CN109624978B - Vehicle and adaptive cruise method and device thereof - Google Patents
Vehicle and adaptive cruise method and device thereof Download PDFInfo
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- CN109624978B CN109624978B CN201811628476.4A CN201811628476A CN109624978B CN 109624978 B CN109624978 B CN 109624978B CN 201811628476 A CN201811628476 A CN 201811628476A CN 109624978 B CN109624978 B CN 109624978B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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Abstract
The invention discloses a vehicle and a self-adaptive cruise method and a self-adaptive cruise device thereof, wherein the method comprises the following steps: acquiring sound information in the surrounding environment of the vehicle, which is acquired by sound acquisition devices at different positions on the vehicle; determining position information between a target object and the vehicle according to the sound information acquired by each sound acquisition device; and performing self-adaptive cruise control on the vehicle according to the position information. When the method is used for detecting other vehicles in the surrounding environment of the vehicle, the interference of other vehicles is avoided, the detection accuracy is high, and the safety of the self-adaptive cruise of the vehicle is improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle and an adaptive cruise method and device thereof.
Background
In the related art, the adaptive cruise control method of the vehicle adopts radar to detect other vehicles in the surrounding environment of the vehicle. If a vehicle is in front of the vehicle, controlling the vehicle to enter a tracking front vehicle mode; and if no vehicle exists in front of the vehicle, controlling the vehicle to enter a constant-speed cruise mode. The radar of a vehicle detects other vehicles in the surrounding environment of the vehicle by transmitting radar waves and receiving reflected radar waves. When more vehicles exist around the vehicle, radar waves transmitted and received by the radar on the vehicle are easily interfered by radar waves transmitted by other surrounding vehicles, so that detection errors occur, and the driving safety of the vehicle is seriously influenced.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide an adaptive cruise control method for a vehicle, which is free from interference of other vehicles when detecting other vehicles in the surrounding environment of the vehicle, has high detection accuracy, and improves safety of adaptive cruise control of the vehicle.
A second object of the present invention is to provide an adaptive cruise apparatus for a vehicle.
A third object of the present invention is to provide a vehicle.
A fourth object of the present invention is to provide an electronic apparatus.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides an adaptive cruise method for a vehicle, including:
acquiring sound information in the surrounding environment of the vehicle, which is acquired by sound acquisition devices at different positions on the vehicle;
determining position information between a target object and the vehicle according to the sound information acquired by each sound acquisition device;
and performing self-adaptive cruise control on the vehicle according to the position information.
According to an embodiment of the present invention, the determining position information between the target object and the host vehicle includes:
acquiring the distance between each sound acquisition device and the target object, wherein the number of the sound acquisition devices is at least three;
and determining the relative position between the target object and the vehicle according to the distance between the sound acquisition device and the target object.
According to an embodiment of the present invention, the determining the relative position between the target object and the host vehicle according to the distance between the sound collection device and the target object includes:
constructing a first triangle by taking the positions of the target object, a first sound acquisition device and a second sound acquisition device in the sound acquisition devices as vertexes;
constructing a second triangle by taking the positions of the target object, one sound acquisition device in the sound acquisition devices and a third sound acquisition device as vertexes;
based on a trigonometric function relationship and the distance between the sound collection device and the target object, acquiring a first distance from a vertex corresponding to the position of the target object to the bottom edge central point of the first triangle and a second distance from the vertex corresponding to the position of the target object to the bottom edge central point of the second triangle respectively;
and determining whether the target object is positioned in front of the vehicle according to the magnitude relation between the first distance and the second distance and the setting position of the third sound acquisition device on the vehicle.
According to one embodiment of the present invention, the determining whether the target object is located in front of the host vehicle includes:
if the first distance is greater than the second distance and the third sound collection device is arranged on one side, close to the front end of the vehicle, of a connecting line between the first sound collection device and the second sound collection device, it is determined that the target object is in front of the vehicle;
and if the first distance is smaller than the second distance and the third sound acquisition device is arranged on one side of a connecting line between the first sound acquisition device and the second sound acquisition device, which is close to the rear end of the vehicle, determining that the target object is positioned in front of the vehicle.
According to an embodiment of the invention, the method further comprises:
acquiring the relative distance between the target object and the workshop according to the acquired distance between each sound acquisition device and the target object;
and carrying out self-adaptive cruise control on the vehicle according to the relative distance and the relative position.
According to an embodiment of the present invention, the acquiring the relative distance between the target object and the local vehicle includes:
based on a trigonometric function relationship, a fourth distance between a first sound collecting device in the sound collecting device and the target object and a fifth distance between a second sound collecting device in the sound collecting device and the target object, the distance from a vertex corresponding to the position of the target object to the center point of the vehicle is obtained, and the distance is used as the relative distance between the target object and the vehicle.
According to an embodiment of the present invention, the acquiring a distance between each of the sound collection devices and the target object includes:
aiming at each sound acquisition device, acquiring a time interval between two adjacent voiceprint characteristics in sound information acquired by the sound acquisition device;
and acquiring the distance between the target object and the sound acquisition device according to the time interval.
According to an embodiment of the present invention, when there are two or more pieces of sound information in the surrounding environment of the host vehicle, the acquiring a time interval between two adjacent voiceprint features in the sound information acquired by the sound acquisition device includes:
aiming at each voiceprint feature currently received, comparing the voiceprint feature currently received with each voiceprint feature previously received respectively, and determining the voiceprint feature previously received which belongs to the same sound information with the voiceprint feature currently received;
determining the time interval according to the currently received voiceprint feature and the previously received voiceprint feature belonging to the same voice message.
The embodiment of the invention provides a self-adaptive cruising method of a vehicle, which collects sound information in the surrounding environment of the vehicle through a sound collecting device on the vehicle; further, position information between the target object and the vehicle is determined based on the sound information, and the vehicle is subjected to adaptive cruise control based on the position information. The method determines the position information between the vehicle and the target object according to the sound information, is not interfered by other vehicles, has high detection accuracy and improves the safety of the self-adaptive cruise of the vehicle.
An embodiment of a second aspect of the present invention provides an adaptive cruise apparatus for a vehicle, the apparatus comprising:
the acquisition module is used for acquiring sound information in the surrounding environment of the vehicle, which is acquired by sound acquisition devices at different positions on the vehicle;
the determining module is used for determining the position information between the target object and the vehicle according to the sound information acquired by each sound acquisition device;
and the control module is used for carrying out self-adaptive cruise control on the vehicle according to the position information.
According to an embodiment of the invention, the determining module is further configured to:
acquiring the distance between each sound acquisition device and the target object, wherein the number of the sound acquisition devices is at least three;
and determining the relative position between the target object and the vehicle according to the distance between the sound acquisition device and the target object.
According to an embodiment of the invention, the determining module is further configured to:
constructing a first triangle by taking the positions of the target object, a first sound acquisition device and a second sound acquisition device in the sound acquisition devices as vertexes;
constructing a second triangle by taking the positions of the target object, one sound acquisition device in the sound acquisition devices and a third sound acquisition device as vertexes;
based on a trigonometric function relationship and the distance between the sound collection device and the target object, acquiring a first distance from a vertex corresponding to the position of the target object to the bottom edge central point of the first triangle and a second distance from the vertex corresponding to the position of the target object to the bottom edge central point of the second triangle respectively;
and determining whether the target object is positioned in front of the vehicle according to the magnitude relation between the first distance and the second distance and the setting position of the third sound acquisition device on the vehicle.
According to an embodiment of the invention, the determining module is further configured to:
if the first distance is greater than the second distance and the third sound collection device is arranged on one side, close to the front end of the vehicle, of a connecting line between the first sound collection device and the second sound collection device, it is determined that the target object is in front of the vehicle;
and if the first distance is smaller than the second distance and the third sound acquisition device is arranged on one side of a connecting line between the first sound acquisition device and the second sound acquisition device, which is close to the rear end of the vehicle, determining that the target object is positioned in front of the vehicle.
According to an embodiment of the invention, the determining module is further configured to:
acquiring the relative distance between the target object and the workshop according to the acquired distance between each sound acquisition device and the target object;
the control module is further configured to:
and carrying out self-adaptive cruise control on the vehicle according to the relative distance and the relative position.
According to an embodiment of the invention, the determining module is further configured to:
based on a trigonometric function relationship, a fourth distance between a first sound collecting device in the sound collecting device and the target object and a fifth distance between a second sound collecting device in the sound collecting device and the target object, the distance from a vertex corresponding to the position of the target object to the center point of the vehicle is obtained, and the distance is used as the relative distance between the target object and the vehicle.
According to an embodiment of the invention, the determining module is further configured to:
aiming at each sound acquisition device, acquiring a time interval between two adjacent voiceprint characteristics in sound information acquired by the sound acquisition device;
and acquiring the distance between the target object and the sound acquisition device according to the time interval.
According to an embodiment of the present invention, when there are two or more sound information in the surrounding environment of the host vehicle, the determining module is further configured to:
aiming at each voiceprint feature currently received, comparing the voiceprint feature currently received with each voiceprint feature previously received respectively, and determining the voiceprint feature previously received which belongs to the same sound information with the voiceprint feature currently received;
determining the time interval according to the currently received voiceprint feature and the previously received voiceprint feature belonging to the same voice message.
According to the self-adaptive cruise device of the vehicle, the sound information in the surrounding environment of the vehicle is acquired by the sound acquisition device on the vehicle through the acquisition module; further, the determining module determines the position information of the target object and the workshop according to the sound information; then, the control module performs adaptive cruise control on the vehicle according to the position information. The method determines the position information between the vehicle and the target object according to the sound information, is not interfered by other vehicles, has high detection accuracy and improves the safety of the self-adaptive cruise of the vehicle.
An embodiment of a third aspect of the invention provides a vehicle comprising: the adaptive cruise apparatus for a vehicle as described in the second aspect.
A fourth aspect of the present invention provides an electronic device, including a memory, a processor;
wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for implementing the adaptive cruise method of the vehicle described in the first aspect.
Drawings
FIG. 1 is a schematic flow diagram of an adaptive cruise method for a vehicle according to one embodiment of the present disclosure;
FIG. 2 is a flowchart illustrating a method for determining position information between a target object and a host vehicle in an adaptive cruise method for a vehicle according to an embodiment of the disclosure;
FIG. 3 is a schematic flow chart illustrating a method for determining a distance between each sound collection device and a target object in an adaptive cruise method for a vehicle according to an embodiment of the present invention;
FIG. 4 is a graphical illustration of the interval times of the voiceprint feature in an adaptive cruise method for a vehicle in accordance with one embodiment of the disclosure;
FIG. 5 is a flowchart illustrating a method for determining a relative position between a target object and a host vehicle in an adaptive cruise method for a vehicle according to an embodiment of the disclosure;
FIG. 6 is a schematic diagram of a triangular structure constructed between a target object and a sound collection device in the adaptive cruise method for a vehicle according to an embodiment of the disclosure;
FIG. 7 is a method flow diagram of an adaptive cruise method for a vehicle according to another embodiment of the disclosure;
FIG. 8 is a schematic structural diagram of a triangle constructed by positions of an object and two sound collecting devices in an adaptive cruise method for a vehicle according to an embodiment of the disclosure;
FIG. 9 is a flowchart illustrating a method for determining a time interval between two adjacent voiceprint features of a sound collection device in an adaptive cruise method for a vehicle according to an embodiment of the disclosure;
FIG. 10 is a schematic waveform illustrating a voiceprint feature in an adaptive cruise method for a vehicle in accordance with one embodiment of the disclosure;
FIG. 11 is a schematic structural diagram of an adaptive cruise apparatus for a vehicle according to an embodiment of the present disclosure;
FIG. 12 is a schematic illustration of a vehicle according to an embodiment of the present disclosure;
fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A vehicle and an adaptive cruise method and apparatus thereof according to embodiments of the present invention are described below with reference to the accompanying drawings.
FIG. 1 is a schematic flow diagram of an adaptive cruise method for a vehicle according to an embodiment of the disclosure. As shown in fig. 1, the adaptive cruise method for a vehicle according to the embodiment of the present invention mainly includes the following steps:
and S1, acquiring sound information in the surrounding environment of the vehicle, which is acquired by the sound acquisition devices at different positions on the vehicle.
It should be noted that two or more sound collection devices are arranged at intervals on the vehicle body of the vehicle, and each sound collection device is connected with the vehicle-mounted terminal of the vehicle, wherein the sound collection devices may be, but are not limited to, voiceprint sensors. The sound information in the surrounding environment of the vehicle is collected through the sound collecting device, and the collected sound information is sent to the vehicle-mounted terminal.
The following description will be made by taking an example in which two sound collection devices are disposed on a vehicle body, the two sound collection devices being disposed on the left and right sides of the vehicle body, respectively, such as: the mirror can be disposed on two rear-view mirrors of the vehicle body, or one mirror can be disposed on one side of the vehicle body, and the other mirror can be disposed at another position of the other side of the vehicle body, and the specific disposition mode can be determined according to the actual situation, and is not limited herein.
And S2, determining the position information between the target object and the vehicle according to the sound information collected by each sound collection device.
Specifically, when the distance between the target object and the vehicle is different, the time for the sound information emitted by the target object to reach the sound collecting device on the vehicle is also different correspondingly, so that the collected sound information can be analyzed to determine the position information between the target object and the vehicle.
As a possible implementation manner, the position information includes a relative position between the target object and the host vehicle. As shown in fig. 2, determining the position information between the target object and the host vehicle includes the steps of:
and S21, acquiring the distance between each sound acquisition device and the target object, wherein the number of the sound acquisition devices is at least three.
And the vehicle-mounted terminal analyzes the sound information and determines the distance between each sound acquisition device and the target object.
In some embodiments, as shown in fig. 3, the distance between each sound collection device and the target object may be determined by the following method.
S211, aiming at each sound acquisition device, acquiring the time interval between two adjacent voiceprint characteristics in the sound information acquired by the sound acquisition device.
Specifically, the time interval between two adjacent voiceprint features is obtained from the voiceprint features of the sound information collected by each sound collection device. For example, as shown in fig. 4, the time interval between the voiceprint feature a and the voiceprint feature B is t, and the time interval between the voiceprint feature B and the voiceprint feature C is also t.
S212, acquiring the distance between the target object and the sound acquisition device according to the time interval.
And acquiring the time interval between two adjacent voiceprint features, and calculating the distance between the target object and the sound acquisition device according to a distance calculation formula L which is Vt. It should be understood that V in the formula L ═ Vt is the propagation speed of sound in air, and t is the time interval between two adjacent voiceprint features.
And S22, determining the relative position between the target object and the vehicle according to the distance between the sound acquisition device and the target object.
It should be understood that the vehicle is in adaptive cruise, and if there is no object in front of the vehicle, the vehicle is traveling in constant cruise mode; if there is an object in front of the vehicle, the vehicle travels in a tracking front mode. Therefore, it is necessary to determine whether the target object is located in front of the host vehicle. The details are described below.
In some embodiments, as shown in FIG. 5, the relative position between the target object and the host vehicle may be determined by the following method.
S221, constructing a first triangle by taking the positions of the target object, the first sound acquisition device and the second sound acquisition device in the sound acquisition devices as vertexes.
Specifically, referring to fig. 6, in the drawing, 1 is a first sound collection device, 2 is a second sound collection device, 3 is a target, 4 is a third sound collection device, L1 is a distance between the first sound collection device and the target, L2 is a distance between the second sound collection device and the target, L3 is a distance between the first sound collection device and the second sound collection device, L4 is a distance between the first sound collection device and the third sound collection device, and L5 is a distance between the third sound collection device and the target. Triangle 124 is the first triangle in the figure.
S222, constructing a second triangle by taking the positions of the target object, one sound acquisition device of the sound acquisition devices and the third sound acquisition device as vertexes.
Specifically, with continued reference to fig. 6, a second triangle, i.e., triangle 134 in the figure, is constructed with the locations of the target, the first sound collection device, and the third sound collection device as vertices.
It should be noted that when selecting from the sound collection devices, it is preferable to select one sound collection device that is easy to construct the second triangle for the subsequent measurement calculation.
And S223, acquiring a first distance from a vertex corresponding to the position of the target object to the bottom edge center point of the first triangle and a second distance from the bottom edge center point of the second triangle respectively based on the trigonometric function relation and the distance between the sound collection device and the target object.
specifically, with continued reference to FIG. 6, where P is the first distance and Q is the second distance, and where the angles α and β can be measured in advance, the trigonometric formula indicates that:
further, according to the trigonometric function formula, it can be known that:
from this, it can be seen that:
in the same way, it can be known that
S224, determining whether the target object is positioned in front of the vehicle according to the magnitude relation of the first distance and the second distance and the setting position of the third sound acquisition device on the vehicle.
By acquiring the first distance, the second distance and the setting position of the third sound collection device on the vehicle, whether the target object is positioned in front of the vehicle can be determined.
Specifically, referring to fig. 6, if the first distance is greater than the second distance and the third sound collection device is disposed on a side of a connection line between the first sound collection device and the second sound collection device, which is close to the front end of the host vehicle, it is determined that the target object is in front of the host vehicle;
and if the first distance is smaller than the second distance and the third sound acquisition device is arranged on one side of a connecting line between the first sound acquisition device and the second sound acquisition device, which is close to the rear end of the vehicle, determining that the target object is positioned in front of the vehicle.
And S3, performing adaptive cruise control on the vehicle according to the position information.
And determining the position information of the target object and the workshop, and performing self-adaptive cruise control on the vehicle.
Specifically, if the target object is positioned in front of the vehicle, the vehicle is controlled to enter a tracking front vehicle mode; and if the target object is not positioned in front of the vehicle, controlling the vehicle to enter a constant-speed cruise mode.
The embodiment of the invention provides a self-adaptive cruising method of a vehicle, which collects sound information in the surrounding environment of the vehicle through a sound collecting device on the vehicle; further, position information between the target object and the vehicle is determined based on the sound information, and the vehicle is subjected to adaptive cruise control based on the position information. The method determines the position information between the vehicle and the target object according to the sound information, is not interfered by other vehicles, has high detection accuracy and improves the safety of the self-adaptive cruise of the vehicle.
In addition to the above embodiments, the position information further includes the relative distance between the target object and the vehicle, and further, the vehicle may be controlled according to the relative distance between the target object and the vehicle, so as to improve the driving stability and safety. Fig. 7 is a flowchart illustrating a method for adaptive cruise control of a vehicle according to another embodiment of the disclosure, as shown in fig. 7, the method including:
and S71, acquiring the relative distance between the target object and the vehicle according to the acquired distance between each sound acquisition device and the target object.
Specifically, a triangle may be constructed by using positions of the target object and the first sound collection device and the second sound collection device in the sound collection devices as vertices, and further, based on a trigonometric function relationship and distances between the two sound collection devices and the target object, a distance from the vertex corresponding to the position of the target object to a center point of the vehicle may be obtained, and the distance may be used as a relative distance between the target object and the vehicle.
for example, as shown in fig. 8, 1 and 2 in the figure are a first sound collection device and a second sound collection device on the host vehicle, 3 is a target object, 4 is a center point of the host vehicle, a distance between the first sound collection device 1 and the target object vehicle 3 is L1, a distance between the second sound collection device 2 and the target object vehicle 3 is L2, a distance between the two sound collection devices is L3, a distance between the first sound collection device 1 and the host vehicle center point 4 is L4, a perpendicular connection line between the first sound collection device 1 and one side of the host vehicle is M, and a relative distance between the target object and the host vehicle is n, wherein L1 and L2 can be obtained by the method in step S2, L3 and L4 can be measured in advance, and angles α and β can also be measured in advance, specifically, according to the trigonometric function formula:
further, according to the trigonometric function formula, it can be known that:
to obtain
In this way, a specific numerical value of the relative distance N between the target object and the vehicle can be obtained.
It should be noted that, in order to improve the accuracy of the measurement, the sound collection devices may be combined two by two, and the relative distances N1, N2, and N3 … … between the target object and the vehicle may be calculated and obtained respectively. Further, the relative distances respectively calculated can be averaged, so that a more accurate relative distance between the target object and the vehicle can be obtained.
And S72, performing adaptive cruise control on the vehicle according to the relative distance and the relative position.
And obtaining the relative distance and the relative position, the self-adaptive cruise control can be carried out on the vehicle.
Specifically, if there is no target object in front of the host vehicle, the host vehicle is controlled to travel at a speed preset by the driver. If the target object exists in front of the vehicle, the vehicle is controlled according to the relative distance between the target object and the vehicle. For example, when the relative distance is longer, the speed of the vehicle can be controlled to be increased until the relative distance reaches the preset optimal distance range, and the vehicle is controlled to track the target object to continuously keep the relative distance in the optimal distance range for driving; when the relative distance is small, the speed of the vehicle can be controlled to be reduced until the relative distance reaches a preset optimal distance range, and the vehicle is controlled to track the target object to continuously keep the relative distance in the optimal distance range to run; and when the relative distance is in the optimal distance range, controlling the vehicle to track the target object to continuously keep the relative distance in the optimal distance range for driving.
The optimum distance range may be set in advance. In this embodiment, the driver can make settings during driving. For example, when the distance between the host vehicle and the target object reaches the minimum distance considered by the driver, a certain switch is operated or the current distance of the vehicle is controlled to be kept for N seconds, and the vehicle-mounted terminal of the host vehicle records the distance and takes the distance as the minimum distance of the optimal distance range. In the same way, the maximum distance of the optimal distance range can be obtained.
On the basis of the above embodiment, in consideration of the fact that two or more pieces of sound information may appear in the surrounding environment of the vehicle, at this time, when the time interval between two adjacent voiceprint features is obtained, in order to ensure that the two voiceprint features belong to the voiceprint feature of the same sound information, the two adjacent voiceprint features may be compared to avoid the erroneous judgment phenomenon. As shown in fig. 9, the method for determining the time interval between two adjacent voiceprint features comprises the following steps:
and S91, aiming at each voiceprint feature currently received, comparing the currently received voiceprint feature with each voiceprint feature previously received respectively, and determining the previously received voiceprint feature which belongs to the same sound information with the currently received voiceprint feature.
Specifically, comparing the voiceprint features currently received by the sound acquisition device with each voiceprint feature previously received; for example, whether the waveforms are identical or similar is compared. Further, according to the comparison result, determining the previously received voiceprint feature which belongs to the same voice information as the currently received voiceprint feature; for example, if the waveforms of the two are the same, it is determined that the previously received voiceprint feature and the currently received voiceprint feature belong to the same sound information.
It should be understood that when comparing the voiceprint features, the voiceprint features can be compared according to the waveform diagrams of the voiceprints, and when the waveform diagrams of the two voiceprint features are the same or the similarity of the two voiceprint features is higher than a preset value, it can be determined that the two voiceprint features belong to the same sound information.
And S92, determining a time interval according to the currently received voiceprint characteristics and the previously received voiceprint characteristics belonging to the same voice message.
If two voiceprint features belonging to the same sound information are determined, the time interval between the two voiceprint features may be determined according to the method in the step S21, which may specifically refer to the description in the step S21, and will not be described herein again.
For example, as shown in fig. 10, the waveform diagrams of two voiceprint features a1 and a2 are the same, so that the two adjacent voiceprint features can be considered as belonging to the same sound information, and the time interval between the two can be calculated. The waveform diagrams of two voiceprint features B1 and B2 are different, therefore, the two adjacent voiceprint features can be considered not to belong to the same sound information; at this time, the waveform of the next voiceprint feature needs to be further compared; for example, when the waveform patterns are identical to the waveform pattern of the voiceprint feature of B3, it is possible to confirm that the two voiceprint features belong to the same sound information and calculate the time interval between the two voiceprint features.
In some embodiments, the vehicle terminal may have pre-stored therein the vehicle engine spectral characteristics and/or the tire friction ground spectral characteristics. When the sound information is analyzed, when the sound information has the voiceprint characteristics with the same frequency spectrum characteristics as the frequency spectrum characteristics of the vehicle engine and/or the frequency spectrum characteristics of the tire friction ground, the voiceprint characteristics are locked, and the voiceprint characteristics serving as the target object are extracted.
When the sound information is analyzed, the sound information can be denoised and discretized to obtain a clear sound signal curve. In addition, the sound collecting device can continuously collect the sound emitted by the current vehicle (namely, a reference object) in the sound collecting process, so that the sound information emitted by the current vehicle can be removed firstly when the sound information is analyzed. For example: because the intensity of the signal in the sound information of the current vehicle collected by the sound collection device is changed steadily, the sound signal which is changed steadily and continuously in the current vehicle can be removed during analysis, and then the voiceprint feature in the sound information is extracted. In addition, other types of controllers such as a programmable logic controller may be used instead of the in-vehicle terminal, and the controller may be specifically selected according to actual situations, which is not limited herein.
In order to implement the above-described embodiment, an embodiment of the present invention further provides an adaptive cruise apparatus for a vehicle, as shown in fig. 11, the apparatus including:
an obtaining module 1101, configured to obtain sound information in a surrounding environment of the vehicle, where the sound information is collected by sound collection devices at different positions on the vehicle;
a determining module 1102, configured to determine, according to the sound information acquired by each sound acquisition device, position information between the target object and the vehicle;
and the control module 1103 is configured to perform adaptive cruise control on the vehicle according to the position information.
Further, the determining module 1102 is configured to:
acquiring the distance between each sound acquisition device and the target object, wherein the number of the sound acquisition devices is at least three;
and determining the relative position between the target object and the vehicle according to the distance between the sound acquisition device and the target object.
Further, the determining module 1102 is configured to:
constructing a first triangle by taking the positions of the target object, a first sound acquisition device and a second sound acquisition device in the sound acquisition devices as vertexes;
constructing a second triangle by taking the positions of the target object, one sound acquisition device of the sound acquisition devices and a third sound acquisition device as vertexes;
based on the trigonometric function relationship and the distance between the sound collecting device and the target object, acquiring a first distance from a vertex corresponding to the position of the target object to the bottom edge central point of the first triangle and a second distance from the bottom edge central point of the second triangle respectively;
and determining whether the target object is positioned in front of the vehicle according to the magnitude relation between the first distance and the second distance and the setting position of the third sound acquisition device on the vehicle.
Further, the determining module 1102 is configured to:
if the first distance is greater than the second distance and the third sound acquisition device is arranged on one side, close to the front end of the vehicle, of a connecting line between the first sound acquisition device and the second sound acquisition device, determining that the target object is positioned in front of the vehicle;
and if the first distance is smaller than the second distance and the third sound acquisition device is arranged on one side of a connecting line between the first sound acquisition device and the second sound acquisition device, which is close to the rear end of the vehicle, determining that the target object is positioned in front of the vehicle.
Further, the determining module 1102 is configured to:
acquiring the relative distance between the target object and the vehicle according to the acquired distance between each sound acquisition device and the target object;
a control module 1103 for:
and performing self-adaptive cruise control on the vehicle according to the relative distance and the relative position.
Further, the determining module 1102 is configured to:
based on the trigonometric function relationship, the fourth distance between the first sound acquisition device in the sound acquisition device and the target object and the fifth distance between the second sound acquisition device in the sound acquisition device and the target object, the distance from the vertex corresponding to the position of the target object to the center point of the vehicle is acquired, and the distance is used as the relative distance between the target object and the vehicle.
Further, the determining module 1102 is configured to:
for each sound acquisition device, acquiring a time interval between two adjacent voiceprint characteristics in the sound information acquired by the sound acquisition device;
and acquiring the distance between the target object and the sound acquisition device according to the time interval.
Further, when there are two or more sound information in the surrounding environment of the host vehicle, the determining module 1102 is configured to:
aiming at each voiceprint feature received currently, comparing the voiceprint feature received currently with each voiceprint feature received previously respectively, and determining the voiceprint feature received previously, which belongs to the same sound information with the voiceprint feature received currently;
the time interval is determined based on the currently received voiceprint feature and the previously received voiceprint feature belonging to the same voice message.
It should be understood that the above-mentioned apparatus is used for executing the method in the above-mentioned embodiments, and the implementation principle and technical effect of the apparatus are similar to those described in the above-mentioned method, and the working process of the apparatus may refer to the corresponding process in the above-mentioned method, and is not described herein again.
According to the self-adaptive cruise device of the vehicle, the sound information in the surrounding environment of the vehicle is acquired by the sound acquisition device on the vehicle through the acquisition module; further, the determining module determines the position information of the target object and the workshop according to the sound information; then, the control module performs adaptive cruise control on the vehicle according to the position information. The method determines the position information between the vehicle and the target object according to the sound information, is not interfered by other vehicles, has high detection accuracy and improves the safety of the self-adaptive cruise of the vehicle.
In order to implement the above embodiment, an embodiment of the present invention further provides a vehicle, as shown in fig. 12, in which the adaptive cruise apparatus 100 of the foregoing vehicle is provided.
In order to implement the above embodiments, the present invention further provides an electronic device, as shown in fig. 13, including a memory 1301, a processor 1302; wherein the processor 1302 runs a program corresponding to the executable program code by reading the executable program code stored in the memory 1301, so as to implement the steps of the above method.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. It will be understood by those of ordinary skill in the art that the above terms are used in the present invention as appropriate
The specific meanings of (A) and (B).
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (14)
1. An adaptive cruise method for a vehicle, the method comprising:
acquiring sound information in the surrounding environment of the vehicle, which is acquired by sound acquisition devices at different positions on the vehicle;
determining position information between a target object and the vehicle according to the sound information acquired by each sound acquisition device;
according to the position information, performing self-adaptive cruise control on the vehicle;
wherein the determining of the position information between the target object and the host vehicle includes:
acquiring the distance between each sound acquisition device and the target object, wherein the number of the sound acquisition devices is at least three;
determining the relative position between the target object and the vehicle according to the distance between the sound acquisition device and the target object;
wherein the determining the relative position between the target object and the vehicle according to the distance between the sound collection device and the target object comprises:
constructing a first triangle by taking the positions of the target object, a first sound acquisition device and a second sound acquisition device in the sound acquisition devices as vertexes;
constructing a second triangle by taking the positions of the target object, one sound acquisition device in the sound acquisition devices and a third sound acquisition device as vertexes;
based on a trigonometric function relationship and the distance between the sound collection device and the target object, acquiring a first distance from a vertex corresponding to the position of the target object to the bottom edge central point of the first triangle and a second distance from the vertex corresponding to the position of the target object to the bottom edge central point of the second triangle respectively;
and determining whether the target object is positioned in front of the vehicle according to the magnitude relation between the first distance and the second distance and the setting position of the third sound acquisition device on the vehicle.
2. The method of claim 1, wherein said determining whether a target object is located in front of the host vehicle comprises:
if the first distance is greater than the second distance and the third sound collection device is arranged on one side, close to the front end of the vehicle, of a connecting line between the first sound collection device and the second sound collection device, it is determined that the target object is in front of the vehicle;
and if the first distance is smaller than the second distance and the third sound acquisition device is arranged on one side of a connecting line between the first sound acquisition device and the second sound acquisition device, which is close to the rear end of the vehicle, determining that the target object is positioned in front of the vehicle.
3. The method of claim 1, further comprising:
acquiring the relative distance between the target object and the workshop according to the acquired distance between each sound acquisition device and the target object;
and carrying out self-adaptive cruise control on the vehicle according to the relative distance and the relative position.
4. The method according to claim 3, wherein the obtaining the relative distance between the target object and the local vehicle comprises:
based on a trigonometric function relationship, a fourth distance between a first sound collecting device in the sound collecting device and the target object and a fifth distance between a second sound collecting device in the sound collecting device and the target object, the distance from a vertex corresponding to the position of the target object to the center point of the vehicle is obtained, and the distance is used as the relative distance between the target object and the vehicle.
5. The method according to any one of claims 1 to 4, wherein the obtaining of the distance between each sound collection device and the target object comprises:
aiming at each sound acquisition device, acquiring a time interval between two adjacent voiceprint characteristics in sound information acquired by the sound acquisition device;
and acquiring the distance between the target object and the sound acquisition device according to the time interval.
6. The method according to claim 5, wherein when there are two or more sound information in the surrounding environment of the host vehicle, the obtaining the time interval between two adjacent voiceprint features in the sound information collected by the sound collection device comprises:
aiming at each voiceprint feature currently received, comparing the voiceprint feature currently received with each voiceprint feature previously received respectively, and determining the voiceprint feature previously received which belongs to the same sound information with the voiceprint feature currently received;
determining the time interval according to the currently received voiceprint feature and the previously received voiceprint feature belonging to the same voice message.
7. An adaptive cruise apparatus for a vehicle, characterized in that the apparatus comprises:
the acquisition module is used for acquiring sound information in the surrounding environment of the vehicle, which is acquired by sound acquisition devices at different positions on the vehicle;
the determining module is used for determining the position information between the target object and the vehicle according to the sound information acquired by each sound acquisition device;
the control module is used for carrying out self-adaptive cruise control on the vehicle according to the position information;
wherein the determining module is further configured to:
acquiring the distance between each sound acquisition device and the target object, wherein the number of the sound acquisition devices is at least three;
determining the relative position between the target object and the vehicle according to the distance between the sound acquisition device and the target object;
the determining module is further configured to:
constructing a first triangle by taking the positions of the target object, a first sound acquisition device and a second sound acquisition device in the sound acquisition devices as vertexes;
constructing a second triangle by taking the positions of the target object, one sound acquisition device in the sound acquisition devices and a third sound acquisition device as vertexes;
based on a trigonometric function relationship and the distance between the sound collection device and the target object, acquiring a first distance from a vertex corresponding to the position of the target object to the bottom edge central point of the first triangle and a second distance from the vertex corresponding to the position of the target object to the bottom edge central point of the second triangle respectively;
and determining whether the target object is positioned in front of the vehicle according to the magnitude relation between the first distance and the second distance and the setting position of the third sound acquisition device on the vehicle.
8. The apparatus of claim 7, wherein the determining module is further configured to:
if the first distance is greater than the second distance and the third sound collection device is arranged on one side, close to the front end of the vehicle, of a connecting line between the first sound collection device and the second sound collection device, it is determined that the target object is in front of the vehicle;
and if the first distance is smaller than the second distance and the third sound acquisition device is arranged on one side of a connecting line between the first sound acquisition device and the second sound acquisition device, which is close to the rear end of the vehicle, determining that the target object is positioned in front of the vehicle.
9. The apparatus of claim 7, wherein the determining module is further configured to:
acquiring the relative distance between the target object and the workshop according to the acquired distance between each sound acquisition device and the target object;
the control module is further configured to: and carrying out self-adaptive cruise control on the vehicle according to the relative distance and the relative position.
10. The apparatus of claim 9, wherein the determining module is further configured to: based on a trigonometric function relationship, a fourth distance between a first sound collecting device in the sound collecting device and the target object and a fifth distance between a second sound collecting device in the sound collecting device and the target object, the distance from a vertex corresponding to the position of the target object to the center point of the vehicle is obtained, and the distance is used as the relative distance between the target object and the vehicle.
11. The apparatus of any of claims 7 to 10, wherein the determining module is further configured to:
aiming at each sound acquisition device, acquiring a time interval between two adjacent voiceprint characteristics in sound information acquired by the sound acquisition device;
and acquiring the distance between the target object and the sound acquisition device according to the time interval.
12. The apparatus of claim 11, wherein when there are two or more sound messages in the environment surrounding the host vehicle, the determining module is further configured to:
aiming at each voiceprint feature currently received, comparing the voiceprint feature currently received with each voiceprint feature previously received respectively, and determining the voiceprint feature previously received which belongs to the same sound information with the voiceprint feature currently received;
determining the time interval according to the currently received voiceprint feature and the previously received voiceprint feature belonging to the same voice message.
13. A vehicle characterized by comprising an adaptive cruise apparatus of a vehicle according to any one of claims 7 to 12.
14. An electronic device comprising a memory, a processor; wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the adaptive cruise method of the vehicle according to any one of claims 1 to 6.
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| CN105005027A (en) * | 2015-08-05 | 2015-10-28 | 张亚光 | System for positioning target object in regional scope |
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| EP3173306B1 (en) * | 2015-11-27 | 2019-10-30 | Continental Automotive GmbH | Method and device for determining a type of the road on which a vehicle is driving |
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| CN107128307B (en) * | 2017-05-08 | 2019-07-19 | 北京新能源汽车股份有限公司 | Vehicle cruise control method and device and automobile |
| CN207466645U (en) * | 2017-10-25 | 2018-06-08 | 李炳午 | Safe driving assistant system |
| CN107985310B (en) * | 2017-11-17 | 2019-11-19 | 浙江吉利汽车研究院有限公司 | A method and system for adaptive cruise |
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