CN115817637B - Control method, control system, vehicle, and computer-readable storage medium - Google Patents
Control method, control system, vehicle, and computer-readable storage medium Download PDFInfo
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Abstract
The present application relates to the field of automobile driving assistance, and in particular, to a control method, a control system, a vehicle, and a computer readable storage medium. The method comprises the following steps: acquiring image information along a running direction, wherein the image information is used for determining whether sharp objects exist in the running direction; under the condition that the sharp object exists in the running direction, determining whether the vehicle rolls the sharp object according to the running parameters of the vehicle and the distance parameters between the vehicle and the sharp object; under the condition that the vehicle is determined to roll the sharp object, the steering angle of the vehicle is obtained and is used for controlling the vehicle to avoid the sharp object. Therefore, the problems that sharp objects appear on an automobile driving road, due to randomness of the sharp objects, the sharp objects cannot be known in advance, and due to small physical characteristics of the sharp objects, a driver cannot observe and notice the sharp objects through naked eyes in time when driving a vehicle, vehicle tires are rolled, accident risks are caused, and economic losses are caused are solved.
Description
Technical Field
The present application relates to the field of automobile driving assistance, and in particular, to a control method, a control system, a vehicle, and a computer readable storage medium.
Background
In the related art, sharp objects appearing on an automobile driving road cannot be known in advance due to the randomness of the sharp objects, and due to the small physical characteristics of the sharp objects, most drivers cannot observe and notice the sharp objects through naked eyes in time when driving the automobile, so that the tires of the automobile are rolled, the accident risk is caused, and meanwhile, the economic loss is also caused.
Disclosure of Invention
The application provides a control method, a control system, a vehicle and a computer readable storage medium, which are used for solving the problems of reducing vehicle damage, driver injury and the like.
An embodiment of a first aspect of the present application provides a control method for controlling a vehicle to avoid a sharp object, the control method including the steps of: acquiring image information along a driving direction, wherein the image information is used for determining whether a sharp object exists in the driving direction; determining whether the vehicle rolls over the sharp object according to the driving parameter of the vehicle and the distance parameter between the vehicle and the sharp object under the condition that the sharp object exists in the driving direction; and under the condition that the vehicle is determined to roll the sharp object, acquiring the steering angle of the vehicle, wherein the steering angle of the vehicle is used for controlling the vehicle to avoid the sharp object.
An embodiment of a second aspect of the present application provides a control system for controlling a vehicle to avoid a sharp object, the control system including: the control module is used for: acquiring image information along a driving direction, wherein the image information is used for determining whether a sharp object exists in the driving direction; determining whether the vehicle rolls over the sharp object according to the driving parameter of the vehicle and the distance parameter between the vehicle and the sharp object under the condition that the sharp object exists in the driving direction; and under the condition that the vehicle is determined to roll the sharp object, acquiring the steering angle of the vehicle, wherein the steering angle of the vehicle is used for controlling the vehicle to avoid the sharp object.
An embodiment of a third aspect of the present application provides a vehicle including: the control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the control method according to the embodiment.
An embodiment of the fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor for realizing the control method as described in the above embodiment.
Therefore, the application has at least the following beneficial effects:
Under the condition that the sharp object exists in the running direction of the vehicle, whether the vehicle rolls the sharp object or not is determined according to the related information between the vehicle and the sharp object, if the sharp object exists, the steering angle of the vehicle is acquired to control the steering of the vehicle so as to avoid the sharp object, traffic accidents such as tire burst and the like caused by the fact that the vehicle rolls the sharp object are avoided, vehicle damage and driver injury are reduced, and maintenance time and cost can be saved. Therefore, the problems that sharp objects appear on an automobile driving road, due to randomness of the sharp objects, the sharp objects cannot be known in advance, and due to small physical characteristics of the sharp objects, a driver cannot observe and notice the sharp objects through naked eyes in time when driving a vehicle, vehicle tires are rolled, accident risks are caused, and economic losses are caused are solved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart of a control method according to an embodiment of the present application;
FIG. 2 is an exemplary diagram of a control system according to an embodiment of the present application;
FIG. 3 is an exemplary diagram of a scene of a vehicle and sharps in accordance with an embodiment of the application;
FIG. 4 is a schematic illustration of a vehicle evading sharp objects according to an embodiment of the present application;
fig. 5 is a schematic structural view of a vehicle according to an embodiment of the present application.
Reference numerals illustrate:
a control system 100;
The system comprises a control module 110, an image processing module 120, a camera 130, an interactive interface 140, a map positioning module 150, a car networking module 160 and a steering module 170;
vehicle 200, tire 210;
sharp object 300.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
Control methods, control systems, vehicles, and computer-readable storage media of embodiments of the present application are described below with reference to the accompanying drawings. Aiming at the problems that sharp objects appear on an automobile driving road in the background art, because the randomness of the sharp objects cannot be known in advance, and because the physical characteristics of the sharp objects are small, most of the sharp objects cannot be observed and noticed by naked eyes in time when a driver drives a vehicle, so that the tires of the vehicle are rolled to cause accident risks and economic losses, the application provides a control method. Therefore, the problems that sharp objects appear on an automobile driving road, due to randomness of the sharp objects, the sharp objects cannot be known in advance, and due to small physical characteristics of the sharp objects, a driver cannot observe and notice the sharp objects through naked eyes in time when driving a vehicle, vehicle tires are rolled, accident risks are caused, and economic losses are caused are solved.
Referring to fig. 1, a control method according to an embodiment of the invention is used for controlling a vehicle 200 to avoid a sharp object 300. The control method comprises the following steps:
01: acquiring image information along a traveling direction, the image information being used to determine whether the sharp object 300 exists in the traveling direction;
02: in the case where it is determined that the sharp object 300 exists in the traveling direction, it is determined whether the vehicle 200 rolls over the sharp object 300 according to the traveling parameter of the vehicle 200 and the distance parameter between the vehicle 200 and the sharp object 300;
03: in the case where it is determined that the vehicle 200 is about to roll the sharp object 300, a steering angle of the vehicle 200 is obtained, and the steering angle of the vehicle 200 is used to control the vehicle 200 to avoid the sharp object 300.
The control method of the embodiment of the present invention may be implemented by the control system 100 of the embodiment of the present invention. Specifically, referring to fig. 2, the control system 100 includes a control module 110. The control module 110 is configured to: acquiring image information along a traveling direction, the image information being used to determine whether the sharp object 300 exists in the traveling direction; in the case where it is determined that the sharp object 300 exists in the traveling direction, it is determined whether the vehicle 200 rolls over the sharp object 300 according to the traveling parameter of the vehicle 200 and the distance parameter between the vehicle 200 and the sharp object 300; in the case where it is determined that the vehicle 200 is about to roll the sharp object 300, a steering angle of the vehicle 200 is obtained, and the steering angle of the vehicle 200 is used to control the vehicle 200 to avoid the sharp object 300.
In the above-mentioned control method, in the case that it is determined that the sharp object 300 exists in the traveling direction of the vehicle 200, it is determined whether the vehicle 200 rolls over the sharp object 300 according to the related information between the vehicle 200 and the sharp object 300, if so, the steering angle of the vehicle 200 is obtained to control the steering of the vehicle 200 so as to avoid the sharp object 300, so as to avoid traffic accidents such as tire burst caused by the vehicle 200 rolling over the sharp object 300, reduce the damage of the vehicle 200 and the damage of drivers and passengers, and save the maintenance time and cost.
In certain embodiments, the control method comprises:
image processing is carried out on the image information, and the characteristics of the sharp object 300 in the image information are identified;
in case the sharp object 300 feature is identified, it is determined that the sharp object 300 is present in the traveling direction.
The control method of the embodiment of the present invention may be implemented by the control system 100 of the embodiment of the present invention. Specifically, referring to fig. 2, the control system 100 further includes an image processing module 120. The image processing module 120 is configured to: image processing is carried out on the image information, and the characteristics of the sharp object 300 in the image information are identified; in case the sharp object 300 feature is identified, it is determined that the sharp object 300 is present in the traveling direction.
In this manner, a specific scheme can be provided that can determine the presence of sharp object 300.
Specifically, the vehicle 200 may be provided with a plurality of cameras 130. Referring to fig. 3, the A1 direction may correspond to the traveling direction. The A2 direction may correspond to the opposite direction of the travel direction. The direction A1 is described as the front of the vehicle 200, the direction A2 corresponds to the rear of the vehicle 200, and the directions A3 and A4 correspond to the left and right directions of the vehicle 200, respectively. In fig. 2 and 3, the plurality of cameras 130 may include a front camera 130a, a rear camera 130b, a left camera 130c, a right camera 130d, a front left camera 130e, a front right camera 130f, a rear left camera 130g, a rear right camera 130h, and a front view camera 130i. The front camera 130a is disposed at a forward position on the head of the vehicle 200. The rear camera 130b is disposed at a rearward position on the rear of the vehicle 200. The left camera 130c is disposed at a position where the body of the vehicle 200 faces left. The right camera 130d is disposed at a position where the body of the vehicle 200 faces right. The front left camera 130e is disposed at a position where the head of the vehicle 200 faces to the left. The front right camera 130f is disposed at a position where the head of the vehicle 200 faces right. The rear left camera 130g is provided at a position toward the left of the rear of the vehicle 200. The rear right camera 130h is disposed at a position toward the right of the rear of the vehicle 200. The front view camera 130i is disposed at a position where the roof of the vehicle 200 faces forward.
In the vehicle 200, the camera 130 is provided to capture the surrounding road condition, so that the image information of the surrounding road can be obtained, and the obtained image information can be transmitted to the image processing module 120, so that the image processing module 120 can perform image processing on the image information, and further can capture the object with sharp features such as nails, iron sheets and the like, or the protruding object different from a flat road surface, and the image processing module 120 determines the video stream obtained by the camera 130 according to the features, so as to identify whether the sharp object 300 exists on the road surface. In some embodiments, the image processing module 120 may also identify whether the sharp object 300 is present in the image information through a deep learning algorithm, so that the accuracy of identifying the sharp object 300 may be improved.
In certain embodiments, the control method comprises:
in the case where it is determined that the sharp object 300 is present in the traveling direction, a prompt message is issued according to the distance between the vehicle 200 and the sharp object 300.
The control method of the embodiment of the present invention may be implemented by the control system 100 of the embodiment of the present invention. Specifically, referring to fig. 2, the control system 100 further includes an interactive interface 140. The interactive interface 140 is used for: in the case where it is determined that the sharp object 300 is present in the traveling direction, a prompt message is issued according to the distance between the vehicle 200 and the sharp object 300.
Thus, the user can be informed of the sharp object 300 in the traveling direction in time.
Specifically, referring to fig. 3, in one embodiment, the distance between the vehicle 200 and the sharp object 300 may correspond to the maximum shooting distance of the camera 130. The camera 130 may photograph a road located in a range corresponding to the maximum photographing distance. In the case of confirming that the sharp object 300 exists in the image captured by the camera 130, the user may be prompted that the sharp object 300 exists in the range corresponding to the maximum capturing distance of the vehicle 200, so that the user can recognize the specific position of the sharp object 300 in time and perform the avoidance operation.
In addition, in FIG. 2, the control system 100 also includes an interactive interface 140. In one embodiment, the prompt may be sent via the interactive interface 140. The prompt information can be a prompt tone with a specific rule, can be voice, can be a picture with prompt characters or images, and can also be vibration with corresponding frequency. The interactive interface 140 may be an HMI (Human MACHINE INTERFACE, human-machine interface) interactive system.
In certain embodiments, the driving parameters include at least one of:
Acceleration of the vehicle 200 in a first direction; speed of the vehicle 200 in the first direction; acceleration of the vehicle 200 in the second direction; speed of the vehicle 200 in the second direction; the current rotation angle of the steering wheel; the current rotation angle change rate of the steering wheel; the length of the vehicle 200 in the first direction; the length of the vehicle 200 in the second direction; the width of the tire 210 of the vehicle 200. The first direction corresponds to the running direction, and the second direction corresponds to the left-right direction perpendicular to the running direction.
In this way, the possibility that the vehicle 200 rolls over the sharp object 300 can be calculated by fully combining the actual scene, which is beneficial to improving the accuracy of calculation.
Specifically, referring to fig. 3, in one embodiment, the first direction may be A1 direction and A2 direction, and the second direction may be A3 direction and A4 direction. The current running condition of the vehicle 200 may be represented by an acceleration of the vehicle 200 in a first direction, a speed of the vehicle 200 in the first direction, an acceleration of the vehicle 200 in a second direction, a speed of the vehicle 200 in the second direction, a current rotation angle of the steering wheel, and a current rotation angle change rate of the steering wheel. The length of the vehicle 200 in the first direction, the length of the vehicle 200 in the second direction, and the width of the tires 210 of the vehicle 200, the length of the front axle of the vehicle 200 to the outer edge of the front bumper, the length of the rear axle of the vehicle 200 to the outer edge of the rear bumper may characterize the dimensional condition of the vehicle 200. According to the current running condition of the vehicle 200 and/or the size condition of the vehicle 200, the moving track of the vehicle 200 can be calculated by fully combining with the actual scene, and then whether the vehicle 200 rolls the sharp object 300 can be judged according to the calculated moving track of the vehicle 200, so that the accuracy of calculation can be improved.
In certain embodiments, the distance parameter comprises at least one of:
The relative distance of the sharps 300 and the vehicle 200 along the first direction; the minimum distance between the sharp object 300 and the vehicle 200 in the second direction. The first direction corresponds to the running direction, and the second direction corresponds to the left-right direction perpendicular to the running direction.
In this way, the possibility that the vehicle 200 rolls over the sharp object 300 can be calculated by fully combining the actual scene, which is beneficial to improving the accuracy of calculation.
Specifically, referring to fig. 3, the relative distance between the sharp object 300 and the vehicle 200 in the first direction is denoted as L1, and the minimum distance between the sharp object 300 and the vehicle 200 in the second direction is denoted as L2. Wherein L1 corresponds to the distance between the front-most end of the head of the vehicle 200 and the sharp object 300; the sharp object 300 is closer to the right side of the vehicle 200 in the A3 direction and the A4 direction such that L2 corresponds to the distance between the edge corresponding to the right side surface of the vehicle 200 and the sharp object 300. In other embodiments, L1 may correspond to the distance between other locations of the vehicle 200 and the sharps 300, and is not limited to just the front-most end of the vehicle head.
According to the spatial relative relationship between the vehicle 200 and the sharp object 300, the moving track of the vehicle 200 can be calculated by fully combining with the actual scene, and then whether the vehicle 200 rolls the sharp object 300 can be judged according to the calculated moving track of the vehicle 200, so that the accuracy of calculation can be improved.
In some embodiments, step 02 (where it is determined that the sharp object 300 is present in the traveling direction, determining whether the vehicle 200 is likely to roll over the sharp object 300 based on the traveling parameters of the vehicle 200 and the distance parameters between the vehicle 200 and the sharp object 300) includes:
Based on the location information of the road on which the vehicle 200 is currently located, it is determined whether the vehicle 200 is likely to roll over the sharp object 300.
The control method of the embodiment of the present invention may be implemented by the control system 100 of the embodiment of the present invention. Specifically, referring to fig. 2, the control module 110 is configured to: based on the location information of the road on which the vehicle 200 is currently located, it is determined whether the vehicle 200 is likely to roll over the sharp object 300.
Therefore, the error can be reduced, the calculation accuracy can be improved, and the situation that the calculation result is actually needed without avoiding the situation that the avoidance action is overlarge is avoided.
Specifically, in fig. 2, the control system 100 further includes a map positioning module 150. The map positioning module 150 is communicatively coupled to the control module 110. The control system 100 may obtain the high-precision map positioning information of the current location of the vehicle 200 through the map positioning module 150, and transmit the high-precision map positioning information to the control module 110, so that the control module 110 can determine the positioning information of the current road of the vehicle 200 according to the high-precision map positioning information, and further determine whether the vehicle 200 rolls the sharp object 300.
It can be understood that, by the positioning information of the road where the vehicle 200 is currently located, the calculation accuracy of the distance parameter between the vehicle 200 and the sharp object 300 can be improved, so that an excessive error can be avoided, which leads to misjudgment that the vehicle 200 cannot roll the sharp object 300 and does not control the vehicle 200 to avoid, or misjudgment that the vehicle 200 needs to avoid the sharp object 300 with a larger action, thereby causing the vehicle 200 to turn in an emergency or suddenly decelerate.
In certain embodiments, the control method comprises:
in the case where it is determined that the vehicle 200 is likely to roll the sharp object 300, the position through which the tire 210 is expected to pass is determined based on a first distance corresponding to the relative distance between the sharp object 300 and the vehicle 200 in the traveling direction and a second distance greater than the width of the tire 210;
Determining a rotation angle of the tire 210 with respect to the traveling direction based on the current position of the tire 210 and the position through which the tire 210 is expected to pass;
The steering angle of the vehicle 200 is determined according to the rotation angle of the tire 210 with respect to the running direction.
The control method of the embodiment of the present invention may be implemented by the control system 100 of the embodiment of the present invention. Specifically, referring to fig. 2, the control module 110 is configured to: in the case where it is determined that the vehicle 200 is likely to roll the sharp object 300, the position through which the tire 210 is expected to pass is determined based on a first distance corresponding to the relative distance between the sharp object 300 and the vehicle 200 in the traveling direction and a second distance greater than the width of the tire 210; determining a rotation angle of the tire 210 with respect to the traveling direction based on the current position of the tire 210 and the position through which the tire 210 is expected to pass; the steering angle of the vehicle 200 is determined according to the rotation angle of the tire 210 with respect to the running direction.
In this way, a specific scheme of determining the steering angle of the vehicle 200 can be given.
Specifically, referring to fig. 4, in fig. 4, a point a corresponds to a position of the sharp object 300. The first distance is denoted L3. The second distance is denoted as L4. The width of the tire 210 is denoted as d. Tire 210 in fig. 4 may correspond to the right front wheel of vehicle 200 in fig. 3. In the case where the sharp object 300 is present in the traveling direction, the sharp object 300 may be rolled corresponding to the right front wheel of the vehicle 200.
On the basis of the above, in fig. 3, in one embodiment, the position where the right front wheel of the vehicle 200 is expected to pass can be determined by first determining a distance greater than the width of the tire 210 as the second distance. The position that the right front wheel of the vehicle 200 is expected to pass is denoted B. B is positioned at the position of A along the A3 direction and is separated from each other by L4.
After determining position B, the angle of rotation of tire 210 with respect to the direction of travel may then be determined based on the current position of the right front wheel of vehicle 200 and the position through which tire 210 is expected to pass. The rotation angle of the tire 210 with respect to the running direction is denoted as θ. θ can be calculated by combining the first distance and the second distance with an inverse trigonometric function formula.
After determining the rotation angle of the tire 210 with respect to the running direction, the steering angle of the vehicle 200 can be further determined. In one embodiment, the steering angle of the vehicle 200 and the rotational angle of the tire 210 relative to the direction of travel have a calibrated relationship such that the steering angle of the vehicle 200 can be obtained in a calibrated manner. After determining the steering angle of the vehicle 200, the vehicle 200 may be controlled to steer according to the steering angle of the vehicle 200 to adjust the moving track of the tire 210. In fig. 4, the movement locus of the tire 210 after adjustment is denoted as p.
In addition, in one embodiment, referring to fig. 3, when the vehicle 200 travels in the A1 direction, the distance from the front wheel of the vehicle 200 to the sharp object 300 in the A1 direction is: l=l0+lf; when the vehicle 200 travels in the A2 direction, the distance from the rear wheel of the vehicle 200 to the sharp object 300 in the A2 direction is: l=l0+lr. Where L0 is denoted as the relative distance between the sharp object 300 and the vehicle 200 in the A1 and A2 directions, lf is denoted as the length of the front axle of the vehicle 200 to the outer edge of the front bumper, and lr is denoted as the length of the rear axle of the vehicle 200 to the outer edge of the rear bumper.
Then, the tire pressure of the vehicle 200 can be obtained to the shortest time length of the sharp object 300: t= 2*l/(a2+ 2*V). Where a is denoted as acceleration of the vehicle 200 and V is denoted as speed of the vehicle 200.
The calculated value of the second distance denoted L4 is: l4=1/2×ax×t+vx×t. Where ax is expressed as acceleration of the vehicle 200 in the directions A3 and A4, and Vx is expressed as velocity of the vehicle 200 in the directions A3 and A4.
From the relative relationship of the minimum relative distance H0 of the outboard edge of the wheel of the vehicle 200 to the sharp object 300 in the directions A3 and A4 to the second distance, it can be determined whether the vehicle 200 has a possibility that the tire is rolling over the sharp object. Specifically, it is determined that H0>2*d when the sharp object 300 is located at the position of the outer edge of the wheel, and 2*d < H < Lv-2*d when the sharp object 300 is located at the position of the inner edge of the wheel, it is determined that the vehicle 200 does not need to avoid the sharp object 300, and if the above conditions are not satisfied, it is determined that the vehicle may crush to the sharp object 300. The outer edge of the wheel may be the edge of the wheel that is far from the vehicle 200 in the A3 direction and the A4 direction, and the inner edge of the wheel may be the edge of the wheel that is near the vehicle 200 in the A3 direction and the A4 direction.
Furthermore, in FIG. 2, the control system 100 also includes a steering module 170. The steering module 170 is communicatively coupled to the control module 110. After the steering angle of the vehicle 200 is obtained, the control module 110 may communicate with the steering module 170 according to the steering angle of the vehicle 200, so that the steering module 170 adjusts the power output torque of the vehicle 200, thereby realizing the function of controlling the steering of the vehicle 200.
In certain embodiments, the control method comprises:
In the case where it is determined that the sharp object 300 exists in the traveling direction, the road information corresponding to the sharp object 300 is stored.
The control method of the embodiment of the present invention may be implemented by the control system 100 of the embodiment of the present invention. Specifically, referring to fig. 2, the control module 110 is configured to: in the case where it is determined that the sharp object 300 exists in the traveling direction, the road information corresponding to the sharp object 300 is stored.
Thus, the sharp object 300 can be conveniently and subsequently subjected to field investigation and dangerous case treatment.
Specifically, in one embodiment, the road information may include a picture of the road surface and surrounding environment where the sharp object 300 is located, latitude and longitude information, navigation information, and position information recorded by the vehicle 200. The control system 100 may save the road information corresponding to the sharps 300 and may upload the saved information to the cloud platform at a later time. After the cloud platform receives the information, the cloud platform can inform relevant personnel to go to the site to check and process dangerous cases. In fig. 2, the control system 100 also includes a car networking module 160. The control system 100 may upload road information corresponding to the sharps 300 to the cloud platform through the internet of vehicles module 160. The internet of vehicle module 160 may be a T-BOX (telematics).
Fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
Memory 401, processor 402, and a computer program stored on memory 401 and executable on processor 402.
The processor 402 implements the control method provided in the above embodiment when executing a program.
Further, the vehicle further includes:
A communication interface 403 for communication between the memory 401 and the processor 402.
A memory 401 for storing a computer program executable on the processor 402.
Memory 401 may include high-speed RAM (Random Access Memory ) memory, and may also include non-volatile memory, such as at least one disk memory.
If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 may be connected to each other by a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture ) bus, a PCI (PERIPHERAL COMPONENT, external device interconnect) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 may perform communication with each other through internal interfaces.
The processor 402 may be a CPU (Central Processing Unit ) or an ASIC (Application SPECIFIC INTEGRATED Circuit, application specific integrated Circuit) or one or more integrated circuits configured to implement embodiments of the present application.
The embodiment of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present application. In this specification, schematic representations of the above terms are not necessarily directed 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 N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable gate arrays, field programmable gate arrays, and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. A control method for controlling a vehicle to evade a sharp object, the control method comprising:
Acquiring image information along a driving direction, wherein the image information is used for determining whether a sharp object exists in the driving direction;
determining whether the vehicle rolls over the sharp object according to the driving parameter of the vehicle and the distance parameter between the vehicle and the sharp object under the condition that the sharp object exists in the driving direction;
Acquiring a steering angle of the vehicle under the condition that the vehicle is determined to roll the sharp object, wherein the steering angle of the vehicle is used for controlling the vehicle to avoid the sharp object;
the driving parameters include:
acceleration of the vehicle in a first direction;
A speed of the vehicle in a first direction;
acceleration of the vehicle in a second direction;
The speed of the vehicle in a second direction;
The current rotation angle of the steering wheel;
the current rotation angle change rate of the steering wheel;
a length of the vehicle in a first direction;
a length of the vehicle in a second direction;
The tire width of the vehicle;
the first direction corresponds to the running direction, and the second direction corresponds to the left-right direction perpendicular to the running direction.
2. The control method according to claim 1, characterized in that the control method includes:
Performing image processing on the image information and identifying sharp object features in the image information;
In the event that the sharp object feature is identified, it is determined that a sharp object is present in the travel direction.
3. The control method according to claim 1, characterized in that the control method includes:
And under the condition that the sharp object exists in the running direction, sending out prompt information according to the distance between the vehicle and the sharp object.
4. The control method according to claim 1, characterized in that the distance parameter comprises at least one of:
A relative distance of the sharps and the vehicle in a first direction;
a minimum distance between the sharp object and the vehicle in a second direction;
the first direction corresponds to the running direction, and the second direction corresponds to the left-right direction perpendicular to the running direction.
5. The control method according to claim 1, wherein in the case where it is determined that a sharp object exists in the traveling direction, determining whether the vehicle will roll over the sharp object based on a traveling parameter of the vehicle and a distance parameter between the vehicle and the sharp object, includes:
And determining whether the vehicle rolls the sharp object according to the positioning information of the road where the vehicle is currently located.
6. The control method according to claim 1, characterized in that the control method includes:
Determining a position through which a tire is expected to pass according to a first distance and a second distance, wherein the first distance corresponds to a relative distance between the sharp object and the vehicle along the running direction, and the second distance is larger than the width of the tire under the condition that the vehicle is determined to roll the sharp object;
Determining a rotation angle of the tire with respect to the running direction according to a current position of the tire and a position through which the tire is expected to pass;
And determining the steering angle of the vehicle according to the rotation angle of the tire relative to the running direction.
7. The control method according to claim 1, characterized in that the control method includes:
and storing road information corresponding to the sharp object when the sharp object exists in the driving direction.
8. A control system for controlling a vehicle to evade sharp objects, adapted to the control method of any of the preceding claims 1-7, characterized in that the control system comprises a control module for:
Acquiring image information along a driving direction, wherein the image information is used for determining whether a sharp object exists in the driving direction;
determining whether the vehicle rolls over the sharp object according to the driving parameter of the vehicle and the distance parameter between the vehicle and the sharp object under the condition that the sharp object exists in the driving direction;
and under the condition that the vehicle is determined to roll the sharp object, acquiring the steering angle of the vehicle, wherein the steering angle of the vehicle is used for controlling the vehicle to avoid the sharp object.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the steps of the control method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing the steps of the control method according to any one of claims 1-7.
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| CN202211501123.4A CN115817637B (en) | 2022-11-28 | 2022-11-28 | Control method, control system, vehicle, and computer-readable storage medium |
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| CN202211501123.4A CN115817637B (en) | 2022-11-28 | 2022-11-28 | Control method, control system, vehicle, and computer-readable storage medium |
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| CN115817637B true CN115817637B (en) | 2024-09-20 |
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| CA2642458A1 (en) * | 2008-11-28 | 2010-05-28 | Gerard Voon | Tangible (upstream vertical chain) new technologies based on new designs and new compositions that increase people's quality of life relevant to my companies 'lines' of business |
| DE102010002105A1 (en) * | 2010-02-18 | 2011-08-18 | Robert Bosch GmbH, 70469 | Method for assisting a driver of a vehicle in a driving maneuver |
| JP6280850B2 (en) * | 2014-09-29 | 2018-02-14 | 日立建機株式会社 | Obstacle avoidance system |
| JP7143830B2 (en) * | 2019-10-04 | 2022-09-29 | トヨタ自動車株式会社 | Autonomous driving control system |
| CN115352440A (en) * | 2022-07-26 | 2022-11-18 | 东软集团股份有限公司 | Vehicle obstacle avoidance method, device, computer readable storage medium and vehicle |
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