WO2021223140A1 - 车辆转向控制方法、系统、装置、终端设备及存储介质 - Google Patents

车辆转向控制方法、系统、装置、终端设备及存储介质 Download PDF

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Publication number
WO2021223140A1
WO2021223140A1 PCT/CN2020/088913 CN2020088913W WO2021223140A1 WO 2021223140 A1 WO2021223140 A1 WO 2021223140A1 CN 2020088913 W CN2020088913 W CN 2020088913W WO 2021223140 A1 WO2021223140 A1 WO 2021223140A1
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WO
WIPO (PCT)
Prior art keywords
steering
control parameter
vehicle
control
steering angle
Prior art date
Application number
PCT/CN2020/088913
Other languages
English (en)
French (fr)
Inventor
蔡优飞
向清明
梁斌强
Original Assignee
深圳乐行天下科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳乐行天下科技有限公司 filed Critical 深圳乐行天下科技有限公司
Priority to PCT/CN2020/088913 priority Critical patent/WO2021223140A1/zh
Publication of WO2021223140A1 publication Critical patent/WO2021223140A1/zh

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/34Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D5/00Power-assisted or power-driven steering
    • B62D5/04Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J6/00Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
    • B62J6/05Direction indicators
    • B62J6/055Electrical means, e.g. lamps
    • B62J6/056Electrical means, e.g. lamps characterised by control means
    • B62J6/057Automatic activation, e.g. by sensors

Definitions

  • This application belongs to the technical field of vehicle control, and in particular relates to a vehicle steering control method, system, device, terminal device, and storage medium.
  • Electric motorcycles, electric bicycles, and electric scooters are compact and handy, and are widely used in people's daily life.
  • turn indicators are usually installed on vehicles to realize the function of steering prompts.
  • the handle of a traditional vehicle is equipped with a mechanical switch for controlling the turn indicator.
  • the user needs to operate the mechanical switch to control the corresponding turn indicator to light up, so as to achieve the effect of steering prompt.
  • an embodiment of the present application provides a vehicle steering control method, including:
  • the left turn indicator light and the right turn indicator light of the vehicle are controlled according to the steering control parameter.
  • the steering angle threshold acquisition method includes:
  • the steering angle threshold is determined according to the speed value.
  • the steering control parameter includes a steering opening control parameter
  • determining the steering control parameter according to the steering angle value and a steering angle threshold includes:
  • the steering opening control parameter is generated according to the magnitude relationship between the steering angle value and zero; the steering opening control parameter is used to control the left The turn indicator light or the right turn indicator light turns on.
  • the steering control parameter further includes a steering off control parameter
  • the determining the steering control parameter according to the steering angle value and the steering angle threshold further includes:
  • a steering close control parameter is generated; the steering close control parameter is used to control the left turn indicator light and the right turn indicator light to turn off.
  • the steering opening control parameter includes a first steering opening control parameter and a second steering opening control parameter
  • the generating of the Steering opening control parameters including:
  • the first steering turn-on control parameter is used to control the left turn indicator light to turn on, and to control the right turn indicator light to turn off;
  • the second steering on control parameter When the steering angle value is less than zero, the second steering on control parameter is generated; the second steering on control parameter is used to control the left turn indicator light to turn off and to control the right turn indicator light to turn on.
  • the generating the steering opening control parameter according to the magnitude relationship between the steering angle value and zero further includes:
  • a prompt sound control parameter is generated, and the prompt sound control parameter is used to control the speaker to emit a prompt sound when the left turn indicator light is on or the right turn indicator light is turned on.
  • an embodiment of the present application provides a vehicle steering control system, including an acceleration sensor, a left turn indicator light, a right turn indicator light, and a controller.
  • the acceleration sensor is installed in the front of the vehicle, and the controller is installed On the vehicle, the acceleration sensor is connected to the controller;
  • the acceleration sensor is used to collect the steering angle value of the front of the vehicle, and transmit the collected steering angle value to the controller.
  • the controller is used to determine the steering control parameter according to the steering angle value and the steering angle threshold value, and to determine the steering control parameter according to the steering angle value and the steering angle threshold.
  • the steering control parameters control the left turn indicator light and the right turn indicator light of the vehicle.
  • the vehicle steering control system further includes a display installed on the front of the vehicle;
  • the display is connected to the controller, and the display is used to display information according to instructions of the controller.
  • the vehicle steering control system further includes a horn installed on the vehicle;
  • the horn is connected to the controller, and the horn is used to emit a prompt tone according to an instruction of the controller.
  • an embodiment of the present application provides a vehicle steering control device, including:
  • the acquisition module is used to acquire the steering angle value of the front of the vehicle through the acceleration sensor installed on the front of the vehicle;
  • a steering control parameter determination module configured to determine steering control parameters according to the steering angle value and the steering angle threshold
  • the control module is used to control the left turn indicator light and the right turn indicator light of the vehicle according to the steering control parameter.
  • the steering control parameter determination module includes a speed value acquisition unit and a steering angle threshold determination unit;
  • the speed value acquiring unit is used to acquire the speed value of the vehicle through the speed sensor installed on the vehicle;
  • the steering angle threshold determination unit is configured to determine the steering angle threshold according to the speed value.
  • the steering control parameter includes a steering opening control parameter
  • the steering control parameter determination module further includes a comparing unit and a first control parameter generating unit
  • a comparison unit for comparing the absolute value of the steering angle value with the magnitude of the steering angle threshold
  • the first control parameter generating unit is configured to generate the steering opening control parameter according to the magnitude relationship between the steering angle value and zero when the absolute value of the steering angle value is greater than the steering angle threshold;
  • the turn-on control parameter is used to control the turning on of the left turn indicator light or the right turn indicator light.
  • the steering control parameter further includes a steering off control parameter
  • the steering control parameter determination module further includes a second control parameter generating unit
  • the second control parameter generating unit is configured to generate a steering close control parameter when the absolute value of the steering angle value is less than the steering angle threshold; the steering close control parameter is used to control the left turn indicator light and The right turn indicator light turns off.
  • the steering opening control parameter includes a first steering opening control parameter and a second steering opening control parameter
  • the first control parameter generating unit includes a first sub-control parameter generating unit And the second sub-control parameter generating unit;
  • the first sub-control parameter generation unit is configured to generate the first steering-on control parameter when the steering angle value is greater than zero; the first steering-on control parameter is used to control the left turn indicator light to turn on and control The right turn indicator light turns off;
  • the second sub-control parameter generation unit is used to generate the second steering-on control parameter when the steering angle value is less than zero; the second steering-on control parameter is used to control the left turn indicator light to turn off and control The right turn indicator light turns on.
  • the first control parameter generating unit further includes a third sub-control parameter generating unit
  • the third sub-control parameter generation unit is configured to generate a prompt sound control parameter, and the prompt sound control parameter is used to control the speaker to emit a prompt sound when the left turn indicator light is on or the right turn indicator light is turned on.
  • an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and running on the processor.
  • the processor executes the computer program, The vehicle steering control method according to any one of the above-mentioned first aspects is implemented.
  • an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program described in any one of the first aspects is implemented.
  • Vehicle steering control method when the computer program is executed by a processor, the computer program described in any one of the first aspects is implemented.
  • embodiments of the present application provide a computer program product, which when the computer program product runs on a terminal device, causes the terminal device to execute the vehicle steering control method described in any one of the above-mentioned first aspects.
  • FIG. 1 is a schematic diagram of an application scenario of a vehicle steering control method provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a vehicle steering control method provided by an embodiment of the present application.
  • FIG. 3 is a schematic flowchart of a method for obtaining steering control parameters according to an embodiment of the present application
  • FIG. 4 is a schematic flowchart of a vehicle steering control method provided by another embodiment of the present application.
  • Fig. 5 is a schematic structural diagram of a vehicle steering control system provided by an embodiment of the present application.
  • Fig. 6 is a schematic structural diagram of a vehicle steering control device provided by an embodiment of the present application.
  • Fig. 7 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.
  • the term “if” can be construed as “when” or “once” or “in response to determination” or “in response to detecting “.
  • the phrase “if determined” or “if detected [described condition or event]” can be interpreted as meaning “once determined” or “in response to determination” or “once detected [described condition or event]” depending on the context ]” or “in response to detection of [condition or event described]”.
  • the acceleration sensor is installed in the front 10 of the vehicle, and the left turn indicator, the right turn indicator and the controller are respectively installed in the front 10 of the vehicle. Or on the body 20.
  • the acceleration sensor collects the steering angle value of the front 10 and transmits the collected steering angle value to the controller.
  • the controller determines the steering control parameters according to the steering angle value and the steering angle threshold, and controls the vehicle according to the steering control parameters.
  • the left turn indicator light and the right turn indicator light are controlled to realize the automatic control of the turn signal, and the effect of turning prompt can be achieved without the user's tedious operation; at the same time, the mechanical switch to control the turn indicator is not required when the vehicle is produced. , There is no need to carry out the wiring corresponding to the mechanical switch, thereby reducing the production cost of the vehicle.
  • Fig. 2 shows a schematic flowchart of a vehicle steering control method provided by an embodiment of the present application.
  • the method may include the following steps:
  • S201 Acquire a steering angle value of the vehicle head through an acceleration sensor installed on the vehicle head.
  • the steering angle value of the vehicle head can be obtained by testing data from one or more sensors, and then performing comprehensive analysis on various data.
  • the method for obtaining the steering angle value of the front of the vehicle may include:
  • A1 get the steering acceleration value and steering angular velocity value of the front of the car.
  • the acceleration sensor installed in the vehicle head can measure the steering acceleration value and the steering angular velocity value of the vehicle head relative to the vehicle body.
  • the steering angle value is obtained by fusing the steering acceleration value and the steering angular velocity value through the complementary filtering algorithm.
  • fusion of the steering acceleration value and the steering angular velocity value using a complementary filtering algorithm can improve the accuracy of the steering angle value, and the determined steering angle value is the rotation angle of the vehicle head relative to the vehicle body.
  • S202 Determine a steering control parameter according to the steering angle value and the steering angle threshold.
  • the method for obtaining the steering angle threshold may include:
  • A2 get the speed value of the vehicle through the speed sensor installed on the vehicle.
  • the speed sensor is installed on the front or body of the vehicle, and the speed sensor can measure the real-time speed of the vehicle when the vehicle is running.
  • the calculation formula of the steering angle threshold is:
  • ⁇ 1 is the steering angle threshold
  • v is the speed of the vehicle
  • k is the proportional constant
  • a is the compensation constant.
  • the method for obtaining steering control parameters may include:
  • the steering acceleration value obtained in step S201 can be positive or negative, and the steering angle threshold in step S202 is positive.
  • the steering of the vehicle head can be determined Whether the angle value reaches the steering angle threshold to determine whether the user has the intention of turning.
  • the steering opening control parameter is generated, and the steering opening control parameter is used to control the left turn indicator light or The right turn indicator turns on.
  • the steering close control parameter is generated.
  • the absolute value of the steering angle value is less than the steering angle threshold, indicating that the user has no intention to turn at this time.
  • the steering close control parameter is generated, and then the left turn indicator light and the right turn indicator light are controlled to turn off according to the steering close control parameter.
  • step S2022 After it is determined in step S2022 that the user has a turning intention, it is necessary to determine the turning direction of the user to ensure that the corresponding turn indicator is turned on to play a correct prompt role. Since the steering angle value of the front of the vehicle determined in step S201, the direction of rotation of the front of the vehicle is different, and the positive and negative values of the steering angle obtained are different. For example, when the front of the vehicle is turned to the right, the steering angle value is positive; when the front of the vehicle is turned to the left, the steering angle value is Negative value. Therefore, the turning direction can be judged by judging the sign of the steering angle value.
  • the steering opening control parameter may include a first steering opening control parameter and a second steering opening control parameter, and generating the steering opening control parameter according to the magnitude relationship between the steering angle value and zero in S2022 may include:
  • A3 When the steering angle value is greater than zero, generate the first steering opening control parameter.
  • the first turn-on control parameter is used to control the left turn indicator light to turn on, and to control the right turn indicator light to turn off.
  • the second turn-on control parameter is used to control the left turn indicator light to turn off, and to control the right turn indicator light to turn on.
  • the prompt sound control parameter when the left turn indicator light is on or the right turn indicator light is on, the prompt sound control parameter is generated, and the prompt sound control parameter is used when the left turn indicator light is on or the right turn indicator light is on. To control the speaker to emit a beep.
  • the left turn indicator is controlled to light up, and the horn is controlled to emit a prompt tone
  • the right turn indicator is controlled to light up and the horn is controlled to emit a prompt tone.
  • the turn indicator of the vehicle will light up, and a prompt sound will be emitted at the same time. Sound and light prompts are performed at the same time to ensure that other pedestrians can receive the prompt, thereby improving the user's driving safety.
  • S203 Control the left turn indicator light and the right turn indicator light of the vehicle according to the steering control parameter.
  • the steering control parameters are obtained through step S202, and then the left turn indicator light and the right turn indicator light of the vehicle are controlled according to the steering control parameters, so as to realize the automatic control of the turn signal, and the user does not need to operate the mechanical switch to control the turn indicator, simplifying
  • the user's operation improves the user's sense of experience; at the same time, there is no need to use a mechanical switch to control the turn indicator when the vehicle is produced, and there is no need to wire the corresponding mechanical switch, thereby reducing the production cost of the vehicle.
  • S401 Obtain a steering acceleration value ⁇ of the vehicle head and a speed value of the vehicle.
  • S403 Determine whether the absolute value of the steering acceleration value
  • steps S401 to S407 the automatic control of the vehicle's turn indicator is realized, and the user does not need to perform cumbersome operations to achieve the effect of turning prompt; at the same time, when the vehicle is produced, there is no need to use a mechanical switch to control the turn indicator, nor The wiring corresponding to the mechanical switch is required, thereby reducing the production cost of the vehicle.
  • the vehicle steering control system may include an acceleration sensor 52, a left turn indicator light 54, a right turn indicator light 53, and a controller 51.
  • the acceleration sensor 52 is installed in In the front of the vehicle, the controller 51 is installed on the vehicle, and the acceleration sensor 52 is connected to the controller 51.
  • the acceleration sensor 52 is used to collect the steering angle value of the front of the vehicle and transmit the collected steering angle value to the controller 51.
  • the controller 51 is used to determine the steering control parameters according to the steering angle value and the steering angle threshold, and to control the steering according to the steering angle value.
  • the parameters control the left turn indicator light 54 and the right turn indicator light 53 of the vehicle.
  • the vehicle steering control system may further include a speed sensor installed on the front of the vehicle or the vehicle body, and the speed sensor is connected to the controller 51.
  • the speed sensor tests the speed value of the vehicle and transmits the speed value to the controller 51.
  • the controller 51 determines the steering angle threshold according to the speed value, and then determines the steering control parameters according to the steering angle value and the steering angle threshold.
  • the vehicle is produced, there is no need to use a mechanical switch to control the turn indicator, and no wiring corresponding to the mechanical switch is required, thereby reducing the production cost of the vehicle.
  • the vehicle steering control system may also include a display installed on the front of the vehicle.
  • the display is connected to the controller 51.
  • the display is used to display information (such as vehicle speed and turn indicator information) according to the instructions of the controller 51 to facilitate The driver can understand the current state of the vehicle.
  • the vehicle steering control system may further include a horn installed on the vehicle, the horn is connected to the controller 51, and the horn is used to emit a prompt sound according to an instruction of the controller 51 to prompt the surrounding pedestrians.
  • FIG. 6 shows a schematic structural diagram of a vehicle steering control device provided in an embodiment of the present application. For ease of description, only the parts related to the embodiment of the present application are shown.
  • the vehicle steering control device in the embodiment of the present application may include an acquisition module 61, a steering control parameter determination module 62, and a control module 63;
  • the obtaining module 61 is used to obtain the steering angle value of the front of the vehicle through an acceleration sensor installed on the front of the vehicle;
  • the steering control parameter determination module 62 is configured to determine the steering control parameter according to the steering angle value and the steering angle threshold;
  • the control module 63 is configured to control the left turn indicator light and the right turn indicator light of the vehicle according to the steering control parameter.
  • the steering control parameter determination module 62 includes a speed value acquisition unit and a steering angle threshold determination unit;
  • the speed value acquisition unit is used to acquire the speed value of the vehicle through a speed sensor installed on the vehicle;
  • the steering angle threshold determination unit is configured to determine the steering angle threshold according to the speed value.
  • the steering control parameter further includes a steering opening control parameter
  • the steering control parameter determination module 62 further includes a comparing unit and a first control parameter generating unit
  • the comparing unit is used to compare the absolute value of the steering angle value with the magnitude of the steering angle threshold
  • the first control parameter generating unit is configured to generate the steering opening control parameter according to the magnitude relationship between the steering angle value and zero when the absolute value of the steering angle value is greater than the steering angle threshold;
  • the turn-on control parameter is used to control the turning on of the left turn indicator light or the right turn indicator light.
  • the steering control parameter further includes a steering closing control parameter
  • the steering control parameter determination module 62 further includes a second control parameter generating unit
  • the second control parameter generating unit is configured to generate a steering close control parameter when the absolute value of the steering angle value is less than the steering angle threshold; the steering close control parameter is used to control the left turn instruction The light and the right turn indicator light are off.
  • the steering opening control parameter includes a first steering opening control parameter and a second steering opening control parameter
  • the first control parameter generating unit may include a first sub-control parameter generating unit and a second sub-control parameter Generating unit
  • the first sub-control parameter generating unit is configured to generate the first steering turn-on control parameter when the steering angle value is greater than zero; the first steering turn-on control parameter is used to control the left turn indicator light to turn on , Control the right turn indicator light to turn off;
  • the second sub-control parameter generation unit is used to generate the second steering-on control parameter when the steering angle value is less than zero; the second steering-on control parameter is used to control the left turn indicator light to turn off and control The right turn indicator light turns on.
  • the first control parameter generating unit may further include a third sub-control parameter generating unit
  • the third sub-control parameter generation unit is used to generate a prompt sound control parameter
  • the prompt sound control parameter is used to control the speaker to emit a prompt sound when the left turn indicator light is on or the right turn indicator light is turned on .
  • vehicle steering control device shown in FIG. 6 can be a software unit, a hardware unit, or a combination of software and hardware built into an existing terminal device, or it can be integrated into the terminal device as an independent pendant. It can exist as an independent terminal device.
  • FIG. 7 is a schematic structural diagram of a terminal device provided by an embodiment of the application.
  • the terminal device 7 of this embodiment may include: at least one processor 70 (only one processor 70 is shown in FIG. A computer program 72 running on a processor 70, when the processor 70 executes the computer program 72, the steps in any of the foregoing method embodiments, such as steps S201 to S203 in the embodiment shown in FIG. 2, are implemented.
  • the processor 70 executes the computer program 72
  • the functions of the modules/units in the foregoing device embodiments for example, the functions of the modules 61 to 63 shown in FIG. 6 are realized.
  • the computer program 72 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 71 and executed by the processor 70 to complete this invention.
  • the one or more modules/units may be a series of instruction segments of the computer program 72 capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 72 in the terminal device 7.
  • the terminal device 7 may be a computing device such as a desktop computer, a notebook, a palmtop computer, and a cloud server.
  • the terminal device 7 may include, but is not limited to, a processor 70 and a memory 71.
  • FIG. 7 is only an example of the terminal device 7 and does not constitute a limitation on the terminal device 7. It may include more or less components than shown in the figure, or a combination of certain components, or different components. , For example, can also include input and output devices, network access devices, and so on.
  • the so-called processor 70 may be a central processing unit (Central Processing Unit, CPU), and the processor 70 may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), and application specific integrated circuits (Application Specific Integrated Circuits). Integrated Circuit, ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the memory 71 may be an internal storage unit of the terminal device 7 in some embodiments, such as a hard disk or a memory of the terminal device 7. In other embodiments, the memory 71 may also be an external storage device of the terminal device 7, such as a plug-in hard disk equipped on the terminal device 7, a smart memory card (Smart Media Card, SMC), and a secure digital device. (Secure Digital, SD) card, flash card (Flash Card), etc. Further, the memory 71 may also include both an internal storage unit of the terminal device 7 and an external storage device. The memory 71 is used to store an operating system, an application program, a boot loader (Boot Loader), data, and other programs, such as the program code of the computer program 72. The memory 71 can also be used to temporarily store data that has been output or will be output.
  • a boot loader Boot Loader
  • the embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program 72, and when the computer program 72 is executed by the processor 70, the steps in each of the above-mentioned method embodiments can be realized. .
  • the embodiments of the present application provide a computer program product.
  • the steps in the foregoing method embodiments can be realized when the mobile terminal is executed.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the implementation of all or part of the processes in the above-mentioned embodiment methods in the present application can be completed by instructing relevant hardware through a computer program 72, which can be stored in a computer-readable storage medium.
  • the computer program 72 is executed by the processor 70, it can implement the steps of the foregoing method embodiments.
  • the computer program 72 includes computer program code, and the computer program code may be in the form of source code, object code, executable file, or some intermediate form.
  • the computer-readable medium may include at least any entity or device capable of carrying computer program code to a terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), and a random access memory (RAM, Random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media.
  • ROM read-only memory
  • RAM random access memory
  • electrical carrier signals telecommunications signals
  • software distribution media For example, U disk, mobile hard disk, floppy disk or CD-ROM, etc.
  • computer-readable media cannot be electrical carrier signals and telecommunication signals.
  • the disclosed apparatus/network equipment and method may be implemented in other ways.
  • the device/network device embodiments described above are only illustrative.
  • the division of the modules or units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units.
  • components can be combined or integrated into another system, or some features can be omitted or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • 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, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

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Abstract

一种车辆转向控制方法、系统、装置、终端设备(7)及存储介质,车辆转向控制方法包括:通过安装在车头(10)上的加速度传感器(52)获取车头(10)的转向角度值(θ);根据转向角度值(θ)和转向角度阈值(θ 1)确定转向控制参数;根据转向控制参数对车辆的左转指示灯(54)和右转指示灯(53)进行控制。

Description

车辆转向控制方法、系统、装置、终端设备及存储介质 技术领域
本申请属于车辆控制技术领域,尤其涉及一种车辆转向控制方法、系统、装置、终端设备及存储介质。
背景技术
电动摩托车、电动自行车和电动踏板车具有小巧灵便的特点,在人们的日常生活中被广泛应用,为了提高行车安全,通常在车辆上安装转向指示灯,以实现转向提示的功能。
传统车辆的把手上设有用于控制转向指示灯的机械开关,车辆转弯时,用户需要操作机械开关控制对应的转向指示灯点亮,以达到转向提示的效果。
技术问题
传统车辆指示灯控制操作繁琐,影响用户的体验感。
技术解决方案
第一方面,本申请实施例提供了一种车辆转向控制方法,包括:
通过安装在车头上的加速度传感器获取车头的转向角度值;
根据所述转向角度值和转向角度阈值确定转向控制参数;
根据所述转向控制参数对车辆的左转指示灯和右转指示灯进行控制。
在第一方面的一种可能的实现方式中,所述转向角度阈值获取方法包括:
通过安装在车辆上的测速传感器获取车辆的速度值;
根据所述速度值确定所述转向角度阈值。
在第一方面的一种可能的实现方式中,所述转向控制参数包括转向开启控制参数,所述根据所述转向角度值和转向角度阈值确定转向控制参数,包括:
比较所述转向角度值的绝对值和所述转向角度阈值的大小;
在所述转向角度值的绝对值大于所述转向角度阈值的情况下,根据所述转向角度值与零的大小关系生成所述转向开启控制参数;所述转向开启控制参数用于控制所述左转指示灯或所述右转指示灯开启。
在第一方面的一种可能的实现方式中,所述转向控制参数还包括转向关闭控制参数,所述根据所述转向角度值和转向角度阈值确定转向控制参数,还包括:
在所述转向角度值的绝对值小于所述转向角度阈值的情况下,生成转向关闭控制参数;所述转向关闭控制参数用于控制所述左转指示灯和所述右转指示灯关闭。
在第一方面的一种可能的实现方式中,所述转向开启控制参数包括第一转向开启控制参数和第二转向开启控制参数,所述根据所述转向角度值与零的大小关系生成所述转向开启控制参数,包括:
当所述转向角度值大于零时,生成所述第一转向开启控制参数;所述第一转向开启控制参数用于控制所述左转指示灯开启,控制所述右转指示灯关闭;
当所述转向角度值小于零时,生成所述第二转向开启控制参数;所述第二转向开启控制参数用于控制所述左转指示灯关闭,控制所述右转指示灯开启。
在第一方面的一种可能的实现方式中,所述根据所述转向角度值与零的大小关系生成转向开启控制参数,还包括:
生成提示音控制参数,所述提示音控制参数用于在所述左转指示灯点亮或所述右转指示灯开启时,控制喇叭发出提示音。
第二方面,本申请实施例提供了一种车辆转向控制系统,包括加速度传感器、左转指示灯、右转指示灯和控制器,所述加速度传感器安装在车辆的车头内,所述控制器安装在所述车辆上,所述加速度传感器与所述控制器连接;
所述加速度传感器用于采集车头的转向角度值,并将采集的转向角度值传送至所述控制器,所述控制器用于根据所述转向角度值和转向角度阈值确定转向控制参数,并根据所述转向控制参数对车辆的左转指示灯和右转指示灯进行控制。
在第二方面的一种可能的实现方式中,所述车辆转向控制系统还包括安装在车头的显示器;
所述显示器与所述控制器连接,所述显示器用于根据所述控制器的指令显示信息。
在第二方面的一种可能的实现方式中,所述车辆转向控制系统还包括安装在车辆上的喇叭;
所述喇叭与所述控制器连接,所述喇叭用于根据所述控制器的指令发出提示音。
第三方面,本申请实施例提供了一种车辆转向控制装置,包括:
获取模块,用于通过安装在车头上的加速度传感器获取车头的转向角度值;
转向控制参数确定模块,用于根据所述转向角度值和转向角度阈值确定转向控制参数;
控制模块,用于根据所述转向控制参数对车辆的左转指示灯和右转指示灯进行控制。
在第三方面的一种可能的实现方式中,所述转向控制参数确定模块包括速度值获取单元和转向角度阈值确定单元;
速度值获取单元,用于通过安装在车辆上的测速传感器获取车辆的速度值;
转向角度阈值确定单元,用于根据所述速度值确定所述转向角度阈值。
在第三方面的一种可能的实现方式中,所述转向控制参数包括转向开启控制参数,所述转向控制参数确定模块还包括比较单元和第一控制参数生成单元;
比较单元,用于比较所述转向角度值的绝对值和所述转向角度阈值的大小;
第一控制参数生成单元,用于在所述转向角度值的绝对值大于所述转向角度阈值的情况下,根据所述转向角度值与零的大小关系生成所述转向开启控制参数;所述转向开启控制参数用于控制所述左转指示灯或所述右转指示灯开启。
在第三方面的一种可能的实现方式中,所述转向控制参数还包括转向关闭控制参数,所述转向控制参数确定模块还包括第二控制参数生成单元;
第二控制参数生成单元,用于在所述转向角度值的绝对值小于所述转向角度阈值的情况下,生成转向关闭控制参数;所述转向关闭控制参数用于控制所述左转指示灯和所述右转指示灯关闭。
在第三方面的一种可能的实现方式中,所述转向开启控制参数包括第一转向开启控制参数和第二转向开启控制参数,所述第一控制参数生成单元包括第一子控制参数生成单元和第二子控制参数生成单元;
第一子控制参数生成单元,用于当所述转向角度值大于零时,生成所述第一转向开启控制参数;所述第一转向开启控制参数用于控制所述左转指示灯开启,控制所述右转指示灯关闭;
第二子控制参数生成单元,用于当所述转向角度值小于零时,生成所述第二转向开启控制参数;所述第二转向开启控制参数用于控制所述左转指示灯关闭,控制所述右转指示灯开启。
在第三方面的一种可能的实现方式中,所述第一控制参数生成单元还包括第三子控制参数生成单元;
第三子控制参数生成单元,用于生成提示音控制参数,所述提示音控制参数用于在所述左转指示灯点亮或所述右转指示灯开启时,控制喇叭发出提示音。
第四方面,本申请实施例提供了一种终端设备,包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序,所述处理器执行所述计算机程序时实现上述第一方面任一项所述的车辆转向控制方法。
第五方面,本申请实施例提供了一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时实现上述第一方面任一项所述的车辆转向控制方法。
第六方面,本申请实施例提供了一种计算机程序产品,当计算机程序产品在终端设备上运行时,使得终端设备执行上述第一方面中任一项所述的车辆转向控制方法。
有益效果
车辆行驶过程中,通过获取车头的转向角度值,然后根据转向角度值和转向角度阈值确定转向控制参数,并根据转向控制参数对车辆的左转指示灯和右转指示灯进行控制,实现转向灯的自动控制,不需要用户进行繁琐的操作即可以达到转弯提示的效果。
附图说明
为了更清楚地说明本申请实施例中的技术方案,下面将对实施例描述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他的附图。
图1是本申请一实施例提供的车辆转向控制方法的应用场景示意图;
图2是本申请一实施例提供的车辆转向控制方法的流程示意图;
图3是本申请一实施例提供的转向控制参数获取方法的流程示意图;
图4是本申请另一实施例提供的车辆转向控制方法的流程示意图;
图5是本申请一实施例提供的车辆转向控制系统的结构示意图;
图6是本申请一实施例提供的车辆转向控制装置的结构示意图;
图7是本申请实施例提供的终端设备的结构示意图。
本发明的实施方式
以下描述中,为了说明而不是为了限定,提出了诸如特定系统结构、技术之类的具体细节,以便透彻理解本申请实施例。然而,本领域的技术人员应当清楚,在没有这些具体细节的其它实施例中也可以实现本申请。在其它情况中,省略对众所周知的系统、装置、电路以及方法的详细说明,以免不必要的细节妨碍本申请的描述。
应当理解,当在本申请说明书和所附权利要求书中使用时,术语“包括”指示所描述特征、整体、步骤、操作、元素和/或组件的存在,但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。
还应当理解,在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合,并且包括这些组合。
如在本申请说明书和所附权利要求书中所使用的那样,术语“如果”可以依据上下文被解释为“当...时”或“一旦”或“响应于确定”或“响应于检测到”。类似地,短语“如果确定”或“如果检测到[所描述条件或事件]”可以依据上下文被解释为意指“一旦确定”或“响应于确定”或“一旦检测到[所描述条件或事件]”或“响应于检测到[所描述条件或事件]”。
另外,在本申请说明书和所附权利要求书的描述中,术语“第一”、“第二”、“第三”等仅用于区分描述,而不能理解为指示或暗示相对重要性。
在本申请说明书中描述的参考“一个实施例”或“一些实施例”等意味着在本申请的一个或多个实施例中包括结合该实施例描述的特定特征、结构或特点。由此,在本说明书中的不同之处出现的语句“在一个实施例中”、“在一些实施例中”、“在其他一些实施例中”、“在另外一些实施例中”等不是必然都参考相同的实施例,而是意味着“一个或多个但不是所有的实施例”,除非是以其他方式另外特别强调。术语“包括”、“包含”、“具有”及它们的变形都意味着“包括但不限于”,除非是以其他方式另外特别强调。
先介绍本申请实施例中车辆转向控制方法的应用场景,如图1所示,加速度传感器安装在车辆的车头10内,左转指示灯、右转指示灯和控制器分别安装在车辆的车头10或车身20上。车辆行驶过程中,加速度传感器采集车头10的转向角度值,并将采集的转向角度值传送至控制器,控制器根据转向角度值和转向角度阈值确定转向控制参数,并根据转向控制参数对车辆的左转指示灯和右转指示灯进行控制,实现转向灯的自动控制,不需要用户进行繁琐的操作即可以达到转弯提示的效果;同时在车辆生产时,不需要使用控制转向指示灯的机械开关,也不需要进行机械开关对应的布线,从而降低了车辆的生产成本。
图2示出了本申请实施例提供的车辆转向控制方法的流程示意图,作为示例而非限定,所述方法可以包括以下步骤:
S201,通过安装在车头上的加速度传感器获取车头的转向角度值。
具体地,车头的转向角度值可以通过一种或多种传感器测试数据,然后对多种数据进行综合分析获得。
示例性的,车头的转向角度值的获取方法可以包括:
A1,获取车头的转向加速度值和转向角速度值。
具体地,车辆行驶时,安装在车头内的加速度传感器可以测得车头相对于车身的转向加速度值和转向角速度值。
B1,通过互补滤波算法对转向加速度值和转向角速度值进行融合计算得到转向角度值。
具体地,将转向加速度值和转向角速度值利用互补滤波算法进行融合能够提高转向角度值的精度,确定的转向角度值为车头相对于车身的旋转角度。
S202,根据转向角度值和转向角度阈值确定转向控制参数。
示例性的,转向角度阈值的获取方法可以包括:
A2,通过安装在车辆上的测速传感器获取车辆的速度值。
具体地,测速传感器安装在车头或车身上,车辆行驶时,测速传感器可以测得车辆的实时速度。
B2,根据速度值确定转向角度阈值。
具体地,车辆行驶时,不同的车速需要不同的转弯半径,当车辆低速行驶时,需要的转弯半径较小;当车辆高速行驶时,需要的转弯半径较大。因此根据车辆不同的速度值设置不同的转向角度阈值,可以有效杜绝转向指示灯错误点亮的现象,从而提高转向控制的精度。
示例性的,转向角度阈值的计算公式为:
θ 1 =kv+a
其中, θ 1 为转向角度阈值, v为车辆的速度, k为比例常数, a为补偿常数。 ka的值设计人员可以通过有限次数的试验得到,也可以通过搭建模型进行仿真的方式得到。
示例性的,如图3所示,转向控制参数的获取方法可以包括:
S2021,比较转向角度值的绝对值和转向角度阈值的大小。
具体地,步骤S201得到转向加速度值可以为正值也可以为负值,步骤S202中的转向角度阈值为正值,通过将转向角度值的绝对值和转向角度阈值进行比较,可以确定车头的转向角度值是否达到转向角度阈值,以判断用户是否有转弯的意图。
S2022,在转向角度值的绝对值大于转向角度阈值的情况下,根据转向角度值与零的大小关系生成转向开启控制参数。
具体地,转向角度值的绝对值大于转向角度阈值,则说明用户此时有转弯的意图,当判定用户有转弯意图时,生成转向开启控制参数,转向开启控制参数用于控制左转指示灯或右转指示灯开启。
本申请的一个实施例中,在转向角度值的绝对值小于转向角度阈值的情况下,生成转向关闭控制参数。
具体地,转向角度值的绝对值小于转向角度阈值,说明此时用户没有转弯的意图,此时生成转向关闭控制参数,然后根据转向关闭控制参数控制左转指示灯和右转指示灯关闭。
经步骤S2022确定用户有转弯意图后,则需要判断用户的转弯方向,以确保对应的转向指示灯开启,起到正确的提示作用。由于步骤S201中确定的车头的转向角度值时,车头转动方向不同,得到转向角度值正负值不同,例如,车头右转时,转向角度值为正值;车头左转时,转向角度值为负值。因此,通过判断转向角度值的正负即可以判断转弯方向。
示例性的,转向开启控制参数可以包括第一转向开启控制参数和第二转向开启控制参数,S2022中的根据转向角度值与零的大小关系生成转向开启控制参数可以包括:
A3,当转向角度值大于零时,生成第一转向开启控制参数。
具体地,第一转向开启控制参数用于控制左转指示灯开启,控制右转指示灯关闭。
B3,当转向角度值小于零时,生成第二转向开启控制参数。
具体地,第二转向开启控制参数用于控制左转指示灯关闭,控制右转指示灯开启。
本申请的一个实施例中,当左转指示灯点亮或右转指示灯点亮时,生成提示音控制参数,提示音控制参数用于在左转指示灯点亮或右转指示灯开启时,控制喇叭发出提示音。
具体地,当用户意图左转时,控制左转指示灯点亮,同时控制喇叭发出提示音;当用户意图右转时,控制右转指示灯点亮,同时控制喇叭发出提示音。在用户意图转弯时,车辆的转向指示灯点亮,同时发出提示音,进行声光同时提示,确保其他行人能够接受到提示,从而提高用户的行车安全。
S203,根据转向控制参数对车辆的左转指示灯和右转指示灯进行控制。
具体地,通过步骤S202得到转向控制参数,然后根据转向控制参数对车辆的左转指示灯和右转指示灯进行控制,实现转向灯的自动控制,不需要用户操作机械开关控制转向指示灯,简化用户的操作,提高用户的体验感;同时在车辆生产时,不需要使用控制转向指示灯的机械开关,也不需要进行机械开关对应的布线,从而降低了车辆的生产成本。
为了清楚说明车辆转向控制方法的工作流程,下面以一个具体的实施例进行说明,具体的流程示意图参见图4所示。
S401,获取车头的转向加速度值 θ和车辆的速度值。
S402,根据速度值计算得到转向角度阈值 θ 1
S403,判断转向加速度值的绝对值| θ|是否大于转向角度阈值 θ 1
S404,当转向加速度值的绝对值| θ|小于转向角度阈值 θ 1 时,控制左转指示灯和右转指示灯关闭。
S405,当转向加速度值的绝对值| θ|大于转向角度阈值 θ 1 时,判断转向加速度值 θ是否大于零。
S406,当转向加速度值 θ小于零时,控制左转指示灯关闭,控制右转指示灯点亮。
S407,当转向加速度值 θ大于零时,控制左转指示灯点亮,控制右转指示灯关闭。
通过步骤S401至步骤S407实现了车辆转向指示灯的自动控制,不需要用户进行繁琐的操作即可以达到转弯提示的效果;同时在车辆生产时,不需要使用控制转向指示灯的机械开关,也不需要进行机械开关对应的布线,从而降低了车辆的生产成本。
应理解,上述实施例中各步骤的序号的大小并不意味着执行顺序的先后,各过程的执行顺序应以其功能和内在逻辑确定,而不应对本申请实施例的实施过程构成任何限定。
图5示出了本申请实施例提供的车辆转向控制系统的结构示意图,车辆转向控制系统可以包括加速度传感器52、左转指示灯54、右转指示灯53和控制器51,加速度传感器52安装在车辆的车头内,控制器51安装在车辆上,加速度传感器52与控制器51连接。
具体地,加速度传感器52用于采集车头的转向角度值,并将采集的转向角度值传送至控制器51,控制器51用于根据转向角度值和转向角度阈值确定转向控制参数,并根据转向控制参数对车辆的左转指示灯54和右转指示灯53进行控制。
本申请的一个实施例中,车辆转向控制系统还可以包括安装在车头或车身上的测速传感器,测速传感器与控制器51连接。
具体地,车辆行驶过程中,测速传感器测试车辆的速度值,并将速度值传送至控制器51,控制器51根据速度值确定转向角度阈值,然后根据转向角度值和转向角度阈值确定转向控制参数,并根据转向控制参数对车辆的左转指示灯54和右转指示灯53进行控制,以此实现车辆转向指示灯的自动控制,不需要用户进行繁琐的操作即可以达到转弯提示的效果;同时在车辆生产时,不需要使用控制转向指示灯的机械开关,也不需要进行机械开关对应的布线,从而降低了车辆的生产成本。
本申请的一个实施例中,车辆转向控制系统还可以包括安装在车头的显示器,显示器与控制器51连接,显示器用于根据控制器51的指令显示信息(例如车速、转向指示灯信息),便于驾驶者能够了解车辆的当前状态。
本申请的一个实施例中,车辆转向控制系统还可以包括安装在车辆上的喇叭,喇叭与控制器51连接,喇叭用于根据控制器51的指令发出提示音,以提示周围的行人。
对应于上文实施例所述的车辆转向控制方法,图6示出了本申请实施例提供的车辆转向控制装置的结构示意图,为了便于说明,仅示出了与本申请实施例相关的部分。
参见图6,本申请实施例中的车辆转向控制装置可以包括获取模块61、转向控制参数确定模块62和控制模块63;
其中,获取模块61,用于通过安装在车头上的加速度传感器获取车头的转向角度值;
转向控制参数确定模块62,用于根据所述转向角度值和转向角度阈值确定转向控制参数;
控制模块63,用于根据所述转向控制参数对车辆的左转指示灯和右转指示灯进行控制。
本申请的一个实施例中,转向控制参数确定模块62包括速度值获取单元和转向角度阈值确定单元;
其中,速度值获取单元,用于通过安装在车辆上的测速传感器获取车辆的速度值;
转向角度阈值确定单元,用于根据所述速度值确定所述转向角度阈值。
本申请的一个实施例中,所述转向控制参数还包括转向开启控制参数,转向控制参数确定模块62还包括比较单元和第一控制参数生成单元;
其中,比较单元,用于比较所述转向角度值的绝对值和所述转向角度阈值的大小;
第一控制参数生成单元,用于在所述转向角度值的绝对值大于所述转向角度阈值的情况下,根据所述转向角度值与零的大小关系生成所述转向开启控制参数;所述转向开启控制参数用于控制所述左转指示灯或所述右转指示灯开启。
本申请的一个实施例中,所述转向控制参数还包括转向关闭控制参数,转向控制参数确定模块62还包括第二控制参数生成单元;
其中,第二控制参数生成单元,用于在所述转向角度值的绝对值小于所述转向角度阈值的情况下,生成转向关闭控制参数;所述转向关闭控制参数用于控制所述左转指示灯和所述右转指示灯关闭。
本申请的一个实施例中,所述转向开启控制参数包括第一转向开启控制参数和第二转向开启控制参数,第一控制参数生成单元可以包括第一子控制参数生成单元和第二子控制参数生成单元;
其中,第一子控制参数生成单元,用于当所述转向角度值大于零时,生成所述第一转向开启控制参数;所述第一转向开启控制参数用于控制所述左转指示灯开启,控制所述右转指示灯关闭;
第二子控制参数生成单元,用于当所述转向角度值小于零时,生成所述第二转向开启控制参数;所述第二转向开启控制参数用于控制所述左转指示灯关闭,控制所述右转指示灯开启。
本申请的一个实施例中,第一控制参数生成单元还可以包括第三子控制参数生成单元;
其中,第三子控制参数生成单元,用于生成提示音控制参数,所述提示音控制参数用于在所述左转指示灯点亮或所述右转指示灯开启时,控制喇叭发出提示音。
需要说明的是,上述装置/单元之间的信息交互、执行过程等内容,由于与本申请方法实施例基于同一构思,其具体功能及带来的技术效果,具体可参见方法实施例部分,此处不再赘述。
另外,图6所示的车辆转向控制装置可以是内置于现有的终端设备内的软件单元、硬件单元、或软硬结合的单元,也可以作为独立的挂件集成到所述终端设备中,还可以作为独立的终端设备存在。
所属领域的技术人员可以清楚地了解到,为了描述的方便和简洁,仅以上述各功能单元、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单元、模块完成,即将所述装置的内部结构划分成不同的功能单元或模块,以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块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,也可以采用软件功能单元的形式实现。另外,各功能单元、模块的具体名称也只是为了便于相互区分,并不用于限制本申请的保护范围。上述系统中单元、模块的具体工作过程,可以参考前述方法实施例中的对应过程,在此不再赘述。
图7为本申请实施例提供的终端设备的结构示意图。如图7所示,该实施例的终端设备7可以包括:至少一个处理器70(图7中仅示出一个处理器70)、存储器71以及存储在所述存储器71中并可在所述至少一个处理器70上运行的计算机程序72,所述处理器70执行所述计算机程序72时实现上述任意各个方法实施例中的步骤,例如图2所示实施例中的步骤S201至步骤S203。或者,处理器70执行所述计算机程序72时实现上述各装置实施例中各模块/单元的功能,例如图6所示模块61至63的功能。
示例性的,所述计算机程序72可以被分割成一个或多个模块/单元,所述一个或者多个模块/单元被存储在所述存储器71中,并由所述处理器70执行,以完成本发明。所述一个或多个模块/单元可以是能够完成特定功能的一系列计算机程序72指令段,该指令段用于描述所述计算机程序72在所述终端设备7中的执行过程。
所述终端设备7可以是桌上型计算机、笔记本、掌上电脑及云端服务器等计算设备。该终端设备7可包括,但不仅限于,处理器70、存储器71。本领域技术人员可以理解,图7仅仅是终端设备7的举例,并不构成对终端设备7的限定,可以包括比图示更多或更少的部件,或者组合某些部件,或者不同的部件,例如还可以包括输入输出设备、网络接入设备等。
所称处理器70可以是中央处理单元(Central Processing Unit,CPU),该处理器70还可以是其他通用处理器、数字信号处理器 (Digital Signal Processor,DSP)、专用集成电路 (Application Specific Integrated Circuit,ASIC)、现成可编程门阵列 (Field-Programmable Gate Array,FPGA) 或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
所述存储器71在一些实施例中可以是所述终端设备7的内部存储单元,例如终端设备7的硬盘或内存。所述存储器71在另一些实施例中也可以是所述终端设备7的外部存储设备,例如所述终端设备7上配备的插接式硬盘,智能存储卡(Smart Media Card,SMC),安全数字(Secure Digital,SD)卡,闪存卡(Flash Card)等。进一步地,所述存储器71还可以既包括所述终端设备7的内部存储单元也包括外部存储设备。所述存储器71用于存储操作系统、应用程序、引导装载程序(Boot Loader)、数据以及其他程序等,例如所述计算机程序72的程序代码等。所述存储器71还可以用于暂时地存储已经输出或者将要输出的数据。
本申请实施例还提供了一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序72,所述计算机程序72被处理器70执行时实现可实现上述各个方法实施例中的步骤。
本申请实施例提供了一种计算机程序产品,当计算机程序产品在移动终端上运行时,使得移动终端执行时实现可实现上述各个方法实施例中的步骤。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本申请实现上述实施例方法中的全部或部分流程,可以通过计算机程序72来指令相关的硬件来完成,所述的计算机程序72可存储于一计算机可读存储介质中,该计算机程序72在被处理器70执行时,可实现上述各个方法实施例的步骤。其中,所述计算机程序72包括计算机程序代码,所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质至少可以包括:能够将计算机程序代码携带到终端设备的任何实体或装置、记录介质、计算机存储器、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、电载波信号、电信信号以及软件分发介质。例如U盘、移动硬盘、磁碟或者光盘等。在某些司法管辖区,根据立法和专利实践,计算机可读介质不可以是电载波信号和电信信号。
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述或记载的部分,可以参见其它实施例的相关描述。
本领域普通技术人员可以意识到,结合本文中所公开的实施例描述的各示例的单元及算法步骤,能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行,取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能,但是这种实现不应认为超出本申请的范围。
在本申请所提供的实施例中,应该理解到,所揭露的装置/网络设备和方法,可以通过其它的方式实现。例如,以上所描述的装置/网络设备实施例仅仅是示意性的,例如,所述模块或单元的划分,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讯连接可以是通过一些接口,装置或单元的间接耦合或通讯连接,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。
以上所述实施例仅用以说明本申请的技术方案,而非对其限制;尽管参照前述实施例对本申请进行了详细的说明,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申请各实施例技术方案的精神和范围,均应包含在本申请的保护范围之内。

Claims (17)

  1. 一种车辆转向控制方法,其特征在于,包括:
    通过安装在车头上的加速度传感器获取车头的转向角度值;
    根据所述转向角度值和转向角度阈值确定转向控制参数;
    根据所述转向控制参数对车辆的左转指示灯和右转指示灯进行控制。
  2. 根据权利要求1所述的车辆转向控制方法,其特征在于,所述转向角度阈值获取方法包括:
    通过安装在车辆上的测速传感器获取车辆的速度值;
    根据所述速度值确定所述转向角度阈值。
  3. 根据权利要求1或2所述的车辆转向控制方法,其特征在于,所述转向控制参数包括转向开启控制参数,所述根据所述转向角度值和转向角度阈值确定转向控制参数,包括:
    比较所述转向角度值的绝对值和所述转向角度阈值的大小;
    在所述转向角度值的绝对值大于所述转向角度阈值的情况下,根据所述转向角度值与零的大小关系生成所述转向开启控制参数;所述转向开启控制参数用于控制所述左转指示灯或所述右转指示灯开启。
  4. 根据权利要求3所述的车辆转向控制方法,其特征在于,所述转向控制参数还包括转向关闭控制参数,所述根据所述转向角度值和转向角度阈值确定转向控制参数,还包括:
    在所述转向角度值的绝对值小于所述转向角度阈值的情况下,生成转向关闭控制参数;所述转向关闭控制参数用于控制所述左转指示灯和所述右转指示灯关闭。
  5. 根据权利要求3所述的车辆转向控制方法,其特征在于,所述转向开启控制参数包括第一转向开启控制参数和第二转向开启控制参数,所述根据所述转向角度值与零的大小关系生成所述转向开启控制参数,包括:
    当所述转向角度值大于零时,生成所述第一转向开启控制参数;所述第一转向开启控制参数用于控制所述左转指示灯开启,控制所述右转指示灯关闭;
    当所述转向角度值小于零时,生成所述第二转向开启控制参数;所述第二转向开启控制参数用于控制所述左转指示灯关闭,控制所述右转指示灯开启。
  6. 根据权利要求5所述的车辆转向控制方法,其特征在于,所述根据所述转向角度值与零的大小关系生成转向开启控制参数,还包括:
    生成提示音控制参数,所述提示音控制参数用于在所述左转指示灯点亮或所述右转指示灯开启时,控制喇叭发出提示音。
  7. 一种车辆转向控制系统,其特征在于,包括加速度传感器、左转指示灯、右转指示灯和控制器,所述加速度传感器安装在车辆的车头内,所述控制器安装在所述车辆上,所述加速度传感器与所述控制器连接;
    所述加速度传感器用于采集车头的转向角度值,并将采集的转向角度值传送至所述控制器,所述控制器用于根据所述转向角度值和转向角度阈值确定转向控制参数,并根据所述转向控制参数对车辆的左转指示灯和右转指示灯进行控制。
  8. 根据权利要求7所述的车辆转向控制系统,其特征在于,所述车辆转向控制系统还包括安装在车头的显示器;
    所述显示器与所述控制器连接,所述显示器用于根据所述控制器的指令显示信息。
  9. 根据权利要求7所述的车辆转向控制系统,其特征在于,所述车辆转向控制系统还包括安装在车辆上的喇叭;
    所述喇叭与所述控制器连接,所述喇叭用于根据所述控制器的指令发出提示音。
  10. 一种车辆转向控制装置,其特征在于,包括:
    获取模块,用于通过安装在车头上的加速度传感器获取车头的转向角度值;
    转向控制参数确定模块,用于根据所述转向角度值和转向角度阈值确定转向控制参数;
    控制模块,用于根据所述转向控制参数对车辆的左转指示灯和右转指示灯进行控制。
  11. 根据权利要求10所述的车辆转向控制装置,其特征在于,所述转向控制参数确定模块包括速度值获取单元和转向角度阈值确定单元;
    速度值获取单元,用于通过安装在车辆上的测速传感器获取车辆的速度值;
    转向角度阈值确定单元,用于根据所述速度值确定所述转向角度阈值。
  12. 根据权利要求10或11所述的车辆转向控制装置,其特征在于,所述转向控制参数包括转向开启控制参数,所述转向控制参数确定模块还包括比较单元和第一控制参数生成单元;
    比较单元,用于比较所述转向角度值的绝对值和所述转向角度阈值的大小;
    第一控制参数生成单元,用于在所述转向角度值的绝对值大于所述转向角度阈值的情况下,根据所述转向角度值与零的大小关系生成所述转向开启控制参数;所述转向开启控制参数用于控制所述左转指示灯或所述右转指示灯开启。
  13. 根据权利要求12所述的车辆转向控制装置,其特征在于,所述转向控制参数还包括转向关闭控制参数,所述转向控制参数确定模块还包括第二控制参数生成单元;
    第二控制参数生成单元,用于在所述转向角度值的绝对值小于所述转向角度阈值的情况下,生成转向关闭控制参数;所述转向关闭控制参数用于控制所述左转指示灯和所述右转指示灯关闭。
  14. 根据权利要求12所述的车辆转向控制装置,其特征在于,所述转向开启控制参数包括第一转向开启控制参数和第二转向开启控制参数,所述第一控制参数生成单元包括第一子控制参数生成单元和第二子控制参数生成单元;
    第一子控制参数生成单元,用于当所述转向角度值大于零时,生成所述第一转向开启控制参数;所述第一转向开启控制参数用于控制所述左转指示灯开启,控制所述右转指示灯关闭;
    第二子控制参数生成单元,用于当所述转向角度值小于零时,生成所述第二转向开启控制参数;所述第二转向开启控制参数用于控制所述左转指示灯关闭,控制所述右转指示灯开启。
  15. 根据权利要求14所述的车辆转向控制装置,其特征在于,所述第一控制参数生成单元还包括第三子控制参数生成单元;
    第三子控制参数生成单元,用于生成提示音控制参数,所述提示音控制参数用于在所述左转指示灯点亮或所述右转指示灯开启时,控制喇叭发出提示音。
  16. 一种终端设备,包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序,其特征在于,所述处理器执行所述计算机程序时实现如权利要求1至6任一项所述的车辆转向控制方法。
  17. 一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,其特征在于,所述计算机程序被处理器执行时实现如权利要求1至6任一项所述的车辆转向控制方法。
PCT/CN2020/088913 2020-05-07 2020-05-07 车辆转向控制方法、系统、装置、终端设备及存储介质 WO2021223140A1 (zh)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1911708A (zh) * 2006-08-29 2007-02-14 吴波 一种车辆转向自动提示装置
CN201165213Y (zh) * 2008-01-11 2008-12-17 深圳市赛格导航科技股份有限公司 汽车转向灯自动控制系统
JP2012051491A (ja) * 2010-09-02 2012-03-15 Panasonic Corp 旋回方向指示装置
CN107264689A (zh) * 2017-07-28 2017-10-20 加驰(厦门)智能科技有限公司 智能控制装置及其智能自行车及其控制方法
CN210027700U (zh) * 2019-05-20 2020-02-07 深圳市锐点机器人科技有限公司 转向提示组件

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1911708A (zh) * 2006-08-29 2007-02-14 吴波 一种车辆转向自动提示装置
CN201165213Y (zh) * 2008-01-11 2008-12-17 深圳市赛格导航科技股份有限公司 汽车转向灯自动控制系统
JP2012051491A (ja) * 2010-09-02 2012-03-15 Panasonic Corp 旋回方向指示装置
CN107264689A (zh) * 2017-07-28 2017-10-20 加驰(厦门)智能科技有限公司 智能控制装置及其智能自行车及其控制方法
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