WO2022082404A1 - Procédé d'invite d'informations, procédé de commande de véhicule, et appareil associé - Google Patents

Procédé d'invite d'informations, procédé de commande de véhicule, et appareil associé Download PDF

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Publication number
WO2022082404A1
WO2022082404A1 PCT/CN2020/122038 CN2020122038W WO2022082404A1 WO 2022082404 A1 WO2022082404 A1 WO 2022082404A1 CN 2020122038 W CN2020122038 W CN 2020122038W WO 2022082404 A1 WO2022082404 A1 WO 2022082404A1
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WIPO (PCT)
Prior art keywords
gear
vehicle
information
user
parking
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PCT/CN2020/122038
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English (en)
Chinese (zh)
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WO2022082404A9 (fr
Inventor
贾浩波
方学伟
胡峰伟
刘利梁
房保金
施尚慧
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华为技术有限公司
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Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to PCT/CN2020/122038 priority Critical patent/WO2022082404A1/fr
Priority to CN202080004347.7A priority patent/CN112543722A/zh
Publication of WO2022082404A1 publication Critical patent/WO2022082404A1/fr
Publication of WO2022082404A9 publication Critical patent/WO2022082404A9/fr

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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
    • B60W40/08—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 drivers or passengers
    • B60W40/09—Driving style or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84—Data processing systems or methods, management, administration

Definitions

  • the embodiments of the present application relate to the technical field of vehicles, and in particular, to a method for prompting information, a method for controlling a vehicle, and a related device.
  • the main measures to improve parking safety are the use of reversing images and prompting when the distance between vehicles is too small.
  • the embodiments of the present application provide an information prompting method, a vehicle control method, and a related device, which can remind a user to perform a correct parking operation, avoid a collision between a vehicle and an obstacle, and reduce the impact of obstacles on parking, thereby reducing the impact of obstacles on parking. Improve parking safety.
  • a first aspect of the embodiments of the present application provides a method for prompting information.
  • status information of a vehicle can be acquired in real time.
  • the state information includes vehicle state information and user state information, wherein the user state information includes the user's visual position, and the information prompting device needs to judge the vehicle speed information included in the state information, and determine the size of the vehicle speed information and the vehicle speed threshold.
  • the user's intended gear position is further determined.
  • the user's intended gear position is inconsistent with the gear position information, it means that the target driver has misoperated in parking and shifting, so the out-gear misoperation is prompted.
  • the user's visual position specifically includes a rear vision position
  • the rear vision position is any one of the vehicle's rearview mirror, the vehicle's rearview mirror, and the rear of the vehicle
  • the user's intended gear includes reversing. Therefore, when the user's visual position is the rear vision position, that is, when the user's sight is in the rear-view mirror of the vehicle, the rear-view mirror of the vehicle and the rear of the vehicle, the information prompting device can determine that the user's intended gear is the reverse gear or the rear of the vehicle.
  • the information prompting device determines that the user's intended gear is the forward gear. Secondly, when the vehicle speed information is greater than the vehicle speed threshold vehicle speed, it is considered that the vehicle is in a non-parking mode, and the information prompting device does not perform judgment and processing, and the user can continue to drive the vehicle.
  • the rear vision position is any one of the rearview mirror of the vehicle, the rearview mirror of the vehicle, and the rear of the vehicle, that is, the user is looking at the rearview of the vehicle. It can be determined that the user has the intention of reversing or parking, so it can be determined that the user's intended gear is the reverse gear or the parking gear, which improves the accuracy of determining the user's intended gear and improves the feasibility of the plan.
  • gear information when the gear information includes a reverse gear and a parking gear, when the gear information is reverse gear, the user intends the gear to be a forward gear, and the gear information is not parked after the vehicle is stopped When the gear is shifted, a gear misoperation prompt will be issued.
  • the gear information is the reverse gear, that is, the vehicle is ready to start parking, and the gear is not switched from the reverse gear to the parking gear after the parking is completed, that is, the gear information after parking is not the parking gear, or the In reverse gear
  • the gear information after parking is not the parking gear
  • the gear information after parking is not the parking gear
  • the In reverse gear if the user's sight is not in the rearview mirror of the vehicle, the rearview mirror of the vehicle and the rear of the vehicle, for example, the user's sight is directly in front of the vehicle, the user may only temporarily stop and need to drive forward again, so you can It is determined that the user's intended gear is the forward gear, that is, the user's intended gear is inconsistent with the gear information, and at this time, the information prompting device issues a gear misoperation prompt.
  • the gear position information is specifically limited to be reverse gear, and the gear position intended by the user is forward gear, that is, the gear position and gear position information intended by the user, and the gear position information after the vehicle is stopped is further defined as not being a parking gear,
  • the user may only need to drive forward again after parking temporarily, so after parking, they should continue to move forward instead of reversing, so as to issue a gear misoperation prompt, thereby improving the feasibility of this solution.
  • the vehicle state information further includes steering wheel angle direction information
  • the gear position information includes forward gear and parking gear. Therefore, when the gear position information is a forward gear, and the change amount of the steering wheel angle direction information When the value is greater than or equal to the absolute value of the turning angle, and the gear information after the vehicle is stopped is not the parking gear, and the user intended the gear to be the reverse gear or the parking gear, a gear misoperation prompt will be issued. Specifically, it is necessary to judge whether the steering wheel performs a large-scale steering operation according to the information prompting device after the vehicle is parked.
  • the vehicle When the information prompting device judges that the variation of the steering wheel is greater than or equal to the absolute value of the turning angle, the vehicle is considered to be in the parking mode at this time, and the parking mode is further judged at this time. Whether the rear gear has been switched, wherein the value range of the absolute value of the rotation angle in this embodiment is 0° to 900°, that is, covering the maximum absolute value of the rotation angle.
  • the gear information after parking is not the parking gear, or the forward gear
  • the user's sight is in the rearview mirror of the vehicle, the rearview mirror of the vehicle and At the rear of the vehicle, it can be determined that the gear position intended by the user is inconsistent with the gear position information, and the information prompting device issues a gear misoperation prompt at this time.
  • the information prompting device when the vehicle speed information is greater than the vehicle speed threshold vehicle speed, it is considered that the vehicle is in a non-parking mode, the information prompting device does not make judgments and processes, and the user can continue to drive the vehicle.
  • gear information when the gear information is reverse gear, and the user intends the gear to be reverse or park, and the gear information after the vehicle stops is park, it is determined that the vehicle is parked. car.
  • gear information when the gear information is the parking gear, the user intended gear is the reverse gear or the parking gear, and the gear information is the parking gear after the vehicle stops, it is determined that the vehicle parking is completed.
  • the user's sight is on the rear-view mirror of the vehicle, the rear-view mirror of the vehicle and the rear of the vehicle, that is, the user's intended gear is the reverse gear or the parking gear
  • the gear position is mis-operated, continue the reversing operation.
  • the gear position information is the parking gear after the vehicle stops, it can be determined that the vehicle parking is completed.
  • the conditions for completing vehicle parking are specifically limited, thereby improving the feasibility of this solution.
  • the user may only temporarily park the vehicle. Drive forward again, so it can be determined that the user's intended gear is the forward gear, that is, the user's intended gear is consistent with the gear information, that is, no gear misoperation prompt is issued, and the vehicle can be controlled to continue driving.
  • a second aspect of the embodiments of the present application provides a method for controlling a vehicle.
  • information of the vehicle is acquired, the information of the vehicle includes vehicle information and user information, the vehicle information includes parameter information and status information, and the user information is the user's corresponding response Time, state information is the state information of the vehicle at the first moment, and then calculates according to the information of the vehicle to obtain the first obstacle distance, which is the distance between the vehicle and the obstacle at the second moment, and the first obstacle distance is the distance between the vehicle and the obstacle at the second moment.
  • the difference between the second time and the first time is the reaction time, and then the braking distance is obtained by calculating according to the information of the vehicle.
  • the vehicle when the first obstacle distance is less than the range determined according to the braking distance or the relevant distance, the vehicle is controlled with different driving forces to avoid collision between the vehicle and the obstacle, thereby reducing the impact of the obstacle on parking , to further improve parking safety.
  • the state information includes a first speed, a pedal opening, gear position information, and steering wheel angle information. Therefore, it can be calculated according to the pedal opening and the first speed to obtain the estimated output torque, and then calculated according to the estimated output torque and parameter information to obtain the estimated acceleration, and finally, according to the gear information and steering wheel angle information, the estimated output torque can be estimated Acceleration and reaction time are calculated to obtain the first obstacle distance.
  • the method of determining the first obstacle distance through the first speed, the pedal opening, the gear position information and the steering wheel angle information is specifically limited, so as to improve the feasibility of this solution.
  • the parameter information includes the weight corresponding to the vehicle, so the calculation can be performed according to the estimated output torque to obtain the third driving force corresponding to the vehicle at the first moment, and then according to the third driving force and the vehicle The corresponding weight is calculated to obtain the estimated acceleration.
  • the method of determining the estimated acceleration by estimating the output torque and the corresponding weight of the vehicle is specifically limited, so as to improve the feasibility of this solution.
  • the second obstacle distance is determined, and the second obstacle distance is determined.
  • the obstacle distance is the distance between the vehicle and the obstacle at the first moment, and finally the first obstacle distance is obtained by calculating according to the second obstacle distance, the estimated acceleration and the reaction time.
  • the parameter information also includes vehicle attributes, so the calculation can be performed according to the first speed, the estimated acceleration and the reaction time to obtain the second speed, where the second speed is the vehicle speed at the second moment. speed, and then determine the braking deceleration according to the vehicle attribute, and calculate according to the braking deceleration and the second speed to obtain the braking distance.
  • the braking deceleration is determined by vehicle attributes. Since the vehicle attributes are different, the braking deceleration is also different. Therefore, the braking distance determined according to the braking deceleration and the second speed can correspond to different vehicles, thereby improving the The accuracy of this scheme.
  • the first driving force is 0, that is, there is no power output, and the output torque of the vehicle is also 0 at this time.
  • the collision between the vehicle and the obstacle can be avoided, thereby improving the parking safety.
  • the second driving force is determined according to the third driving force
  • the third driving force is the driving force corresponding to the vehicle at the first moment.
  • the first braking distance is 1.5 times the braking distance L b
  • the braking range is 1.5 times the braking distance L b to 2 times the braking distance L b
  • the second braking distance is 2 times the braking distance L b . Therefore, the specific second braking distance needs to be flexibly determined according to the actual situation of the first braking distance and the braking range.
  • an information prompting device includes:
  • an acquisition module to acquire state information of the vehicle, wherein the state information includes vehicle state information and user state information, the vehicle state information includes gear position information and vehicle speed information, and the user state information includes the user's visual position;
  • the determining module is used to determine the user's intended gear position according to the user's visual position when the vehicle speed information is less than the vehicle speed threshold;
  • the prompting module is used to issue a prompt for incorrect operation of the gear when the intended gear of the user is inconsistent with the gear information.
  • the determining module is specifically used to determine that the user's intended gear is the reverse gear or the parking gear when the user's visual position is the rear visual position;
  • the gear information includes a reverse gear and a parking gear
  • the prompt module is specifically used to issue a gear misoperation prompt when the gear information is reverse gear, the user intended gear is forward gear, and the gear information is not parking gear after the vehicle stops.
  • the vehicle state information further includes steering wheel angle direction information
  • Gear information includes forward gear and parking gear
  • the prompt module is specifically used when the gear information is forward gear, and the change amount of the steering wheel angle direction information is greater than or equal to the absolute value of the steering angle, and the gear information after the vehicle is stopped is not the parking gear, and the user intended the gear to be reverse. Or when the parking gear is in, a gear misoperation prompt will be issued.
  • the information prompting device further includes a control module
  • the control module is configured to control the vehicle to continue driving when the vehicle speed information is greater than or equal to the vehicle speed threshold.
  • the determining module is further configured to be used when the gear information is reverse gear, the user intended gear is reverse gear or parking gear, and the gear information after the vehicle stops is parking gear , the vehicle parking is determined to be completed;
  • the determining module is further configured to determine that the vehicle is parked when the gear information is the parking gear, the user intended gear is the reverse gear or the parking gear, and the gear information is the parking gear after the vehicle stops.
  • control module is further configured to control the vehicle to continue driving when the gear information is a forward gear and the user's intended gear is a forward gear.
  • a vehicle control device is provided.
  • the acquisition module is used to acquire vehicle information, wherein the vehicle information includes vehicle information and user information, the vehicle information includes parameter information and state information, the user information is the response time corresponding to the user, and the state information is the state of the vehicle at the first moment information;
  • the calculation module is used to calculate according to the information of the vehicle to obtain the first obstacle distance, wherein the first obstacle distance is the distance between the vehicle and the obstacle at the second moment, and the difference between the second moment and the first moment is Reaction time;
  • the calculation module is also used to calculate according to the information of the vehicle to obtain the braking distance
  • a determining module configured to determine to control the vehicle with a first driving force when the first obstacle distance is less than the first braking distance, wherein the first braking distance and the braking distance have an associated relationship;
  • the state information includes first speed, pedal opening, gear position information, and steering wheel angle information
  • the parameter information includes a target weight corresponding to the vehicle
  • a calculation module which is specifically configured to perform calculation according to the estimated output torque to obtain the third driving force corresponding to the vehicle at the first moment;
  • the calculation module is specifically configured to perform trajectory calculation by using gear position information and steering wheel angle information to obtain an estimated driving trajectory
  • a second obstacle distance is determined, wherein the second obstacle distance is the distance between the vehicle and the obstacle at the first moment;
  • the parameter information further includes vehicle attributes
  • a calculation module which is specifically configured to calculate according to the first speed, the estimated acceleration and the reaction time to obtain a second speed, where the second speed is the speed of the vehicle at the second moment;
  • the first driving force is zero.
  • a program is provided, which, when executed by a processor, is used to execute any method in the first aspect or the second aspect and possible implementations thereof.
  • a program product comprising: program code, when the program code is run by the communication unit, processing unit or transceiver, and processor of the information prompting device and the vehicle control device, the information The prompting device and the vehicle control device perform any method of the first aspect or the second aspect and possible embodiments thereof.
  • a chip system including: the chip system includes at least one processor and a communication interface, the chip system may further include a memory, the memory, the communication interface, and the at least one processor
  • the processors are interconnected by wires, and instructions are stored in the at least one memory; the instructions are executed by the processor to perform any method in the first aspect or the second aspect and possible implementations thereof.
  • a computer-readable storage medium stores a program, and the program causes the parking device to execute any one of the first aspect or the second aspect and possible implementations thereof. a method.
  • the vehicle speed information is less than the vehicle speed threshold
  • the user's intended gear is determined, and the user's intended gear is inconsistent with the gear information.
  • the error occurs, it means that the target driver has misoperated in parking and shifting, so a gear misoperation prompt is issued to remind the user to perform the correct parking operation, thereby improving the parking safety.
  • the first obstacle distance and the braking distance are obtained by calculating the vehicle information. When the first obstacle distance is smaller than the range determined according to the braking distance or the relevant distance, the vehicle is controlled with different driving forces to avoid collision between the vehicle and the obstacle. , thereby reducing the impact of obstacles on parking and further improving parking safety.
  • FIG. 1 is a schematic flowchart of a method for information prompting and a method for vehicle control in an embodiment of the application;
  • FIG. 2 is a schematic diagram of an embodiment of a method for prompting information in an embodiment of the present application
  • FIG. 3 is a schematic diagram of an embodiment of a vehicle control method in an embodiment of the application.
  • FIG. 4 is a schematic diagram of an embodiment of an information prompting device in an embodiment of the present application.
  • FIG. 5 is a schematic diagram of an embodiment of a vehicle control device in an embodiment of the present application.
  • the embodiments of the present invention can be applied to parking scenarios, and are specifically divided into two methods, one is an information prompting method , used to identify the wrong operation of the gear position and prompt the wrong operation of the gear position, a method of vehicle control, which is used to determine the accident risk level evaluation after the wrong operation of the gear position, and the misoperation of high risk level and low risk level. Take appropriate protective measures.
  • the method flow of the embodiment of the present invention will be described first. The method flow is shown in Figure 1, which is a schematic flow chart of the method for information prompting and the method for vehicle control in the embodiment of the present application.
  • the state information of the vehicle is first obtained, and whether the vehicle is parked is determined by the state information of the vehicle, and when the vehicle is parked, it is further determined whether the user driving the vehicle changes the gear to the parking gear, and if not, then The user has made a wrong operation in the manual, and the gear wrong operation prompt will be given at this time.
  • vehicle information is obtained. If a gear misoperation prompt is received, it is judged whether there is a potential accident risk. If so, the corresponding risk level is obtained by calculating the vehicle information. If the risk level is high, there is no power. If the risk level is low, the power output will be limited, the vehicle speed will be reduced, and the parking safety will be improved.
  • Common vehicle gears can include neutral-N gear (neutral), parking gear-P gear (parking), reverse gear-R gear (reverse), forward gear-D gear (drive) and low gear-L gear (low) ,
  • the vehicle gears may also include, but are not limited to, a sport mode-S gear (sport), an overdrive gear-OD gear (OverDrive), and a snow gear (Snowfield), etc.
  • the vehicle gears include a forward gear, a reverse gear and a parking gear as an example for introduction, wherein the forward gear specifically includes a D gear, an S gear and an OD gear.
  • the specific vehicle gear should be flexibly determined according to the actual situation of the vehicle.
  • embodiments of the present application provide an information prompting method and a vehicle control method, which are used to improve parking safety.
  • FIG. 2 is a schematic diagram of an embodiment of the information prompting method in the embodiment of the present application. As shown in the figure, the information prompting method includes the following step.
  • the information prompting device can acquire the state information of the vehicle in real time.
  • the state information includes vehicle state information and user state information, wherein the user state information includes a user's visual position, and the user's visual position includes a rear-view position, and the rear-view position is the rear-view mirror of the vehicle, the rear-view mirror of the vehicle, and the rear-view mirror of the vehicle. any of the rear.
  • the vehicle state information includes gear position information and vehicle speed information. In practical applications, the vehicle state information may also include steering wheel angle direction information.
  • the steering wheel angle direction information can generally be turned left or right for two and a half turns, that is, ⁇ 900°. There are differences in the steering wheel angle direction information between different vehicles.
  • the steering wheel angle direction information Taking being within the range of ⁇ 900° as an example, the specific steering wheel angle and direction information needs to be flexibly determined according to the actual situation of the vehicle.
  • the information prompting device needs to judge the vehicle speed information included in the status information, determine the size of the vehicle speed information and the vehicle speed threshold, and further determine the user intended gear when the vehicle speed information is less than the vehicle speed threshold. Secondly, when the vehicle speed information is greater than the vehicle speed threshold vehicle speed, it is considered that the vehicle is in a non-parking mode, and the information prompting device does not perform judgment and processing, and the user can continue to drive the vehicle.
  • the vehicle speed threshold value of 15 kilometers per hour (kilometers per hour, kph) is used as an example for description.
  • the vehicle speed threshold value may also be a vehicle speed such as 12kph or 20kph. It is flexibly determined according to the actual situation of the vehicle, and will not be repeated here. Therefore, if the vehicle speed information indicates that the vehicle speed is 12kph, the information prompting device continues to perform subsequent determination and processing.
  • the user's intended gear includes reverse gear and forward gear. Therefore, when the user's visual position is the rear vision position, that is, when the user's sight is in the rearview mirror of the vehicle, the rearview mirror of the vehicle and the rear of the vehicle, the information prompting device can When it is determined that the user's intended gear is the reverse gear or the parking gear, and the user's visual position is not the rear vision position, for example, the user's line of sight is directly in front of the vehicle, the information prompting device determines that the user's intended gear is the forward gear.
  • the gear information includes forward gear, reverse gear, and parking gear
  • the user-intended gear includes reverse gear and forward gear
  • the first case is that when the gear information is the parking gear, that is, the vehicle has been parked. If the user's line of sight is not in the rearview mirror of the vehicle, the rearview mirror of the vehicle and the rear of the vehicle, for example, the user's line of sight is facing the front of the vehicle. , it can be determined that the user's intended gear is the forward gear, that is, the user's intended gear is inconsistent with the gear information, and at this time, the information prompting device issues a gear misoperation prompt.
  • the user's line of sight is on the rearview mirror of the vehicle, the rearview mirror of the vehicle and the rear of the vehicle, that is, the user's intended gear is the reverse gear or the parking gear, it can be determined that the user's intended gear is consistent with the gear information, and will not be issued.
  • Gear misoperation prompt and confirm to complete the vehicle parking.
  • the second situation is that when the gear information is reverse gear, that is, the vehicle is ready to start parking, and the gear is not switched from reverse to parking after parking, that is, the gear information after parking is not parked. If the user's line of sight is not in the rear-view mirror of the vehicle, the rear-view mirror of the vehicle and the rear of the vehicle, for example, the user's line of sight is facing the front of the vehicle, the user may only stop temporarily and need to drive forward again. Therefore, it can be determined that the user's intended gear is the forward gear, that is, the user's intended gear is inconsistent with the gear information, and at this time, the information prompting device issues a gear misoperation prompt.
  • the gear position information is the parking gear after the vehicle stops, it can be determined that the vehicle parking is completed.
  • the third situation is that when the gear information is a forward gear, the information prompting device needs to determine whether the steering wheel performs a large steering operation according to the information prompting device after the vehicle is parked. At this time, it is considered that the vehicle is in the parking mode, and it is further judged whether the gear has been switched after parking.
  • the range of the absolute value of the turning angle in this embodiment is 0° to 900°, that is, covering the maximum absolute value of the turning angle.
  • the gear information after parking is not the parking gear, or the forward gear
  • the user's sight is in the rearview mirror of the vehicle, the rearview mirror of the vehicle and At the rear of the vehicle, it can be determined that the gear position intended by the user is inconsistent with the gear position information, and the information prompting device issues a gear misoperation prompt at this time.
  • the user may only stop temporarily and need to drive forward again, so it can be determined that the user
  • the intended gear is a forward gear, that is, the user intended gear is consistent with the gear information, that is, no gear misoperation prompt is issued, and the vehicle can be controlled to continue driving.
  • FIG. 3 is a schematic diagram of an embodiment of the vehicle control method in the embodiment of the present application. As shown in the figure, the vehicle control method includes the following steps .
  • the vehicle control device needs to acquire vehicle information in real time.
  • the information includes vehicle information and user information
  • the user information is the reaction time corresponding to the user
  • the state information is the state information of the vehicle at the first moment.
  • the vehicle information includes parameter information and state information.
  • the parameter information includes but is not limited to the corresponding weight of the vehicle and vehicle attributes
  • the state information includes but is not limited to the first speed, pedal opening, gear position information and steering wheel angle information.
  • the first moment is the initial moment of this embodiment of the present application.
  • the steering wheel angle information in this embodiment is the full angle range, that is, take The value range is -900° to +900°, and secondly, the value range of the pedal opening in this embodiment is 0% to 100%.
  • the vehicle control device can obtain the estimated output torque by performing calculation according to the pedal opening degree and the first speed according to the information. Specifically, it can be calculated by the following formula:
  • T is used to indicate the estimated output torque
  • V T1 is used to indicate the first speed
  • ⁇ is used to indicate the pedal opening.
  • the vehicle control device performs calculation according to the estimated output torque, and can obtain the third driving force corresponding to the vehicle at the first moment. Specifically, it can be calculated by the following formula:
  • T is used to indicate the estimated output torque
  • F is used to indicate the third driving force
  • the vehicle control device performs calculation according to the third driving force and the corresponding weight of the vehicle, so as to obtain the estimated acceleration. Specifically, it can be calculated by the following formula:
  • F is used to indicate the third driving force
  • m is used to indicate the corresponding weight of the vehicle
  • a is used to indicate the estimated acceleration
  • the trajectory calculation is performed through the gear position information and the steering wheel angle information to obtain the estimated driving trajectory, and when there is an obstacle on the estimated driving trajectory, the distance between the vehicle and the obstacle at the first moment is determined, that is, the second is determined. obstacle distance. Then, according to the second obstacle distance, the estimated acceleration and the reaction time are calculated to obtain the first obstacle distance. Specifically, it can be calculated by the following formula:
  • a is used to indicate the estimated acceleration
  • L T1 is used to indicate the second obstacle distance
  • t is used to indicate the reaction time
  • L T2 is used to indicate the first obstacle distance.
  • the vehicle corresponds to a weight of 1500kg
  • the first speed is 10kph
  • the pedal opening is 30%
  • the user's reaction time is 0.5 seconds (s)
  • the determined second obstacle distance is 2 meters as a example to illustrate.
  • the estimated output torque can be obtained as 30 Nm (N m).
  • the aforementioned formula (2) According to the calculation based on the estimated output torque of 30N m, the third driving force corresponding to the vehicle at the first moment can be obtained, and the third driving force is 30N.
  • the third driving force and the specific weight of 1500kg are calculated, and the estimated acceleration can be obtained, and the estimated acceleration is 2 meters per second squared (m/s 2 ).
  • the second obstacle distance is 2M
  • the above-mentioned Formula (4) according to the second obstacle distance of 5M, the estimated acceleration of 2m/s 2 and the reaction time of 1s, it can be obtained that the first obstacle distance is 1M.
  • the vehicle control device performs calculation according to the first speed, the estimated acceleration and the reaction time, and obtains the speed of the vehicle at the second moment, that is, the second speed. Specifically, it can be calculated by the following formula:
  • V T2 V T1 + ⁇ adt
  • V T1 is used to indicate the first speed
  • a is used to indicate the estimated acceleration
  • t is used to indicate the reaction time
  • V T2 is used to indicate the second speed.
  • the vehicle control device may determine the braking deceleration according to the vehicle attributes, and perform calculations according to the braking deceleration and the second speed to obtain the braking distance. Specifically, it can be calculated by the following formula:
  • V T2 is used to indicate the second speed
  • a b is used to indicate the braking deceleration
  • L b is used to indicate the braking distance.
  • the estimated acceleration is 2 m/s 2
  • the first speed is 10 kph
  • the reaction time is 1 s
  • the determined braking deceleration is 8 m/s 2 as an example for illustration.
  • the calculation is performed according to the first speed of 10kph, the estimated acceleration of 2m/s 2 and the reaction time of 1s. Since 10kph is approximately equal to 2.78m/s, the second speed can be obtained. The speed is 4.78m/s, and then the braking deceleration needs to be determined according to the vehicle attributes.
  • the braking deceleration is 8m /s2 as an example, then through the aforementioned formula (6), according to the specific 8m /s2
  • the braking deceleration, and specifically the first speed of 10kph, can brake the distance of about 0.48M.
  • the vehicle control device determines to control the vehicle with the first driving force.
  • the first braking distance has an associated relationship with the braking distance.
  • the first braking distance is 1.5 times the braking distance L b as an example for illustration.
  • the first braking distance It may also be other values such as 1.8 times the braking distance L b or 2 times the braking distance L b , and the specific first braking distance needs to be flexibly determined according to the information and the actual situation of the vehicle.
  • the braking distance L b is 1M
  • the first obstacle distance L T2 is 1 meter as an example for illustration, 1.5 times the braking distance L b is 1.5M, and the first obstacle can be determined at this time.
  • the distance L T2 is less than 1.5 times the braking distance L b , whereby it is determined that the vehicle is controlled with the first driving force.
  • the first driving force is 0, that is, there is no power output, and the output torque of the vehicle is also 0 at this time, thereby avoiding the collision of the vehicle with the obstacle and improving the parking safety. It should be understood that the foregoing examples are only used to understand this solution, and the specific manner in which the vehicle is controlled by the first driving force is not limited here, and needs to be flexibly determined according to the actual situation of the first obstacle distance and the braking distance.
  • the potential accident risk level may be estimated as medium, and the vehicle control device determines to control the vehicle with the second driving force.
  • the braking range is determined according to the braking distance.
  • the braking range is 1.5 times the braking distance L b to 2 times the braking distance L b as an example for description.
  • the braking range is It can also be 1.8 times the braking distance L b to 2.2 times the braking distance L b , or 2 times the braking distance L b to 2.5 times the braking distance L b and other value ranges.
  • the specific braking range needs to be based on the information and the vehicle. The actual situation is determined flexibly.
  • the second driving force needs to be determined according to the third driving force, that is, the second driving force is X% of the third driving force, where X is a number greater than 0 and less than 100, in this embodiment, X is 50, and
  • the third driving force is 30N as an example, that is, the second driving force is 50% of the third driving force, then the second driving force is 15N, thereby reducing the speed of the vehicle and reducing the probability of collision with obstacles. possibility to improve parking safety.
  • the foregoing examples are only used to understand this solution, and the specific manner in which the vehicle is controlled by the second driving force is not limited here, and needs to be flexibly determined according to the actual situation of the first obstacle distance and the braking distance.
  • the first obstacle distance determined in step S202 is greater than the second braking distance, it can be estimated that the potential accident risk level is low, so the power output is not limited, and the vehicle is still controlled with the third driving force.
  • the first braking distance is 1.5 times the braking distance L b
  • the braking range is 1.5 times the braking distance L b to 2 times the braking distance L b
  • the second braking distance is 2 times the braking distance L b . Therefore, the specific second braking distance needs to be flexibly determined according to the actual situation of the first braking distance and the braking range.
  • the size of the sequence numbers of the above-mentioned processes does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, and should not be implemented in the present application.
  • the implementation of the examples constitutes no limitation.
  • FIG. 4 is a schematic diagram of an embodiment of an information prompting apparatus in an embodiment of the present application.
  • the information prompting apparatus 300 includes:
  • the obtaining module 301 obtains state information of the vehicle, wherein the state information includes vehicle state information and user state information, the vehicle state information includes gear position information and vehicle speed information, and the user state information includes the user's visual position;
  • the determining module 302 is used to determine the user's intended gear position according to the user's visual position when the vehicle speed information is less than the vehicle speed threshold;
  • the prompting module 303 is configured to issue a prompt for incorrect operation of the gear when the intended gear of the user is inconsistent with the gear information.
  • the determining module 302 is specifically configured to determine that the user intended gear is the reverse gear or the parking gear when the user's visual position is the rear visual position;
  • Gear information includes forward gear and parking gear
  • the prompt module 303 is specifically used when the gear information is a forward gear, and the change amount of the steering wheel angle direction information is greater than or equal to the absolute value of the steering angle, and the gear information after the vehicle stops is not a parking gear, and the user intends that the gear is reverse. When it is in gear or park gear, a gear misoperation prompt will be issued.
  • the control module 304 is configured to control the vehicle to continue driving when the vehicle speed information is greater than or equal to the vehicle speed threshold.
  • the determining module 302 is further configured to determine that the parking of the vehicle is completed when the gear information is reverse gear, the user intended gear is reverse gear or parking gear, and the gear information is parking gear after the vehicle stops;
  • FIG. 5 is a schematic diagram of an embodiment of a vehicle control device in the embodiment of the present application.
  • the vehicle control device 400 includes:
  • the acquisition module 401 is used to acquire vehicle information, wherein the vehicle information includes vehicle information and user information, the vehicle information includes parameter information and status information, the user information is the response time corresponding to the user, and the status information is the vehicle's response time at the first moment. status information;
  • the calculation module 402 is further configured to perform calculation according to the information of the vehicle to obtain the braking distance;
  • a determining module 403 configured to determine to control the vehicle with a first driving force when the first obstacle distance is less than the first braking distance, wherein the first braking distance and the braking distance have an associated relationship;
  • the determining module 403 is further configured to determine to control the vehicle with the second driving force when the first obstacle distance is within the braking range, wherein the braking range is determined according to the braking distance.
  • the state information includes the first speed, the pedal opening, the Gear information and steering wheel angle information;
  • the calculation module 402 is specifically configured to perform calculation according to the pedal opening and the first speed to obtain the estimated output torque
  • the calculation is performed to obtain the first obstacle distance.
  • the parameter information includes a target weight corresponding to the vehicle
  • the calculation module 402 is specifically configured to perform calculation according to the estimated output torque to obtain the third driving force corresponding to the vehicle at the first moment;
  • the calculation module 402 is specifically configured to perform trajectory calculation through the gear position information and the steering wheel angle information to obtain an estimated driving trajectory
  • a second obstacle distance is determined, wherein the second obstacle distance is the distance between the vehicle and the obstacle at the first moment;
  • the estimated acceleration and the reaction time are calculated to obtain the first obstacle distance.
  • the parameter information further includes vehicle attributes
  • the calculation module 402 is specifically configured to perform calculation according to the first speed, the estimated acceleration and the reaction time to obtain the second speed, wherein the second speed is the speed of the vehicle at the second moment;
  • the braking distance is obtained by calculating according to the braking deceleration and the second speed.
  • the first driving force is 0.
  • the second driving force is determined according to the third driving force
  • the third driving force is the driving force corresponding to the vehicle at the first moment.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general purpose computer, special purpose computer, computer network, or other programmable device.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be downloaded from a website site, computer, server, or data center Transmission to another website site, computer, server or data center via wired (eg coaxial cable, optical fiber, Digital Subscriber Line, DSL) or wireless (eg infrared, wireless, microwave, etc.) means.
  • wired eg coaxial cable, optical fiber, Digital Subscriber Line, DSL
  • wireless eg infrared, wireless, microwave, etc.
  • the computer-readable storage medium may be any available medium that can be stored by a computer, or a data storage device such as a server, data center, etc., which includes one or more available media integrated.
  • the usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)), and the like.
  • the disclosed system, apparatus and method may be implemented in other manners.
  • the apparatus embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of 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 components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium.
  • the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Abstract

La présente invention concerne un procédé d'invite d'informations, un procédé de commande de véhicule et un appareil associé, appliqués à une voiture intelligente, à un véhicule à énergie nouvelle ou à un véhicule autonome. Le procédé comprenant les étapes consistant à, dans un premier temps, obtenir des informations comprenant des informations de position de rapport de vitesse, des informations de vitesse et des informations d'état d'un véhicule à un emplacement visuel d'un utilisateur (S101) ; si les informations de vitesse sont inférieures à un seuil de vitesse de véhicule, alors déterminer la position de rapport de vitesse prévue de l'utilisateur (S102) ; si la position de rapport de vitesse prévue de l'utilisateur est incohérente avec les informations de position de rapport de vitesse, indiquer qu'un conducteur cible a effectué une opération erronée de changement de rapport de vitesse de stationnement, et, par conséquent, émettre une indication d'opération erronée de position de rapport de vitesse (S103) ; rappeler à l'utilisateur une opération de stationnement correcte, améliorant ainsi la sécurité de stationnement ; puis, déterminer une première distance d'obstacle (S202) et une distance de freinage (S203) au moyen des informations du véhicule ; si la première distance d'obstacle est inférieure à une plage déterminée à partir de la distance de freinage ou d'une distance appropriée, commander le véhicule à l'aide d'une force d'entraînement différente (S204), éviter la collision du véhicule avec l'obstacle, ce qui réduit ainsi l'influence d'obstacles sur le stationnement, et améliore en outre la sécurité de stationnement.
PCT/CN2020/122038 2020-10-20 2020-10-20 Procédé d'invite d'informations, procédé de commande de véhicule, et appareil associé WO2022082404A1 (fr)

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CN202080004347.7A CN112543722A (zh) 2020-10-20 2020-10-20 一种信息提示的方法、车辆控制的方法以及相关装置

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