front of the vehicle is absorbed and scattered by the water molecule clusters on the light path before it reaches the object.
  • the scattering part forms a white fog screen, that is, the "white (fog) wall effect", which causes driving Obstacles in front of the road cannot be clearly seen by the operator; on the other hand, the reflected light of the incident light reaching the object in front of the vehicle is absorbed and scattered by the aerosol molecular clusters suspended in the air, which reduces the brightness and contrast of the reflected light. As a result, the visibility of obstacles in front of the vehicle is greatly reduced.
  • the low-light position horizontally distributed street lamp subsystem 11 provides space lighting with an illumination direction that is close to the driver's line of sight direction to improve the visibility of front obstacles under complicated weather conditions.
  • the low-light position horizontally distributed street lamp subsystem 13 includes a plurality of first lamp bodies, and the plurality of first lamp bodies are respectively arranged on a plurality of street lamp poles, and the plurality of first lamp bodies adopt a color temperature of 3000K ⁇
  • the 6500K light source the illumination space is above, below the lamp height and the road surface, the illumination range is 0° to 180°, 180° to 360° in the horizontal direction, and 90° to 270°, 270° to 90° in the vertical direction
  • the power of the light source used is not more than 10W, and the distance between adjacent first lamp bodies is 3-10 meters. Thereby, it can effectively improve the acuity of the human eye's edge vision, stereo vision and color vision, effectively overcome the "white wall effect", and reconstruct the vehicle driver's sense of presence, distance and direction of the road ahead To restore the driver’s visual ability.
  • the luminous body dedicated visual enhancement subsystem 12 includes a number of second lamp bodies, which are arranged in a low lamp position, and the illumination direction is a vertical narrow light distribution, and the beam angle is about 45°.
  • the illumination space is 0.5 to 1.5 meters above the road.
  • the color temperature of the light source used is not less than 1000K, and it has high penetration and high color rendering.
  • the power of the light source used is not more than 10W, and the adjacent The distance between the two lamp bodies is 3-10 meters.
  • the plurality of second lamp bodies of the luminous body dedicated magnifying subsystem 12 are respectively arranged on the plurality of street lamp poles.
  • the plurality of second lamp bodies of the luminous body-specific augmentation subsystem 12 can be used to illuminate the taillights and fog lamps of the vehicle.
  • the optical reflection structure of the vehicle’s taillights and fog lamp body is used to reflect the luminous body’s special augmentation.
  • the light of the second lamp body of the visual subsystem 12 enhances the brightness of luminous bodies such as tail lamps and fog lamps, and improves the visual recognition of the vehicle in front by the driver of the rear vehicle.
  • Non-luminous objects refer to objects that do not have self-luminous properties such as pedestrians, bicycles, and obstacles on the road. In inclement weather, non-luminous objects are difficult to detect by the driver, which can easily cause traffic accidents. In the case of mist, you can turn on the front fog lights to enhance the driver’s recognition of obstacles and roads ahead. However, in dense fog conditions, the fog lights are not effective. If the headlights are turned on, a white wall will appear. Effect, it will reduce the driver’s vision.
  • the non-luminous body special augmentation subsystem 13 includes a number of third lamp bodies, which are arranged horizontally at a low lamp position, and the illumination direction is vertical narrow light distribution and the beam angle is about 60°.
  • the illumination space is Above the road, the color temperature of the light source used is 3500K ⁇ 6500K, the light source has high penetration and high color rendering, the power of the light source is not more than 10W, and the distance between adjacent third lamp bodies is 3 to 10 meters.
  • the third lamp bodies of the non-luminous body dedicated augmentation subsystem 13 are respectively arranged on the plurality of street light poles.
  • the third lamp bodies of the non-luminous body dedicated visual enhancement subsystem 13 are respectively used to illuminate laterally from both sides of the road to the middle of the road.
  • the non-luminous body is illuminated and is detected by the driver, which is very important to the driver’s vision. Enhanced, more than twice stronger than the vehicle's own fog lights and headlights.
  • the road edge display subsystem 14 includes a plurality of fourth lamp bodies, and the plurality of fourth lamp bodies are horizontally arranged at a low light position, and the illumination directions are 0-180°, 180°-360° in the horizontal direction.
  • the vertical direction is 0-180°, 180°-360°, and the irradiated space is above the road.
  • the color temperature of the light source used is 3500K ⁇ 6500K, and it has high penetration and high color rendering.
  • the power is not more than 30W, has high penetration and high color rendering, and the distance between adjacent fourth lamp bodies is 3-10 meters.
  • the several fourth lamp bodies of the road edge display subsystem 14 are respectively arranged on the several street lamp poles.
  • the fourth lamp bodies of the road edge display subsystem 14 are respectively used to illuminate from both sides of the road to the middle. The driver can observe the light source and know the position of the street light, thereby knowing the position of the road edge, predicting the direction of the road, and enhancing the driver A sense of driving safety reduces the occurrence of fatigue caused by the driver’s nervousness.
  • the vehicle remote flash warning subsystem 15 includes a plurality of fifth lamp bodies, and the plurality of fourth lamp bodies adopt low light position reverse light distribution, and the illumination direction is plus or minus 90 degrees in the horizontal direction, and the illumination space Above the road, the color temperature of the light source is lower than 1000K, the power of the light source used is no more than 5W, and the distance between adjacent second lamp bodies is 3-10 meters.
  • the driver can turn on the warning flashing of the system through a switch on the roadside, or the system can detect it around the clock, make timely judgments on the status and location of the faulty vehicle, and issue an order to the associated street light system Instructs that a street light close to the rear of the vehicle can turn on the warning flashing to remind the driver behind that there is a faulty vehicle in front, slow down and pay attention to safety.
  • the dedicated signal transmitting subsystem 16 includes several signal transmitting units, and one is set on each street lamp pole.
  • the signal transmitting direction is 0 ⁇ 135°, 225° ⁇ 360°, and the illumination space is above the road, and its working power is not Greater than 20W.
  • the dedicated signal emitting unit can emit invisible light signals such as infrared light and electromagnetic waves. It is understandable that the dedicated signal transmitting unit can be integrated in a common street lamp, such as a low-light street lamp.
  • the vehicle is equipped with a dedicated signal receiving subsystem 23, which recognizes the frequency, angle, position, distance and other information of the signal by receiving the signal from the dedicated signal transmitting subsystem 16, and transmits the signal to the vehicle’s road direction to construct real-time construction Subsystem 21.
  • the road direction real-time construction subsystem 21 performs real-time construction of the road direction according to the signal, which will not be detailed here.
  • a street lamp redundant signal triggering subsystem 24 is also provided on the vehicle side. Due to the complexity of the road conditions, such as different steering and slope factors, the signal immobility of the dedicated signal transmitting subsystem 16 and the singleness of the dedicated signal receiving subsystem 23 will cause a certain amount of signal overlap and interference, which will make information processing It becomes more complicated.
  • the sampling and calculation period of the street lamp redundant signal triggering subsystem 24 is less than 0.02 seconds, the calculation accuracy is centimeter level, and necessary signal sampling redundancy is set, which has the ability to eliminate external disturbances.
  • the vehicle is provided with a first sensor 240 and a second sensor 250 (for example, as shown in FIG. 9), and the first sensor 240 and the second sensor 250 are symmetrically arranged on the left and right sides of the vehicle.
  • the first sensor 240 and the second sensor 250 are respectively arranged on the left and right sides of the front of the vehicle.
  • the first sensor 240 and the second sensor 250 are respectively arranged on the left and right sides of the rear of the vehicle.
  • FIG. 2 is a schematic flowchart of a driving control method in an embodiment of the application.
  • the driving control method includes the following steps:
  • Step 201 When the vehicle is running, obtain the first signal intensity of the specific signal on the left side of the vehicle and the second signal of the specific signal on the right side of the vehicle through the first sensor 240 and the second sensor 250 symmetrically arranged on the left and right sides of the vehicle strength.
  • the specific signal comes from a signal transmission system (for example, the signal transmission system 310 as shown in FIG. 10) arranged on both sides of the road, and the signal transmission system includes several signal transmission units, The signal transmitting units are arranged on both sides of the road at intervals, distributed and symmetrically. The signal transmitting units respectively transmit signals in real time.
  • the first sensor 240 and the second sensor 250 on the vehicle are used for When the vehicle is running on the road, the first signal strength of the specific signal sent by the signal emitting unit on the left side of the vehicle and the second signal strength of the signal sent by the specific signal emitting unit on the right side of the vehicle are respectively obtained.
  • the signal transmitting unit is one of ordinary street lights or dedicated signal transmitting subsystem 16.
  • the signal emitting unit is a common street lamp, for example, a number of first lamp bodies in the low-light position horizontally distributed street lamp subsystem 11, the plurality of first lamp bodies are symmetrically distributed on both sides of the road, and the first sensor 240 and the second sensor 250 are used to respectively collect the first signal intensity of the light signal emitted by the first lamp body on the left side of the vehicle and the second signal intensity of the light signal emitted by the second lamp body on the right side of the vehicle.
  • the signal transmitting unit when the signal transmitting unit is the dedicated signal transmitting subsystem 16, several dedicated signal transmitting units of the dedicated signal transmitting subsystem 16 may emit infrared light or electromagnetic waves.
  • the several dedicated signal emitting units are symmetrically distributed on both sides of the road, and the first sensor 240 and the second sensor 250 are used to respectively collect the first signal intensity of the light signal emitted by the first lamp body located on the left side of the vehicle And the second signal intensity of the light signal emitted by the second lamp body located on the right side of the vehicle.
  • the signal transmitting unit when the signal transmitting unit is a dedicated signal transmitting subsystem, the dedicated signal transmitting unit is integrated in an ordinary street lamp, thereby facilitating practical applications.
  • Step 202 Compare the magnitude of the first signal strength and the second signal strength, and determine whether the vehicle is currently yaw according to the magnitude relationship between the first signal strength and the second signal strength.
  • Step 203 Generate a corresponding warning prompt according to whether the vehicle is yaw control.
  • the yaw detection subsystem 22 based on light intensity balance dynamically evaluates the difference between the luminous brightness of the street lamps on both sides of the road and/or the ratio of the luminous brightness of the street lamps on both sides of the road detected by the vehicle, and adjusts the driving direction of the vehicle so that the relative The brightness remains the same, so the relative distance between the vehicle and the road remains the same.
  • the vehicle detects that the brightness of the first light on the left side of the road is 100lx, and the brightness of the first light on the right side of the road is 150lx, then the brightness ratio of the lights on both sides is 2:3, and the vehicle continues When driving, the brightness ratio of lights 2, 3, 4, 5...
  • the vehicle should be kept at 2:3, and the relative distance between the vehicle and the left and right sides of the road remains unchanged. If the brightness ratio of the street lights on the left and right sides of the vehicle changes, it means that the vehicle is approaching one side of the road and away from the other side. At this time, the vehicle should adjust the direction so that the brightness of the street lights on the left and right sides of the vehicle changes back to the ratio of 2:3, that is, The purpose of yaw adjustment is achieved. Therefore, according to the dynamic balance analysis of signal strength, it is possible to quickly and accurately determine whether the vehicle is yaw, for example, when the vehicle is accidentally pressed onto the lane markings or there is a risk of collision when changing lanes, it can be sensed in time.
  • the head-up display on the vehicle can generate display information for warning
  • the reminder is to warn the driver visually, and/or to warn the driver by tactile way through the steering wheel vibration on the vehicle, and/or to play the prompt voice information through the voice playback unit on the vehicle to perform the warning prompt to pass
  • the driver is warned by voice, and/or, if the vehicle is equipped with a projection device, the warning prompt content can also be projected to the front of the vehicle in time through the projection device.
  • the electronically controlled vehicle stabilization system will assist the driver in correcting the route of the vehicle.
  • determining whether the vehicle is currently yaw based on the relationship between the first signal strength and the second signal strength includes:
  • the vehicle is provided with a first indicator component 220 and a second indicator component 230. It is understandable that the first indicator component 220 and the second indicator component 230 can be set on the vehicle display and displayed in the form of virtual icons, and/or, can also be set on the head-up display of the vehicle and displayed as virtual icons. It can be displayed in the form of an icon, and/or can also be displayed in the form of a virtual icon and projected on the front windshield device of the vehicle through the projection device. "According to whether the vehicle yaw control generates the corresponding warning prompt" includes:
  • the first indicator component 220 indicates that the vehicle needs to turn left or does not need to turn left
  • the second indicator component 230 indicates that the vehicle needs to turn right or does not need to turn right.
  • “instructing the vehicle to turn left or not needing to turn left through the first indicating component 220, and indicating that the vehicle needs to turn right or not turning right through the second indicating component 230” includes:
  • the first indicating component 220 indicates that the vehicle does not need to turn left
  • the second indicating component 230 indicates that the vehicle needs to turn right
  • the first indicating component 220 indicates that the vehicle needs to turn left
  • the second indicating component 230 indicates that the vehicle does not need to turn right.
  • the first indicator component 220 includes a first color indicator light, a second color indicator light, and a third color indicator light
  • the second indicator component 230 includes a first color indicator light, The second color indicator light and the third color indicator light, "When the vehicle yaws to the left, the first indicator component 220 indicates that the vehicle does not need to turn left, and the second indicator component 230 indicates that the vehicle needs to turn right "include:
  • the first color indicator light of the first indicator component 220 emits a first color light to indicate that the vehicle does not need to turn left, and the second color indicator light of the second indicator component 230 emits a second color light to indicate that the vehicle needs to turn right. turn;
  • the first indication component 220 indicates that the vehicle needs to turn left
  • the second indication component 230 indicates that the vehicle does not need to turn right
  • the second color indicator light of the first indicator component 220 emits a second color light to indicate that the vehicle needs to turn left
  • the first color indicator light of the second indicator component 230 emits a first color light to indicate that the vehicle does not need to turn right. turn.
  • the driving control method further includes:
  • the vehicle yaw is determined according to the difference between the first signal strength and the second signal strength and the difference is greater than a second preset threshold, it is determined that the vehicle yaw is serious, wherein the second preset The threshold is greater than the first preset threshold.
  • the second color indicator light of the second indicator component 230 emits a second color light to indicate that the steering wheel of the vehicle needs to turn to the right
  • the first color indicator light of the first indicator component emits a first color light to indicate that the steering wheel of the vehicle cannot continue to rotate to the left;
  • the second color indicator light of the first indicator component 220 emits a second color light to indicate that the steering wheel of the vehicle needs to return to the right direction and pass the
  • the first color indicator light of the second indicator assembly 230 emits the first color light to indicate that the steering wheel of the vehicle cannot continue to rotate to the right.
  • the driving control method further includes:
  • the vehicle is determined Slight deviation
  • the third color indicator light of the first indicating component 220 emits a third color light to indicate that the vehicle yaws slightly to the left;
  • the third color indicator light of the second indicating component 230 emits a third color light to indicate that the vehicle yaws slightly to the right.
  • the driving control method further includes:
  • a driving indicator 240 is further provided on the vehicle.
  • the driving indicator 240 includes a normal driving indicator, a left turn indicator, and a right turn indicator; the driving control method also include:
  • the normal driving indicator is highlighted to indicate that the vehicle is currently driving normally;
  • the right turn indicator is highlighted to indicate that the vehicle should turn to the right to avoid yaw;
  • the left turn indicator is highlighted to indicate that the vehicle should turn to the left to avoid yaw.
  • the highlight display can be a highlight display, a backlight, etc., which are not limited here.
  • the driving control method further includes:
  • the head-up display on the vehicle When the vehicle yaws to the right or to the right, the head-up display on the vehicle generates display information to warn the driver visually; or,
  • the voice playback unit on the vehicle plays voice messages to warn the driver;
  • the warning prompt is projected on the windshield through the projection device to warn the driver.
  • the first color indicator light is a red indicator light, which indicates prohibition; the second color indicator light is a green indicator light, which indicates normal; the third color indicator light is yellow
  • the indicator light indicates that attention is needed.
  • the first indicator component 220 and the second indicator component 230 are located on both sides of the driving indicator. It can be understood that, in other embodiments, the colors of the first color indicator light, the second color indicator light, and the third color indicator light can be set according to actual needs, which are not limited here.
  • the vehicle is running normally, and the two regularly distributed marking points on the road indicate the installation points of low-light-position street lights.
  • a low-light-position street light is installed at regular intervals, and each low-light position
  • a signal emitting unit is provided on the street lamp, where the angle ⁇ refers to the detectable angle of the signal emitting unit on both sides of the road by the vehicle.
  • the warning prompt is that the green indicator light of the first indicator component 220 is on and the second color light is emitted, and the green indicator light of the second indicator component 230 is on and the green indicator light is emitted.
  • the driving indicator is a straight arrow.
  • the warning prompt is that the green indicator light of the first indicator component 220 is on and the second color light is emitted, and the red indicator of the second indicator component 230 When the indicator light is on, the first color light is emitted, and the driving indicator is a left-curved arrow.
  • the warning prompt is that the first indicator component 220 is green and the second color light is on when the indicator light is on, and the yellow indicator light of the second indicator component 230 is on and the third color light is on.
  • the driving indicator is a left-curving arrow to remind the driver to pay attention to the situation on the right side of the vehicle.
  • the warning prompt is that the red indicator light of the first indicator component 220 is on and the first color light is emitted, and the green of the second indicator component 230 When the indicator light is on, the second color light is emitted, and the driving indicator is a right-curved arrow.
  • the warning prompt is that the yellow indicator light of the first indicator component 220 is on and the third color light is emitted, and the green indicator light of the second indicator component 230 is on and the second color light is emitted.
  • the driving indicator is a right-curved arrow to remind the driver to pay attention to the left side of the vehicle.
  • the warning prompt is that the red indicator light of the first indicator component 220 is on and the first color light is emitted, and the red indicator light of the second indicator component 230 is on and the first color light is emitted. Light to remind the driver to brake in time.
  • the warning prompt is that the red indicator light of the first indicator component 220 is on and the first color light is emitted, and the yellow indicator light of the second indicator component 230 is on.
  • the third color light is emitted to remind the driver that the left side is forbidden and the right side needs attention.
  • the warning prompt is that the yellow indicator light of the first indicator component 220 is on, that is, the third color light is emitted, and the red indicator light of the second indicator component 230 is on.
  • the first color light is emitted to remind the driver that the right side is prohibited and the left side needs attention.
  • the warning prompt is that the yellow indicator light of the first indicator component 220 is on and the third color light is emitted, and the yellow indicator light of the second indicator component 230 is on and the third color light is emitted. Color light to remind the driver to pay close attention to the surrounding environment.
  • the vehicle includes a radar sensor, and the radar sensor is located at the center of the front bumper, the rear bumper, the side of the vehicle body, and the front of the radiator, respectively, and the driving control method further includes:
  • the vehicle is braked in response to the braking request.
  • the vehicle includes a spectral detection and recognition device located between the bumper or the center rearview mirror of the vehicle and the windshield, and the driving control method further includes:
  • the spectrum detection and identification device generates a control signal when the spectrum value of the road in front of the vehicle detected in real time changes and is outside the preset range value; wherein, when there is no obstacle in front of the vehicle, the spectrum detection and identification device real-time The detected spectrum value is within the preset range; when there is an obstacle in front of the vehicle, the spectrum value detected by the spectrum detection and identification device in real time is outside the preset range;
  • the driving control method further includes the steps:
  • FIG. 9 is a schematic diagram of a module of a driving control device under severe weather in an embodiment of the application.
  • the driving control device 200 includes a first sensor 240 and a second sensor 250 symmetrically arranged on the left and right sides of the vehicle, and a processor 210.
  • the processor 210 is electrically connected to the first sensor 240 and the second sensor 250 respectively.
  • the driving control device 200 obtains the first signal strength of the specific signal on the left side of the vehicle and the second signal strength of the specific signal on the right side of the vehicle through the first sensor 240 and the second sensor 250 when the vehicle is running;
  • the processor 210 is configured to compare the magnitude of the first signal strength and the second signal strength, and determine whether the vehicle is currently yaw according to the magnitude relationship between the first signal strength and the second signal strength, and According to whether the vehicle yaw control, the corresponding warning prompt is generated.
  • the processor 210 is configured to: when the difference between the first signal strength and the second signal strength is less than a first preset threshold, or, the first signal When the ratio between the strong signal strength and the second signal strength is within the first preset ratio range, it is determined that the vehicle is running normally without yaw; or, the processor 210 is configured to detect the first signal strength and the second signal strength The difference between the intensities is greater than a first preset threshold and the first signal strength is greater than the second signal strength, or the ratio of the first signal strength to the second signal strength is greater than the first preset threshold When the ratio range is set, it is determined that the vehicle is currently yaw to the right; or, the processor 210 is configured to when the difference between the first signal strength and the second signal strength is greater than a first preset threshold and the When the first signal strength is less than the second signal strength, or the ratio of the first signal strength to the second signal strength is less than the first preset ratio range, it is determined that the vehicle is currently yaw
  • the driving control device 200 includes a first indicating component 220 and a second indicating component 230 provided on the vehicle, and the processor 210 is configured to control the first indicating component 220 It indicates that the vehicle needs to turn left or does not need to turn left, and the second indicating component 230 is controlled to indicate that the vehicle needs to turn right or does not need to turn right.
  • the processor 210 is configured to indicate that the vehicle does not need to turn left by controlling the first indicating component 220 when the vehicle yaws to the left, and controlling the second indicating component 230 indicates that the vehicle needs to turn right; the processor 210 is used to instruct the vehicle to turn left by controlling the first indicating component 220 when the vehicle is yaw to the right, and instruct the vehicle by controlling the second indicating component 230 No need to turn right.
  • the first indicator component 220 includes a first color indicator light, a second color indicator light, and a third color indicator light
  • the second indicator component 230 includes a first color indicator light, The second color indicator light and the third color indicator light.
  • the processor 210 is used to control the first color indicator light of the first indicator assembly 220 to emit the first color light to indicate that the vehicle does not need to turn left, and to control the The second color indicator light of the second indicator component 230 emits a second color light to indicate that the vehicle needs to turn right; the processor 210 is further configured to emit a second color by controlling the second color indicator light of the first indicator component 220 The light indicates that the vehicle needs to turn left, and the first color indicator light of the second indicator component 230 is controlled to emit the first color light to indicate that the vehicle does not need to turn right.
  • the processor 210 is further configured to determine the vehicle yaw according to the difference between the first signal strength and the second signal strength, and the difference is greater than a second preset value.
  • the threshold is set, it is determined that the vehicle yaw is serious, wherein the second preset threshold is greater than the first preset threshold.
  • the second color indicator light of the second indicating component 230 emits a second color light to indicate that the steering wheel of the vehicle needs to return to the right direction and pass the first
  • the first color indicator light of an indicator component 220 emits the first color light to indicate that the steering wheel of the vehicle cannot continue to rotate to the left; the processor 210 is also used for passing the steering wheel when the vehicle yaws to the right and needs to turn the steering wheel to the left.
  • the second color indicator light of the first indicator component 220 emits a second color light to indicate that the steering wheel of the vehicle needs to return to the positive direction
  • the first color indicator light of the second indicator component 230 emits first color light to indicate the vehicle The steering wheel cannot continue to rotate to the right.
  • the processor 210 is further configured to determine the yaw of the vehicle according to the difference between the first signal strength and the second signal strength, and the difference is located in the first preset.
  • the processor 210 is also configured to emit light through the third color indicator light of the first indicator component 220 when the vehicle yaws slightly to the left
  • the third color light indicates that the vehicle is slightly yaw to the left
  • the processor 210 is further configured to emit a third color light to indicate the vehicle through the third color indicator light of the second indicator component 230 when the vehicle is slightly yaw to the right Yaw slightly to the right.
  • the processor 210 is further configured to simultaneously emit the first color indicator light of the first indicator component 220 and the first color indicator light of the second indicator component 230.
  • the processor 210 is also used to indicate the second color indicator of the first indicator component 220 and the second color indicator of the second indicator component 230
  • the lamp emits the second color light to indicate at the same time, it means going straight
  • the processor 210 is also used for when the third color indicator light of the first indicator component 220 and the third color indicator light of the second indicator component 230 When the third color light is emitted for instructions at the same time, it means that great attention is needed.
  • the driving control device 200 is further provided with a driving indicator 240, and the driving indicator 240 includes a normal driving indicator, a left turn indicator, and a right turn indicator;
  • the processor 210 is further configured to indicate that the vehicle is currently running normally by highlighting the normal driving indicator when the vehicle is running normally without yaw; when the vehicle is yaw to the left, highlighting the indication by the turning right indicator The vehicle should currently turn to the right to avoid yaw; when the vehicle is yaw to the right, a display indicating that the vehicle should currently turn to the left to avoid yaw is provided through the left turn indicator.
  • the processor 210 when the vehicle yaws to the right or to the right, the processor 210 is further configured to generate display information through the head-up display on the vehicle to warn the driver in a visual manner.
  • the processor 210 when the vehicle yaws to the right or to the right, the processor 210 is further configured to warn the driver in a tactile manner through the vibration of the steering wheel on the vehicle.
  • a voice playback unit is provided on the vehicle, and the processor 210 is further configured to control the voice playback unit to play voice information when the vehicle yaws right or right. Prompt the driver to pay attention.
  • a projection device is further provided on the vehicle, and the processor 210 is further configured to project the warning prompt to the windshield through the projection device when the vehicle yaws to the right or right. On the glass to remind the driver.
  • the vehicle includes a radar sensor
  • the radar sensor is located in the center of the front bumper, the rear bumper, the side of the vehicle body, and the front of the radiator, respectively, and the radar sensor detects the obstacle
  • the processor 210 is also used to respond to the braking request to brake the vehicle.
  • the vehicle is also provided with a spectrum detection and identification device located between the bumper or the center rearview mirror of the vehicle and the windshield, and the spectrum detection and identification device detects the road environment in front of the vehicle in real time.
  • the spectrum value detected by the spectrum detection and identification device in real time is within a preset range; when an obstacle appears in front of the vehicle, the spectrum detection and identification device detects the front of the vehicle in real time
  • the spectral value of the road changes and a control signal is generated; the processor 210 is also used to respond to the control signal and generate warning information to remind the driver.
  • the driving control system 300 includes a driving control device 200 arranged on the vehicle and a signal transmitting system 310 arranged on both sides of the road.
  • the signal transmitting system 310 includes a number of signal transmitting units. The units are spaced, distributed and symmetrically arranged on both sides of the road. The signal transmitting units transmit signals in real time.
  • the first sensor 240 and the second sensor 250 on the vehicle are used when the vehicle is driving on the road.
  • the processor 210 is used to compare the first signal And determine whether the vehicle is currently yaw according to the magnitude relationship between the first signal strength and the second signal strength, and generate a corresponding warning prompt according to whether the vehicle is yaw control.
  • the signal transmitting unit is one of a common street lamp or a dedicated signal transmitting subsystem 16.
  • the signal transmitting unit is a dedicated signal transmitting subsystem 16
  • the subsystem 16 can emit one of infrared light and electromagnetic waves.
  • the dedicated signal transmitting sub-system may be integrated in a common street lamp, for example, a low-light street lamp.
  • the driving control method, device and driving control system in severe weather of the present application can determine whether the vehicle is yaw according to the signal strength balance relationship on the left and right sides of the vehicle, and generate corresponding warning prompts when determining the vehicle yaw, so as to be able to timely Remind the driver to correct deviation and avoid accidents caused by yaw.
  • the program can be stored in a computer readable storage medium. At this time, it may include the procedures of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM for short).

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Abstract

一种恶劣天气下的驾驶控制方法，应用于车辆上，所述驾驶控制方法包括步骤：当车辆行驶时，通过对称设置在车辆左右两侧的第一传感器（240）和第二传感器（250）分别获取车辆左侧的特定信号的第一信号强度和车辆右侧的特定信号的第二信号强度；比较所述第一信号强度和所述第二信号强度的大小，并根据所述第一信号强度和所述第二信号强度的大小关系判断车辆当前是否偏航；及根据车辆是否偏航控制产生对应的预警提示。还提供一种恶劣天气下的驾驶控制装置、车辆及驾驶控制系统。上述控制方法和装置能够根据车辆左右侧的信号强度平衡关系来判断车辆是否偏航，并根据车辆是否偏航产生对应的预警提示，从而能够及时提醒驾驶员纠偏，避免偏航导致事故的发生。

Description

恶劣天气下的驾驶控制方法、装置、车辆及驾驶控制系统 技术领域
本申请涉及驾驶辅助控制领域，尤其涉及一种恶劣天气下的驾驶控制方法、装置、车辆及驾驶控制系统。
背景技术
人工智能是未来各国科技竞争的主要领域，自动驾驶是人工智能的主要研究方向之一，代表了该领域的前沿技术水平。自动驾驶系统从本质上讲是一个智能控制机器，有三部分组成：信息感知、行为决策及操纵控制三个子系统。目前，自动驾驶被划分为五个等级：L0，指不具备自动驾驶功能的车辆驾驶；L1，指具有特定功能的自动驾驶车辆驾驶，主要代表功能有：ESC(电子稳定控制系统)、AEB(车辆主动安全技术)、LKA(车道保持辅助功能)；L2，指具有组合功能的自动驾驶车辆驾驶，主要代表功能有：ACC(自适应巡航控制)、自动泊车等；L3，指受控的自动驾驶车辆驾驶，主要代表功能是高度自动驾驶功能；L4，指完全无人驾驶，主要代表功能是完全自动驾驶。
虽然自动驾驶技术在近几年里有了质的飞越，但其技术可以成功实现始终有一个前提条件，就是天气良好。对于自动驾驶而言，在训练和测试自动驾驶车辆决策能力的过程中，收集的大部分数据都是正常天气下的。在天气正常的情况下，各种智能系统、辅助驾驶系统都能很好地运行，自动驾驶系统的机器视觉能够防止追尾、碰撞，而且能为防止车辆驶出路面提供即时道路定位信息，满足所需的车辆及道路定位。然而，在恶劣天气下，需要精确的车辆及道路定位信息驶出路面的车辆偏航警示，现有传感器技术的准确性不能满足要求。对于雨、雪、雾霾天气，由于自动驾驶系统无法看到路面道路线信息而无法进行智能辅助驾驶，而且，目前还没有有效的解决方案。
具体地，视觉传感器在雨雪天气，道路因结冰、积雪、积水导致路面反射特性发生变化，无法准确识别识别甚至无法获得车道线，有效影像，无法实时导航；激光雷达在雨雪雾等恶劣天气下性能较差，原因在于：激光光束过于集中，本身不可能做成高功率设备，当能见度极低时，系统难以绘制出精准的环境地图。因为激光扫描系统是主动扫描，小功率激光无法透过浓雾，而大功率激光不适合安装在车辆上用作扫描；雨雪、大雾天气下，毫米波雷达探测距离受频段损耗制约，无法感知无高护栏的道路边缘，无法构建道路走向图形；红外雷达探测距离较近，检测距离为3-50米，主要以实现40km/h以下，25m距离对运动物体的可靠性检测和控制，受雾影响严重，在雨雪、大雾天气下，障碍物探测受到显著影响，探测距离变短，无法满足实时导航需求。显然，在恶劣天气下，其自动驾驶系统都无一例外地无法运行，都必须关闭，由人来进行驾驶操作，在道路没有画线，或者道路线在雨雪天被雨雪遮挡时，ADAS、Mobileye等一系列依靠观察道路线进行偏航预警、自动驾驶的系统都无法完成偏航预警、自动驾驶等操作，系统无一例外地都失灵了。
发明内容
本申请实施例公开的一种恶劣天气下的驾驶控制方法、装置、车辆及驾驶控制系统，能够在恶劣天气例如雨、雪、雾霾等天气下实现智能辅助驾驶，以解决上述技术问题。
本申请实施例公开的恶劣天气下的驾驶控制方法，包括步骤：当车辆行驶时，通过对称设置在车辆左右两侧的第一传感器和第二传感器分别获取车辆左侧的特定信号的第一信号强度和车辆右侧的特定信号的第二信号强度；比较所述第一信号强度和所述第二信号强度的大小，并根据所述第一信号强度和所述第二信号强度的大小关系判断车辆当前是否偏航；及，根据车辆是否偏航控制产生对应的预警提示。
本申请实施例公开的恶劣天气下的驾驶控制装置，包括对称设置在车辆左右两侧的第一传感器、第二传感器，所述驾驶控制装置还包括处理器，所述第一传感器和所述第二传感器用于在车辆行驶时，分别获取车辆左侧的特定信号的第一信号强度和车辆右侧的特定信号的第二信号强度；所述处理器用于比较所述第一信号强度和所述第二信号强度的大小，并根据所述第一信号强度和所述第二信号强度的大小关系判断车辆当前是否偏航，且根据车辆是否偏航控制产生对应的预警提示。
本申请实施例公开的车辆，包括上述驾驶控制装置。所述驾驶控制装置包括对称设置在车辆左右两侧的第一传感器、第二传感器，所述驾驶控制装置还包括处理器，所述第一传感器和所述第二传感器用于在车辆行驶时，分别获取车辆左侧的特定信号的第一信号强度和车辆右侧的特定信号的第二信号强度；所述处理器用于比较所述第一信号强度和所述第二信号强度的大小，并根据所述第一信号强度和所述第二信号强度的大小关系判断车辆当前是否偏航，且根据车辆是否偏航控制产生对应的预警提示。
本申请实施例公开的驾驶控制系统，包括设置在车辆上的驾驶控制装置和设置在道路两侧的信号发射系统，所述信号发射系统包括若干信号发射单元，所述若干信号发射单元间隔、分布式且对称的设置在道路两侧，所述若干信号发射单元实时的发射信号，所述车辆上的第一传感器和所述第二传感器用于当车辆在道路上行驶时，分别获取车辆左侧的信号发射单元发出的信号的第一信号强度和车辆右侧的信号发射单元发出的信号的第二信号强度；所述处理器用于比较所述第一信号强度和所述第二信号强度的大小，并根据所述第一信号强度和所述第二信号强度的大小关系判断车辆当前是否偏航，且根据车辆是否偏航控制产生对应的预警提示。
本申请的恶劣天气下的驾驶控制方法、装置、车辆及驾驶控制系统，能够根据车辆左右侧的信号强度平衡关系来判断车辆是否偏航，并根据车辆是否偏航产生对应的预警提示，从而能够及时提醒驾驶员车辆当前是否偏航。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为本申请一实施例中的驾驶控制系统的模块示意图。
图2为本申请一实施例中的驾驶控制方法的流程示意图。
图3为本申请一实施例中的正常行驶时的预警提示示意图。
图4为本申请一实施例中的车辆正常行驶时的示意图。
图5为本申请一实施例中的车辆向右侧偏航时的示意图。
图6为本申请一实施例中的车辆向右侧偏航时的预警提示示意图。
图7为本申请一实施例中的车辆向左侧偏航时的示意图。
图8为本申请一实施例中的车辆向左侧偏航时的预警提示示意图。
图9为本申请一实施例中的车辆驾驶装置的模块示意图。
图10为本申请一实施例中的驾驶控制系统的模块示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，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它实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书及上述附图中的术语“包括”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”和“第三”等是用于区别不同对象，而非用于描述特定顺序。
请参考图1，图1为恶劣天气下的驾驶控制系统100的模块示意图。所述驾驶控制系统100包括恶劣天气专用道路照明系统10和车辆自动驾驶系统20。所述车辆自动驾驶系统20包括道路走向实时构建子系统21和基于光强平衡的偏航检测子系统22。恶劣天气专用道路照明系统10用于恢复恶劣天气下的人眼视觉。道路走向实时构建子系统21用于通过拓扑算法实时构建道路走向。基于光强平衡的偏航检测子系统22用于在已构建道路的基础上判断车辆当前是否偏航，并根据车辆是否偏航产生对应的预警指示。
从而，本申请能够根据车辆是否偏航产生对应的预警指示，给车辆的驾驶提供相应的提醒，并且，在判断出驾驶员无法完整地完成正确的驾驶操作并可能发生事故后，控制车辆，实现全天候的智能化安全驾驶。
具体地，恶劣天气专用道路照明系统10提高人眼视觉，道路走向实时构建子系统21和基于光强平衡的偏航检测子系统22构成机器视觉，人眼视觉与机器视觉图形高度融合，驾驶员行车过程中人眼视觉观察路面，机器视觉也同时观察路面。当驾驶员透过前挡风玻璃观察并形成车辆行驶状态的人眼视觉影像时，描述车辆行驶状态以及偏航警示信息的机器视觉也以图形的形式同步呈现在前挡风玻璃上，使人眼视觉影像与机器视觉图形高度融合。当机器视觉优先发现路面出现障碍物等情况时，就会同时通过人眼视觉对障碍物进行观察校验，同理，当人眼视觉优先发现前方障碍物，为了避免错觉，驾驶员也会同时通过机器视觉对障碍物进行观察校验。从而，能够通过人眼视觉和机器视觉的交叉校验，进而感知定位、规划驾驶策略、调整行车方向。
具体地，恶劣天气专用道路照明系统10包括低灯位横向分布式路灯子系统11、发光体专用增视子系统12、非发光体专用增视子系统13、道路边沿显示子系统14、车辆远距闪光警示子系统15和专用信号发射子系统16。
低灯位横向分布式路灯子系统11
在雨、雾、霾、烟等天气情况下，车辆的远光灯的效率显著变低的原因是在车辆前方的空气中聚集了大量悬浮状的气溶胶分子团。这导致一方面部分射向车辆前方物体的入射光还未到达物体便被光路上的水分子团所吸收和散射，其散射部分形成白雾幕，即"白(雾)墙效应"，致使驾驶员看不清道路前方的障碍物；另一方面是到达车辆前方物体的入射光经反射后的光为悬浮在空气中的气溶胶分子团所吸收和散射，减弱了反射光的亮度与对比度，致使车辆前方障碍物的可见度大大降低。
研究表明，当入射光和驾驶员视线之间的夹角接近垂直时，可有效克服"白(雾)墙"现象，是目前解决雾天道路照明的有效方法。本申请中，低灯位横向分布式路灯子系统11提供照射方向与驾驶员的视线方向近于垂直的空间照明，提高复杂天气情况下前方障碍物的可见度水平。具体地，所述低灯位横向分布式路灯子系统13包括若干第一灯体，且所述若干第一灯体分别设置在若干路灯杆上，所述若干第一灯体分别采用色温3000K～6500K的光源，其照射空间为灯高位置上方、下方及路面，其照射范围为水平方向为0°至180°、180°至360°，垂直方向为90°至270°、270°至90°，其采用的光源的功率为不大于10W，且相邻第一灯体之间的间距为3～10米。从而，能够有效提高人眼的边缘视锐度、立体视锐度和色彩视锐度，有效克服“白墙效应”，重构车辆驾驶员对于前方物体的存在感、距离感和前方道路的方向感，恢复驾驶员人眼视觉能力。
发光体专用增视子系统12
恶劣天气下，后方车辆能否看清前方车辆、知晓与前方车辆的距离，对安全驾驶尤为重要，因此车辆会打开前后雾灯，提升恶劣天气下的行车安全。但对于重雾霾、暴雨等极度恶劣天气的情况，车辆雾灯的亮度是不足的，特别是后雾灯和尾灯，无法穿透浓雾。本申请中，发光体专用增视子系统12包括若干第二灯体，所述若干第二灯体采用低灯位设置，其照射反向为垂直方向窄配光，光束角约45°，其照射空间为路面上方0.5～1.5米，其所采用的光源的色温不低于1000K，且具有较高穿透力及较高显色性，其所采用光源的功率不大于10W，且相邻第二灯体之间的间距为3～10米。换言之，在其中一个实施例中，所述发光体专用增视子系统12的若干第二灯体分别设置在所述若干路灯杆上。所述发光体专用增视子系统12的所述若干第二灯体可以用于照射车辆的尾灯和雾灯，利用车辆的尾灯和雾灯灯体的光学反射结构，反射所述发光体专用增视子系统12的所述第二灯体的光线，增强尾灯和雾灯等发光体亮度，提高后方车辆驾驶员对前方车辆的视觉识别。
非发光体专用增视子系统13
非发光体指的是在道路上的行人、自行车、障碍物等不具有自发光特性的物体。恶劣天气下，非发光体很难被驾驶员所察觉，极易造成交通事故。在薄雾情况下，可以通过开启车前雾灯，增强驾驶员对前方障碍物和道路的识别，但在浓雾条件下，雾灯则难起有效作用，若开启大灯，会出现白墙效应，反而会降低驾驶员的视觉。非发光体专用增视子系统13包括若干第三灯体，所述若干第三灯体采用低灯位横向设置，其照射方向为垂直方向窄配光且光束角约60°，其照射空间为道路上方，其所采用光源的色温为3500K～6500K，其光源具有较高穿透力及较高显色性，其光源的功率为不大于10W，且相邻第三灯体之间的间距为3～10米。换言之，在其中一个实施例中，所述非发光体专用增视子系统13的若干第三灯体分别设置在所述若干路灯杆上。所述非发光体专用增视子系统13的若干第三灯体分别用于从道路两边向道路中间横向照射，非发光体被照亮，并被驾驶员所察觉，对驾驶员人眼视觉的增强， 比车辆自身的雾灯和大灯要强两倍以上。
道路边沿显示子系统14
驾驶员除了观测前方道路障碍物以外，对道路车道及边沿的观测同样重要，这决定了车辆的行驶方向。在恶劣天气下，驾驶员仅能看到近距离的车道线，无法观察到道路边沿，更无法预测道路走向，驾驶员处于驾驶极度紧张状态，无安全感同时也容易造成驾驶疲劳。本申请中，所述道路边沿显示子系统14包括若干第四灯体，所述若干第四灯体采用低灯位横向设置，其照射方向是水平方向0～180°，180°～360°，垂直方向0～180°，180°～360°，其照射空间是道路上方，其所采用光源的色温是3500K～6500K，且具有较高穿透力及较高显色性，其所采用光源的功率是不大于30W，具有较高穿透力及较高显色性，且相邻第四灯体之间的间距为3～10米。换言之，在其中一个实施例中，所述道路边沿显示子系统14的若干第四灯体分别设置在所述若干路灯杆上。所述道路边沿显示子系统14的若干第四灯体分别用于从道路两侧向中间照射，驾驶员可以观察到光源，获知路灯位置，从而可获知道路边沿位置，预测道路走向，增强驾驶员的驾驶安全感，减少驾驶员由于紧张感而导致疲劳情况的发生。
车辆远距闪光警示子系统15
车辆在道路上发生故障或者发生交通事故，应当按照规定开启危险报警闪光灯，并在车后100米至150米处设置警告标志。但是如果能见度较低，相应的警告标志可能不能奏效，会引发二次事故。本申请中，所述车辆远距闪光警示子系统15包括若干第五灯体，且所述若干第四灯体采用低灯位逆向配光，其照射方向为水平方向正负90度，照射空间为道路上方，其光源色温为低于1000K，其所采用光源的功率为不大于5W，且相邻第二灯体之间的间距为3～10米。从而，发生交通事故后，驾驶员可通过路边的开关开启该系统的警示闪烁，或者由该系统全天候侦测，及时对故障车辆的状况与位置做出判断，并给相关联的路灯系统下达指示，在靠近车辆尾部一定距离的路灯能够开启警示闪烁，提醒后方驾驶员前方存在故障车辆，减速行驶，注意安全。
专用信号发射子系统16
专用信号发射子系统16包括若干个信号发射单元，且每个路灯杆上设置一个，其信号发射方向为0～135°，225°～360°，其照射空间是道路上方，其工作功率为不大于20W。所述专用信号发射单元可以发出红外光、电磁波等不可见光信号。可以理解的是，所述专用信号发射单元可以集成在普通路灯，例如低灯位路灯中。
车辆上设置有专用信号接收子系统23，其通过接收专用信号发射子系统16发出的信号，识别该信号的频率、角度、方位、距离等信息，并将该信号传输给车辆的道路走向实时构建子系统21。
道路走向实时构建子系统21
道路走向实时构建子系统21根据所述信号进行道路走向的实时构建，此处不再详述。
另外，车辆侧还设置有路灯冗余信号触发子系统24。由于道路情况的复杂性，例如，不同转向与坡度等等因素，专用信号发射子系统16的信号固定性，专用信号接收子系统23的单一性，会造成一定的信号重叠与干扰，使信息处理变得复杂，所述路灯冗余信号触发子系统24的采样与计算周期小于0.02秒，计算精度为厘米级，并设置必要的信号采样冗余，具有排除外界扰动的能力。
基于光强平衡的偏航检测子系统22
车辆上设置有第一传感器240和第二传感器250(例如，如图9所示)，且，所述第一传感器240和所述第二传感器250对称设置在车辆的左右两侧。例如，在其中一实施例中，所述第一传感器240和所述第二传感器250分别设置在车辆的车头的左右两侧上。在其中另一变形实施例中，所述第一传感器240和所述第二传感器250分别设置在车辆的车尾的左右两侧上。
请参考图2，图2为本申请一实施例中的驾驶控制方法的流程示意图。所述驾驶控制方法包括如下步骤：
步骤201：当车辆行驶时，通过对称设置在车辆左右两侧的第一传感器240和第二传感器250分别获取车辆左侧的特定信号的第一信号强度和车辆右侧的特定信号的第二信号强度。
具体地，在其中一实施例中，所述特定信号来自设置在道路两侧的信号发射系统(例如，如图10所述的信号发射系统310)，所述信号发射系统包括若干信号发射单元，所述若干信号发射单元间隔、分布式且对称的设置在道路两侧，所述若干信号发射单元分别实时的发射信号，所述车辆上的第一传感器240和所述第二传感器250用于当车辆在道路上行驶时，分别获取车辆左侧的信号发射单元发出的特定信号的第一信号强度和车辆右侧的特定信号发射单元发出的信号的第二信号强度。
具体地，在其中一实施例中，所述信号发射单元为普通路灯或专用信号发射子系统16的其中一种。当所述信号发射单元为普通路灯，例如，低灯位横向分布式路灯子系统11中的若干第一灯体，所述若干第一灯体对称的分布在道路两侧，所述第一传感器240和所述第二传感器250用于分别采集位于车辆左侧的第一灯体发出的光信号的第一信号强度和位于车辆右侧的第二灯体发出的光信号的第二信号强度。可以理解的是，在其中一变形实施例中，当所述信号发射单元为专用信号发射子系统16时，所述专用信号发射子系统16的若干专用信号发射单元可以发出红外光或电磁波等。所述若干专用信号发射单元对称的分布在道路两侧，所述第一传感器240和所述第二传感器250用于分别采集位于车辆左侧的第一灯体发出的光信号的第一信号强度和位于车辆右侧的第二灯体发出的光信号的第二信号强度。进一步地，在其中一个变形实施例中，当所述信号发射单元为专用信号发射子系统时，所述专用信号发射单元集成在普通路灯中，从而方便实际应用。
步骤202：比较所述第一信号强度和所述第二信号强度的大小，并根据所述第一信号强度和所述第二信号强度的大小关系判断车辆当前是否偏航。
步骤203：根据车辆是否偏航控制产生对应的预警提示。
从而，基于光强平衡的偏航检测子系统22，根据车辆检测的道路两边路灯发光亮度的差值和/或道路两边路灯发光亮度比值进行动态评估，调整车辆行驶方向，使得车辆两侧的相对亮度保持不变，从而车辆与道路两边相对距离保持不变。例如，在其中一个实施例中，车辆检测到道路左侧第1个灯的亮度为100lx，道路右侧第1个灯的亮度为150lx，那么两侧灯的亮度比例为2：3，车辆继续行驶，第2、3、4、5……个灯的亮度比例应该保持2：3，车辆与道路左右侧的相对距离就保持不变。如果车辆左右侧路灯的亮度比例改变了，说明车辆正靠近道路的一侧，远离另一侧，此时车辆应该进行方向调整，让车辆左右侧路灯亮度重新变回2：3的比例，即达到了偏航调整的目的。从而，根据信号强度的动态平衡分析，能够快速、精确地确定车辆是否偏航，例如，在车辆行驶中意外压到车道标线或变道存在碰撞风险时，能够及时感知。
进一步地，在其中一实施例中，当感知到车辆行驶中意外压到车道标线或变道存在碰撞风险时，如果车辆上配备有抬头显示器，可以通过车辆上的抬头显示器产生显示信息进行预警提示以通过视觉方式警告驾驶员，和/或，通过车辆上的方向盘振动进行预警提示以通过触觉方式警告驾驶员，和/或，通过车辆上的语音播放单元播放提示语音信息进行预警提示以通过语音方式警告驾驶员，和/或，如果车辆上设置有投影设备，还可以通过投影设备将预警提示内容及时投影到车辆前当挡风玻璃上进行预警提示以通过图像形式警告驾驶员，同时还会通过电控车辆稳定行驶系统辅助驾驶员校正车辆行驶路线。
具体地，在其中一实施例中，“根据所述第一信号强度和所述第二信号强度的大小关系判断车辆当前是否偏航”，包括：
当所述第一信号强度和所述第二信号强度之间的差值小于第一预设阈值，或，所述第一信号强和所述第二信号强度的比值在第一预设比值范围内时，确定车辆正常行驶未偏航；或，
当所述第一信号强度和所述第二信号强度之间的差值大于第一预设阈值且所述第一信号强度大于所述第二信号强度，或，所述第一信号强和所述第二信号强度的比值大于所述第一预设比值范围时，确定车辆当前向右偏航；或，
当所述第一信号强度和所述第二信号强度之间的差值大于第一预设阈值且所述第一信号强度小于所述第二信号强度，或，所述第一信号强和所述第二信号强度的比值小于所述第一预设比值范围时，确定车辆当前向左偏航。
具体地，在其中一实施例中，请一并参考图3，车辆上设置有第一指示组件220和第二指示组件230。可以理解的是，所述第一指示组件220和所述第二指示组件230可以设置在车载显示器上并以虚拟图标的形式显示，和/或，还可以设置在车辆的抬头显示器上并以虚拟图标的形式显示，和/或，还可以通过虚拟图标的形式显示并通过所述投影设备投影在车辆的前挡风设备上。“根据车辆是否偏航控制产生对应的预警提示”包括：
通过所述第一指示组件220指示车辆需要左转或不需要左转，通过所述第二指示组件230指示需要右转或不需要右转。
具体地，在其中一实施例中，“通过所述第一指示组件220指示车辆需要左转或不需要左转，通过所述第二指示组件230指示需要右转或不需要右转”包括：
当车辆向左偏航时，通过所述第一指示组件220指示车辆不需左转，并通过所述第二指示组件230指示车辆需要右转；
当车辆向右偏航时，通过所述第一指示组件220指示车辆需要左转，通过所述第二指示组件230指示车辆不需右转。
具体地，在其中一实施例中，所述第一指示组件220包括第一颜色指示灯、第二颜色指示灯和第三颜色指示灯，所述第二指示组件230包括第一颜色指示灯、第二颜色指示灯和第三颜色指示灯，“当车辆向左偏航时，通过所述第一指示组件220指示车辆不需左转，并通过所述第二指示组件230指示车辆需要右转”包括：
通过所述第一指示组件220的第一颜色指示灯发出第一颜色光指示车辆不需左转，并通过所述第二指示组件230的第二颜色指示灯发出第二颜色光指示车辆需要右转；
“当车辆向右偏航时，通过所述第一指示组件220指示车辆需要左转，通过所述第二指示组件230指示车辆不需右转”包括：
通过所述第一指示组件220的第二颜色指示灯发出第二颜色光指示车辆需要左转，并通过所述第二指示组件230的第一颜色指示灯发出第一颜色光指示车辆不需右转。
具体地，在其中一实施例中，所述驾驶控制方法还包括：
当根据所述第一信号强度和所述第二信号强度之间的差值确定车辆偏航且该差值大于第二预设阈值时，确定车辆偏航严重，其中，所述第二预设阈值大于第一预设阈值，当车辆向左偏航严重需向右回正方向盘时，通过所述第二指示组件230的第二颜色指示灯发出第二颜色光指示车辆的方向盘需向右回正方向，并通过所述第一指示组件的第一颜色指示灯发出第一颜色光指示车辆的方向盘不能继续向左旋转；
当车辆向右偏航严重需向左回正方向盘时，通过所述第一指示组件220的第二颜色指示灯发出第二颜色光指示车辆的方向盘需向左回正方向，并通过所述第二指示组件230的第一颜色指示灯发出第一颜色光指示车辆的方向盘不能继续向右旋转。
具体地，在其中一实施例中，所述驾驶控制方法还包括：
当根据所述第一信号强度和所述第二信号强度之间的差值确定车辆偏航且该差值位于所述第一预设阈值和所述第二预设阈值之间时，确定车辆轻微偏航；
当车辆向左轻微偏航时，通过所述第一指示组件220的第三颜色指示灯发出第三颜色光指示车辆向左轻微偏航；
当车辆向右轻微偏航时，通过所述第二指示组件230的第三颜色指示灯发出第三颜色光指示车辆向右轻微偏航。
具体地，在其中一实施例中，所述驾驶控制方法还包括：
当所述第一指示组件220的第一颜色指示灯和所述第二指示组件230的第一颜色指示灯同时发出第一颜色光进行指示时，表示当前道路禁行，需刹车；
当所述第一指示组件220的第二颜色指示灯和所述第二指示组件230的第二颜色指示灯同时发出第二颜色光进行指示时，表示直行；
当所述第一指示组件220的第三颜色指示灯和所述第二指示组件的第三颜色指示灯同时发出第三颜色光进行指示时，表示需高度关注。
具体地，在其中一个实施例中，车辆上还设置有行驶指示标志240，所述行驶指示标志240包括正常行驶指示标志、向左转弯指示标志和向右转弯指示标志；所述驾驶控制方法还包括：
当车辆正常行驶没有偏航时，通过所述正常行驶指示标志突出显示指示车辆当前正常行驶；
当车辆向左偏航时，通过所述向右转弯指示标志突出显示指示车辆当前应向右转以避免偏航；
当车辆向右偏航时，通过所述向左转弯指示标志突出显示指示车辆当前应向左转以避免偏航。
可以理解的是，所述突出显示可以是高亮显示、点亮背光等方式，在此不做限定。
具体地，在其中一个实施例中，所述驾驶控制方法还包括：
当车辆出现向右或者向右偏航时，通过车辆上的抬头显示器产生显示信息以视觉方式警告驾驶员； 或者，
当车辆出现向右或者向右偏航时，通过车辆上的方向盘振动以触觉方式警告驾驶员；或者，
当车辆出现向右或者向右偏航时，同时车辆上的语音播放单元播放语音信息来警告驾驶员；或者，
当车辆出现向右或者向右偏航时，通过投影设备将预警提示投影到挡风玻璃上，以警告驾驶员。
具体地，在其中一实施例中，所述第一颜色指示灯为红色指示灯，表示禁行；所述第二颜色指示灯为绿色指示灯，表示正常；所述第三颜色指示灯为黄色指示灯，表示需要关注。而且，所述第一指示组件220和所述第二指示组件230位于所述行驶指示标志的两侧。可以理解的是，在其它实施例中，所述第一颜色指示灯、第二颜色指示灯和所述第三颜色指示灯的颜色可以根据实际需要设置，在此不做限定。
进一步地，如图4所示，车辆正常行驶，道路两个的规则分布的标识点表示的是低灯位路灯的安装点，每隔一段固定距离安装一个低灯位路灯，每个低灯位路灯上设置一个信号发射单元，其中，α角是指车辆对道路两侧的信号发射单元的可检测角度。
请再次参考图3，当确定车辆为正常行驶时，所述预警提示为所述第一指示组件220的绿色指示灯亮即发出第二颜色光，所述第二指示组件230的绿色指示灯亮即发出第二颜色光，所述行驶指示标志为直线箭头。
请参考图5和图6，当确定车辆为向右偏航时，所述预警提示为所述第一指示组件220的绿色指示灯亮即发出第二颜色光，所述第二指示组件230的红色指示灯亮即发出第一颜色光，所述行驶指示标志为向左弯箭头。
当确定车辆为向右轻微偏航时，所述预警提示为所述第一指示组件220为绿色指示灯亮即发出第二颜色光，所述第二指示组件230的黄色指示灯亮即发出第三颜色光，所述行驶指示标志为向左弯箭头，以提醒驾驶员需要关注车辆右侧的情况。
请参考图7和图8，当确定车辆为向左偏航时，所述预警提示为所述第一指示组件220的红色指示灯亮即发出第一颜色光，所述第二指示组件230的绿色指示灯亮即发出第二颜色光，所述行驶指示标志为向右弯箭头。
当确定车辆为向左轻微偏航时，所述预警提示为所述第一指示组件220的黄色指示灯亮即发出第三颜色光，所述第二指示组件230的绿色指示灯亮即发出第二颜色光，所述行驶指示标志为向右弯箭头，以提醒驾驶员需要关注车辆左侧的情况。
当确定车辆前面有障碍物不能通行时，所述预警提示为所述第一指示组件220的红色指示灯亮即发出第一颜色光，所述第二指示组件230的红色指示灯亮即发出第一颜色光，以提醒驾驶员及时刹车。
当确定车辆左侧障碍物不能通行且右侧需关注时，所述预警提示为所述第一指示组件220的红色指示灯亮即发出第一颜色光，所述第二指示组件230的黄色指示灯亮即发出第三颜色光，以提醒驾驶员左侧禁行，右侧需关注。
当确定车辆右侧障碍物不能通行且左侧需关注时，所述预警提示为所述第一指示组件220的黄色指示灯亮即发出第三颜色光，所述第二指示组件230的红色指示灯亮即发出第一颜色光，以提醒驾驶员右侧禁行，左侧需关注。
当确定车辆左右两侧都需要高度关注时，所述预警提示为所述第一指示组件220的黄色指示灯亮 即发出第三颜色光，所述第二指示组件230的黄色指示灯亮即发出第三颜色光，以提醒驾驶员需高度关注周围环境。
具体地，在其中一个实施例中，所述车辆包括雷达传感器，所述雷达传感器分别位于前保险杠、后保险杠、车身侧面及散热器前部的中央，所述驾驶控制方法还包括：
通过雷达传感器感测到障碍物时产生制动请求；
响应该制动请求对车辆进行制动。
具体地，在其中一个实施例中，所述车辆包括位于车辆保险杠或中央后视镜与挡风玻璃之间的光谱探测识别设备，所述驾驶控制方法还包括：
通过所述光谱探测识别设备实时探测车辆前方道路环境的光谱变化；
所述光谱探测识别设备在实时探测到的车辆前方道路的光谱数值发生改变且位于预设范围值之外时，产生控制信号；其中，当车辆前方无障碍物时，所述光谱探测识别设备实时探测到的光谱数值在预设范围内；当车辆前方出现障碍物时，光谱探测识别设备实时探测到的光谱数值位于预设范围之外；
响应所述控制信号并产生警示信息以提醒驾驶员。
进一步地，所述驾驶控制方法还包括步骤：
通过大数据对障碍物进行分析识别对比，并向驾驶员反馈前方障碍物的可能性等信息。
请一并参考图9，图9为本申请一实施例中的恶劣天气下的驾驶控制装置的模块示意图。所述驾驶控制装置200包括对称设置在车辆左右侧的第一传感器240和第二传感器250，以及处理器210。其中，所述处理器210分别与所述第一传感器240和所述第二传感器250电性连接。所述驾驶控制装置200通过所述第一传感器240和所述第二传感器250在车辆行驶时分别获取车辆左侧的特定信号的第一信号强度和车辆右侧的特定信号的第二信号强度；所述处理器210用于比较所述第一信号强度和所述第二信号强度的大小，并根据所述第一信号强度和所述第二信号强度的大小关系判断车辆当前是否偏航，且根据车辆是否偏航控制产生对应的预警提示。
具体地，在其中一实施例中，所述处理器210用于当所述第一信号强度和所述第二信号强度之间的差值小于第一预设阈值，或，所述第一信号强和所述第二信号强度的比值在第一预设比值范围内时，确定车辆正常行驶未偏航；或，所述处理器210用于当所述第一信号强度和所述第二信号强度之间的差值大于第一预设阈值且所述第一信号强度大于所述第二信号强度，或，所述第一信号强和所述第二信号强度的比值大于所述第一预设比值范围时，确定车辆当前向右偏航；或，所述处理器210用于当所述第一信号强度和所述第二信号强度之间的差值大于第一预设阈值且所述第一信号强度小于所述第二信号强度，或，所述第一信号强和所述第二信号强度的比值小于所述第一预设比值范围时，确定车辆当前向左偏航。
具体地，在其中一实施例中，所述驾驶控制装置200包括设置在车辆上的第一指示组件220和第二指示组件230，所述处理器210用于通过控制所述第一指示组件220指示车辆需要左转或不需要左转，通过控制所述第二指示组件230指示车辆需要右转或不需要右转。
具体地，在其中一实施例中，所述处理器210用于在车辆向左偏航时，通过控制所述第一指示组件220指示车辆不需左转，并通过控制所述第二指示组件230指示车辆需要右转；所述处理器210用于在 车辆向右偏航时，并通过控制所述第一指示组件220指示车辆需要左转，并通过控制所述第二指示组件230指示车辆不需右转。
具体地，在其中一实施例中，所述第一指示组件220包括第一颜色指示灯、第二颜色指示灯和第三颜色指示灯，所述第二指示组件230包括第一颜色指示灯、第二颜色指示灯和第三颜色指示灯，所述处理器210用于通过控制所述第一指示组件220的第一颜色指示灯发出第一颜色光指示车辆不需左转，并通过控制所述第二指示组件230的第二颜色指示灯发出第二颜色光指示车辆需要右转；所述处理器210还用于通过控制所述第一指示组件220的第二颜色指示灯发出第二颜色光指示车辆需要左转，并通过控制所述第二指示组件230的第一颜色指示灯发出第一颜色光指示车辆不需右转。
具体地，在其中一实施例中，所述处理器210还用于根据所述第一信号强度和所述第二信号强度之间的差值确定车辆偏航且该差值大于第二预设阈值时，确定车辆偏航严重，其中，所述第二预设阈值大于第一预设阈值。当车辆向左偏航严重需向右回正方向盘时，通过所述第二指示组件230的第二颜色指示灯发出第二颜色光指示车辆的方向盘需向右回正方向，并通过所述第一指示组件220的第一颜色指示灯发出第一颜色光指示车辆的方向盘不能继续向左旋转；所述处理器210还用于当车辆向右偏航严重需向左回正方向盘时，通过所述第一指示组件220的第二颜色指示灯发出第二颜色光指示车辆的方向盘需向左回正方向，并通过所述第二指示组件230的第一颜色指示灯发出第一颜色光指示车辆的方向盘不能继续向右旋转。
具体地，在其中一实施例中，所述处理器210还用于当根据所述第一信号强度和所述第二信号强度之间的差值确定车辆偏航且该差值位于第一预设阈值和第二预设阈值之间时，确定车辆轻微偏航；所述处理器210还用于当车辆向左轻微偏航时，通过所述第一指示组件220的第三颜色指示灯发出第三颜色光指示车辆向左轻微偏航；所述处理器210还用于当车辆向右轻微偏航时，通过所述第二指示组件230的第三颜色指示灯发出第三颜色光指示车辆向右轻微偏航。
具体地，在其中一实施例中，所述处理器210还用于当所述第一指示组件220的第一颜色指示灯和所述第二指示组件230的第一颜色指示灯同时发出第一颜色光进行指示时，表示当前道路禁行，需刹车；所述处理器210还用于当所述第一指示组件220的第二颜色指示灯和所述第二指示组件230的第二颜色指示灯同时发出第二颜色光进行指示时，表示直行；所述处理器210还用于当所述第一指示组件220的第三颜色指示灯和所述第二指示组件230的第三颜色指示灯同时发出第三颜色光进行指示时，表示需高度关注。
具体地，在其中一实施例中，所述驾驶控制装置200上还设置有行驶指示标志240，所述行驶指示标志240包括正常行驶指示标志、向左转弯指示标志和向右转弯指示标志；所述处理器210还用于当车辆正常行驶没有偏航时，通过所述正常行驶指示标志突出显示指示车辆当前正常行驶；当车辆向左偏航时，通过所述向右转弯指示标志突出显示指示车辆当前应向右转以避免偏航；当车辆向右偏航时，通过所述向左转弯指示标志提出显示指示车辆当前应向左转以避免偏航。
具体地，在其中一个实施例中，当车辆出现向右或者向右偏航时，所述处理器210还用于通过车辆上的抬头显示器产生显示信息以视觉方式警告驾驶员。
具体地，在其中一个实施例中，当车辆出现向右或者向右偏航时，所述处理器210还用于通过车辆 上的方向盘振动以触觉方式警告驾驶员。
具体地，在其中一实施例中，所述车辆上设置有语音播放单元，所述处理器210还用于当车辆出现向右或向右偏航时，控制所述语音播放单元播放语音信息来提示驾驶员注意。
具体地，在其中一实施例中，所述车辆上还设置有投影设备，所述处理器210还用于当车辆出现向右或向右偏航时，通过投影设备将预警提示投影到挡风玻璃上，以提醒驾驶员注意。
具体地，在其中一实施例中，所述车辆包括雷达传感器，所述雷达传感器分别位于前保险杠、后保险杠、车身侧面及散热器前部的中央，所述雷达传感器感测到障碍物时产生制动请求；所述处理器210还用于响应该制动请求对车辆进行制动。
具体地，在其中一实施例中，所述车辆上还设置有位于车辆保险杠或中央后视镜与挡风玻璃之间的光谱探测识别设备，所述光谱探测识别设备实时探测车辆前方道路环境的光谱变化；当车辆前方无障碍物时，所述光谱探测识别设备实时探测到的光谱数值在预设范围内；当车辆前方出现障碍物时，所述光谱探测识别设备实时探测到的车辆前方道路的光谱数值发生改变，并产生控制信号；所述处理器210还用于响应所述控制信号并产生警示信息以提醒驾驶员。
请参考图10，所述驾驶控制系统300包括设置在车辆上的驾驶控制装置200和设置在道路两侧的信号发射系统310，所述信号发射系统310包括若干信号发射单元，所述若干信号发射单元间隔、分布式且对称的设置在道路两侧，所述若干信号发射单元实时的发射信号，所述车辆上的第一传感器240和所述第二传感器250用于当车辆在道路上行驶时，分别获取车辆左侧的信号发射单元发出的特定信号的第一信号强度和车辆右侧的特定信号发射单元发出的信号的第二信号强度；所述处理器210用于比较所述第一信号强度和所述第二信号强度的大小，并根据所述第一信号强度和所述第二信号强度的大小关系判断车辆当前是否偏航，且根据车辆是否偏航控制产生对应的预警提示。
进一步地，在其中一实施例中，所述信号发射单元为普通路灯或专用信号发射子系统16的其中一种，当所述信号发射单元为专用信号发射子系统16时，所述专用信号发射子系统16可以发出红外光、电磁波中的其中一种。
进一步地，在其中一实施例中，当所述信号发射单元为专用信号发射子系统16时，所述专用信号发射子系统可以集成在普通路灯，例如，低灯位路灯中。
本申请的恶劣天气下的驾驶控制方法、装置及驾驶控制系统，能够根据车辆左右侧的信号强度平衡关系来判断车辆是否偏航，并在确定车辆偏航时产生对应的预警提示，从而能够及时提醒驾驶员纠偏，避免偏航导致事故的发生。
需要说明的是，对于前述的各个方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某一些步骤可以采用其它顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本申请所必须的。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详细描述的部分，可以参见其它实施例的相关描述。
本申请实施例方法中的步骤可以根据实际需要进行顺序调整、合并和删减。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，的存储介质可为磁碟、光盘、只读存储记忆体(Read-OnlyMemory，ROM)或随机存取存储器(RandomAccessMemory，简称RAM)等。
以上对本申请实施例进行了详细介绍，本文中应用了具体个例对本申请的原理及实施例进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施例及应用范围上均会有改变之处，综上，本说明书内容不应理解为对本申请的限制。

Claims (27)

  1. 一种恶劣天气下的驾驶控制方法，应用于车辆上，其特征在于，所述驾驶控制方法包括步骤：
    当车辆行驶时，通过对称设置在车辆左右两侧的第一传感器和第二传感器分别获取车辆左侧的特定信号的第一信号强度和车辆右侧的特定信号的第二信号强度；
    比较所述第一信号强度和所述第二信号强度的大小，并根据所述第一信号强度和所述第二信号强度的大小关系判断车辆当前是否偏航；及
    根据车辆是否偏航控制产生对应的预警提示。
  2. 如权利要求1所述的驾驶控制方法，其特征在于，“根据所述第一信号强度和所述第二信号强度的大小关系判断车辆当前是否偏航”，包括：
    当所述第一信号强度和所述第二信号强度之间的差值小于第一预设阈值，或，所述第一信号强和所述第二信号强度的比值在第一预设比值范围内时，确定车辆正常行驶未偏航；或，
    当所述第一信号强度和所述第二信号强度之间的差值大于第一预设阈值且所述第一信号强度大于所述第二信号强度，或，所述第一信号强和所述第二信号强度的比值大于所述第一预设比值范围时，确定车辆当前向右偏航；或，
    当所述第一信号强度和所述第二信号强度之间的差值大于第一预设阈值且所述第一信号强度小于所述第二信号强度，或，所述第一信号强和所述第二信号强度的比值小于所述第一预设比值范围时，确定车辆当前向左偏航。
  3. 如权利要求2所述的驾驶控制方法，其特征在于，车辆上设置有第一指示组件和第二指示组件，“根据车辆是否偏航控制产生对应的预警提示”包括：
    通过所述第一指示组件指示车辆需要左转或不需要左转，通过所述第二指示组件指示车辆需要右转或不需要右转。
  4. 如权利要求3所述的驾驶控制方法，其特征在于，“通过所述第一指示组件指示车辆需要左转或不需要左转，通过所述第二指示组件指示车辆需要右转或不需要右转”包括：
    当车辆向左偏航时，通过所述第一指示组件指示车辆不需左转，并通过所述第二指示组件指示车辆需要右转；
    当车辆向右偏航时，通过所述第一指示组件指示车辆需要左转，通过所述第二指示组件指示车辆不需右转。
  5. 如权利要求4所述的驾驶控制方法，其特征在于，所述第一指示组件包括第一颜色指示灯和第二颜色指示灯，所述第二指示组件包括第一颜色指示灯和第二颜色指示灯，“当车辆向左偏航时，通过所述第一指示组件指示车辆不需左转，并通过所述第二指示组件指示车辆需要右转”包括：
    通过所述第一指示组件的第一颜色指示灯发出第一颜色光指示车辆不需左转，并通过所述第二指示组件的第二颜色指示灯发出第二颜色光指示车辆需要右转；
    “当车辆向右偏航时，通过所述第一指示组件指示车辆需要左转，通过所述第二指示组件指示车辆不需右转”包括：
    通过所述第一指示组件的第二颜色指示灯发出第二颜色光指示车辆需要左转，并通过所述第二指示 组件的第一颜色指示灯发出第一颜色光指示车辆不需右转。
  6. 如权利要求5所述的驾驶控制方法，其特征在于，所述方法还包括：
    当根据所述第一信号强度和所述第二信号强度之间的差值确定车辆偏航且该差值大于第二预设阈值，确定车辆偏航严重，其中，所述第二预设阈值大于所述第一预设阈值，当车辆向左偏航严重需向右回正方向盘时，通过所述第二指示组件的第二颜色指示灯发出第二颜色光指示车辆的方向盘需向右回正方向，并通过所述第一指示组件的第一颜色指示灯发出第一颜色光指示车辆的方向盘不能继续向左旋转；
    当车辆向右偏航严重需向左回正方向盘时，通过所述第一指示组件的第二颜色指示灯发出第二颜色光指示车辆的方向盘需向左回正方向，并通过所述第二指示组件的第一颜色指示灯发出第一颜色光指示车辆的方向盘不能继续向右旋转。
  7. 如权利要求5所述的驾驶控制方法，其特征在于，所述第一指示组件和第二指示组件还均包括第三颜色指示灯，所述方法还包括：
    当根据所述第一信号强度和所述第二信号强度之间的差值确定车辆偏航且该差值位于所述第一预设阈值和第二预设阈值之间时，确定车辆轻微偏航，其中，所述第二预设阈值大于所述第一预设阈值时；
    当车辆向左轻微偏航时，通过所述第一指示组件的第三颜色指示灯发出第三颜色光指示车辆向左轻微偏航；
    当车辆向右轻微偏航时，通过所述第二指示组件的第三颜色指示灯发出第三颜色光指示车辆向右轻微偏航。
  8. 如权利要求5所述的驾驶控制方法，其特征在于，所述第一指示组件和第二指示组件还均包括第三颜色指示灯，所述方法还包括：
    当所述第一指示组件的第一颜色指示灯和所述第二指示组件的第一颜色指示灯同时发出第一颜色光进行指示时，表示当前道路禁行，需刹车；
    当所述第一指示组件的第二颜色指示灯和所述第二指示组件的第二颜色指示灯同时发出第二颜色光进行指示时，表示直行；
    当所述第一指示组件的第三颜色指示灯和所述第二指示组件的第三颜色指示灯同时发出第三颜色光进行指示时，表示需高度关注。
  9. 如权利要求5所述的驾驶控制方法，其特征在于，车辆上还设置有行驶指示标志，所述行驶指示标志包括正常行驶指示标志、向左转弯指示标志和向右转弯指示标志；所述方法还包括：
    当车辆正常行驶没有偏航时，通过所述正常行驶指示标志突出显示指示车辆当前正常行驶；
    当车辆向左偏航时，通过所述向右转弯指示标志突出显示指示车辆当前应向右转以避免偏航；
    当车辆向右偏航时，通过所述向左转弯指示标志突出显示指示车辆当前应向左转以避免偏航。
  10. 如权利要求1至8任一项所述的驾驶控制方法，其特征在于，所述方法还包括：
    当车辆出现向右或者向右偏航时，通过车辆上的抬头显示器产生显示信息进行预警提示；和/或，
    当车辆出现向右或者向右偏航时，通过车辆上的方向盘振动进行预警提示；和/或，
    当车辆出现向右或者向右偏航时，通过车辆上的语音播放单元播放语音信息进行预警提示；和/或，
    当车辆出现向右或者向右偏航时，通过车辆上的投影设备将预警提示内容投影到挡风玻璃上进行预警提示。
  11. 如权利要求1至8任一项所述的驾驶控制方法，其特征在于，所述车辆上设置有雷达传感器，所述雷达传感器分别位于前保险杠、后保险杠、车身侧面及散热器前部的中央，所述方法还包括：
    通过雷达传感器感测到障碍物时产生制动请求；
    响应该制动请求对车辆进行制动。
  12. 如权利要求1至8任一项所述的驾驶控制方法，其特征在于，所述车辆上设置有位于车辆保险杠或中央后视镜与挡风玻璃之间的光谱探测识别设备，所述驾驶控制方法还包括：
    通过所述光谱探测识别设备实时探测车辆前方道路环境的光谱变化；
    所述光谱探测识别设备在实时探测到的车辆前方道路的光谱数值发生改变且位于预设范围值之外时，产生控制信号；其中，当车辆前方无障碍物时，所述光谱探测识别设备实时探测到的光谱数值在预设范围内；当车辆前方出现障碍物时，光谱探测识别设备实时探测到的光谱数值位于预设范围之外；
    响应所述控制信号并产生警示信息以提醒驾驶员。
  13. 一种恶劣天气下的驾驶控制装置，其特征在于，所述驾驶控制装置包括对称设置在车辆左右两侧的第一传感器、第二传感器，所述驾驶控制装置还包括处理器，所述第一传感器和所述第二传感器用于在车辆行驶时，分别获取车辆左侧的特定信号的第一信号强度和车辆右侧的特定信号的第二信号强度；所述处理器用于比较所述第一信号强度和所述第二信号强度的大小，并根据所述第一信号强度和所述第二信号强度的大小关系判断车辆当前是否偏航，且根据车辆是否偏航控制产生对应的预警提示。
  14. 如权利要求13所述的驾驶控制装置，其特征在于，所述处理器用于当所述第一信号强度和所述第二信号强度之间的差值小于第一预设阈值，或，所述第一信号强和所述第二信号强度的比值在第一预设比值范围内时，确定车辆正常行驶未偏航；或，
    所述处理器用于当所述第一信号强度和所述第二信号强度之间的差值大于第一预设阈值且所述第一信号强度大于所述第二信号强度，或，所述第一信号强和所述第二信号强度的比值大于所述第一预设比值范围时，确定车辆当前向右偏航；或，
    所述处理器用于当所述第一信号强度和所述第二信号强度之间的差值大于第一预设阈值且所述第一信号强度小于所述第二信号强度，或，所述第一信号强和所述第二信号强度的比值小于所述第一预设比值范围时，确定车辆当前向左偏航。
  15. 如权利要求14所述的驾驶控制装置，其特征在于，所述驾驶控制装置包括设置在车辆上的第一指示组件和第二指示组件，所述处理器用于通过控制所述第一指示组件指示车辆需要左转或不需要左转，通过控制所述第二指示组件指示需要右转或不需要右转。
  16. 如权利要求15所述的驾驶控制装置，其特征在于，所述处理器用于在车辆向左偏航时，通过控制所述第一指示组件指示车辆不需左转，并通过控制所述第二指示组件指示车辆需要右转；所述处理器用于在车辆向右偏航时，并通过控制所述第一指示组件指示车辆需要左转，并通过控制所述第二指示组件指示车辆不需右转。
  17. 如权利要求16所述的驾驶控制装置，其特征在于，所述第一指示组件包括第一颜色指示灯和第 二颜色指示灯和第三颜色指示灯，所述第二指示组件包括第一颜色指示灯和第二颜色指示灯和第三颜色指示灯，所述处理器用于通过控制所述第一指示组件的第一颜色指示灯发出第一颜色光指示车辆不需左转，并通过控制所述第二指示组件的第二颜色指示灯发出第二颜色光指示车辆需要右转；所述处理器还用于通过控制所述第一指示组件的第二颜色指示灯发出第二颜色光指示车辆需要左转，并通过控制所述第二指示组件的第一颜色指示灯发出第一颜色光指示车辆不需右转。
  18. 如权利要求17所述的驾驶控制装置，其特征在于，所述处理器还用于根据所述第一信号强度和所述第二信号强度之间的差值确定车辆偏航且该差值大于第二预设阈值时，确定车辆偏航严重，其中，所述第二预设阈值大于第一预设阈值时，当车辆向左偏航严重需向右回正方向盘时，所述处理器还用于通过所述第二指示组件的第二颜色指示灯发出第二颜色光指示车辆的方向盘需向右回正方向，并通过所述第一指示组件的第一颜色指示灯发出第一颜色光指示车辆的方向盘不能继续向左旋转；所述处理器还用于当车辆向右偏航严重需向左回正方向盘时，通过所述第一指示组件的第二颜色指示灯发出第二颜色光指示车辆的方向盘需向左回正方向，并通过所述第二指示组件的第一颜色指示灯发出第一颜色光指示车辆的方向盘不能继续向右旋转。
  19. 如权利要求17所述的驾驶控制装置，其特征在于，所述第一指示组件和第二指示组件还均包括第三颜色指示灯，所述处理器还用于当根据所述第一信号强度和所述第二信号强度之间的差值确定车辆偏航且该差值位于所述第一预设阈值和第二预设阈值之间时，确定车辆轻微偏航，其中，所述第二预设阈值大于第一预设阈值时；所述处理器还用于当车辆向左轻微偏航时，通过所述第一指示组件的第三颜色指示灯发出第三颜色光指示车辆向左轻微偏航；所述处理器还用于当车辆向右轻微偏航时，通过所述第二指示组件的第三颜色指示灯发出第三颜色光指示车辆向右轻微偏航。
  20. 如权利要求17所述的驾驶控制装置，其特征在于，所述第一指示组件和第二指示组件还均包括第三颜色指示灯，所述处理器还用于当所述第一指示组件的第一颜色指示灯和所述第二指示组件的第一颜色指示灯同时发出第一颜色光进行指示时，表示当前道路禁行，需刹车；或，所述处理器还用于当所述第一指示组件的第二颜色指示灯和所述第二指示组件的第二颜色指示灯同时发出第二颜色光进行指示时，表示直行；或，所述处理器还用于当所述第一指示组件的第三颜色指示灯和所述第二指示组件的第三颜色指示灯同时发出第三颜色光进行指示时，表示需高度关注。
  21. 如权利要求17所述的驾驶控制装置，其特征在于，所述驾驶控制装置上还设置有行驶指示标志，所述行驶指示标志包括正常行驶指示标志、向左转弯指示标志和向右转弯指示标志；所述处理器还用于当车辆正常行驶没有偏航时，通过所述正常行驶指示标志突出显示指示车辆当前正常行驶；当车辆向左偏航时，通过所述向右转弯指示标志突出显示指示车辆当前应向右转以避免偏航；当车辆向右偏航时，通过所述向左转弯指示标志突出显示指示车辆当前应向左转以避免偏航。
  22. 如权利要求13至21任一项所述的驾驶控制装置，其特征在于，所述车辆上设置有抬头显示器，
    所述处理器用于当车辆出现向右或者向右偏航时，通过车辆上的抬头显示器产生显示信息进行预警提示；和/或，
    所述处理器用于当车辆出现向右或者向右偏航时，通过车辆上的方向盘振动进行预警提示；和/或，
    所述车辆上设置有语音播放单元，所述处理器用于当车辆出现向右或者向右偏航时，通过所述语音 播放单元播放语音信息进行预警提示；和/或，
    所述车辆上设置有投影设备，所述处理器用于当车辆出现向右或者向右偏航时，通过所述投影设备将预警提示内容投影到挡风玻璃上进行预警提示。
  23. 如权利要求13至21任一项所述的驾驶控制装置，其特征在于，所述车辆包括雷达传感器，所述雷达传感器分别位于前保险杠、后保险杠、车身侧面及散热器前部的中央，所述雷达传感器感测到障碍物时产生制动请求；所述处理器还用于响应该制动请求对车辆进行制动。
  24. 如权利要求13至21任一项所述的驾驶控制装置，其特征在于，所述车辆上还设置有位于车辆保险杠或中央后视镜与挡风玻璃之间的光谱探测识别设备，所述光谱探测识别设备在实时探测到的车辆前方道路的光谱数值发生改变且位于预设范围值之外时，产生控制信号；其中，当车辆前方无障碍物时，所述光谱探测识别设备实时探测到的光谱数值在预设范围内；当车辆前方出现障碍物时，光谱探测识别设备实时探测到的光谱数值位于预设范围之外；所述处理器还用于响应所述控制信号并产生警示信息以提醒驾驶员。
  25. 一种车辆，其特征在于，所述车辆包括如权利要求13-24任一项所述的驾驶控制装置。
  26. 一种驾驶控制系统，其特征在于，所述驾驶控制系统包括设置在车辆上的驾驶控制装置和设置在道路两侧的信号发射系统，所述驾驶控制装置为权利要求13至24任一项所述的驾驶控制装置，所述信号发射系统包括若干信号发射单元，所述若干信号发射单元间隔、分布式且对称的设置在道路两侧，所述若干信号发射单元实时的发射信号，所述第一传感器和所述第二传感器用于当车辆在道路上行驶时，分别获取车辆左侧的信号发射单元发出的特定信号的第一信号强度和车辆右侧的信号发射单元发出的特定信号的第二信号强度；所述处理器用于比较所述第一信号强度和所述第二信号强度的大小，并根据所述第一信号强度和所述第二信号强度的大小关系判断车辆当前是否偏航，且根据车辆是否偏航控制产生对应的预警提示。
  27. 如权利要求26所述的驾驶控制系统，其特征在于，所述信号发射单元为普通路灯或专用信号发射子系统的其中一种，当所述信号发射单元为专用信号发射子系统时，所述专用信号发射单元发出红外光、电磁波中的其中一种；和/或，当所述信号发射单元为专用信号发射子系统时，所述专用信号发射单元集成在普通路灯中。
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