Vehicle control method, device, equipment, vehicle and medium
阅读说明：本技术 交通工具控制方法、装置、设备、交通工具和介质 (Vehicle control method, device, equipment, vehicle and medium ) 是由 韩少栋 于 2020-06-18 设计创作，主要内容包括：本公开实施例涉及一种交通工具控制方法、装置、设备、交通工具和介质。所述方法包括：第一交通工具根据当前时刻获取的前后方的障碍结果,从前后方的第二交通工具中确定目标交通工具,以及确定第一交通工具与目标交通工具的相对位置关系；第一交通工具获取与目标交通工具的蓝牙配对结果,并根据蓝牙配对结果和相对位置关系确定所需的运行参数；该运行参数包括第一交通工具和目标交通工具的速度信息,或者,第一交通工具和目标交通工具之间的距离信息；第一交通工具根据运行参数和相对位置关系确定当前时刻要执行的运行操作；该运行操作包括超车、减速、制动、保持当前时刻行驶状态中的任一种。采用本方法能够精确保证行车安全。(The disclosed embodiments relate to a vehicle control method, apparatus, device, vehicle, and medium. The method comprises the following steps: the first vehicle determines a target vehicle from the front and rear second vehicles according to the obstacle result of the front and rear vehicles acquired at the current moment, and determines the relative position relation between the first vehicle and the target vehicle; the first vehicle acquires a Bluetooth pairing result with the target vehicle and determines required operation parameters according to the Bluetooth pairing result and the relative position relation; the operating parameter includes speed information of the first vehicle and the target vehicle, or distance information between the first vehicle and the target vehicle; the first vehicle determines the operation to be executed at the current moment according to the operation parameters and the relative position relation; the running operation includes any one of overtaking, decelerating, braking, and maintaining a current-time running state. The method can accurately ensure the driving safety.)
1. A vehicle control method, characterized in that the method comprises:
the method comprises the steps that a first vehicle determines a target vehicle from front and rear second vehicles according to a front and rear obstacle result obtained at the current moment, and determines the relative position relation between the first vehicle and the target vehicle;
the first vehicle acquires a Bluetooth pairing result with the target vehicle and determines required operation parameters according to the Bluetooth pairing result and the relative position relation; the operating parameter comprises speed information of the first vehicle and the target vehicle, or distance information between the first vehicle and the target vehicle;
the first vehicle determines the operation to be executed at the current moment according to the operation parameters and the relative position relation; the running operation includes any one of overtaking, decelerating, braking, and maintaining a current driving state.
2. The method of claim 1, wherein determining the required operating parameters according to the bluetooth pairing result and the relative positional relationship comprises:
if the Bluetooth pairing result is that the pairing is successful, the first vehicle determines the required operation parameters according to the relative position relation; the relative positional relationship includes the first vehicle being rearward of the target vehicle or the first vehicle being forward of the target vehicle.
3. The method of claim 2, wherein the first vehicle determines the required operating parameter from the relative positional relationship, comprising:
if the first vehicle is behind the target vehicle, the first vehicle determines the required operating parameter as speed information of the first vehicle and the target vehicle;
if the first vehicle is in front of the target vehicle, the first vehicle determines the required operating parameter as speed information of the first vehicle.
4. The method of claim 2, wherein determining the required operating parameters according to the bluetooth pairing result and the relative positional relationship comprises:
if the Bluetooth pairing result is pairing failure and the first vehicle is behind the target vehicle, the first vehicle determines that the required operation parameter is distance information between the first vehicle and the target vehicle.
5. The method according to claim 3, characterized in that the speed information of the first vehicle comprises a maximum speed Vmax1 achievable by the first vehicle, the speed information of the target vehicle comprises a maximum speed Vmax2 achievable by the target vehicle; the first vehicle determines the operation to be executed at the current moment according to the operation parameters and the relative position relationship, and the operation comprises the following steps:
and if the first vehicle is behind the target vehicle, comparing the Vmax1 with the Vmax2 by the first vehicle, and determining the running operation to be executed at the current moment according to the comparison result.
6. The method according to claim 5, characterized in that the first vehicle compares the Vmax1 with the Vmax2 and determines the running operation to be performed at the current moment according to the comparison result, comprising:
the first vehicle compares the difference value between the Vmax1 and the Vmax2 with a first preset threshold value to obtain a first comparison result;
and the first vehicle determines the running operation to be executed at the current moment according to the first comparison result.
7. The method of claim 6, wherein the first vehicle determining the operation to be performed at the current time based on the first comparison comprises:
and if the first comparison result is that the difference value between the Vmax1 and the Vmax2 is larger than the first preset threshold value, determining that the running operation to be executed at the current moment is overtaking by the first vehicle.
8. The method of claim 6, wherein the first vehicle determining the operation to be performed at the current time based on the first comparison comprises:
if the first comparison result is that the difference value between the Vmax1 and the Vmax2 is not larger than the first preset threshold value, determining the Vmax2 as the highest speed Vmax 1' which can be reached by the first vehicle at the current moment;
and the first vehicle determines the running operation to be executed at the current moment according to the Vmax 1'.
9. The method according to claim 8, characterized in that the speed information of the first vehicle further comprises the real speed Vreal1 of the first vehicle at the current moment, the speed information of the target vehicle further comprises the real speed Vreal2 of the target vehicle at the current moment; the first vehicle determines the running operation to be executed at the current moment according to the Vmax 1', and the running operation comprises the following steps:
if the Vreal2 is less than the Vmax2, determining that the target vehicle is not driving at the highest speed Vmax2 at the current moment;
the first vehicle compares the Vmax 1' with the Vreal2, and determines the running operation to be executed at the current moment according to the comparison result.
10. The method according to claim 9, wherein the first vehicle compares Vmax 1' with Vreal2, and determines a running operation to be performed at a current time according to the comparison result, comprising:
the first vehicle compares the difference value of Vmax 1' and Vreal2 with a second preset threshold value to obtain a second comparison result;
and the first vehicle determines the running operation to be executed at the current moment according to the second comparison result.
11. The method of claim 10, wherein the first vehicle determining the operation to be performed at the current time based on the second comparison comprises:
and if the second comparison result is that the difference value between Vmax 1' and Vreal2 is greater than the second preset threshold, the first vehicle determines that the running operation to be executed at the current moment is overtaking.
12. The method of claim 10, wherein the first vehicle determining the operation to be performed at the current time based on the second comparison comprises:
if the second comparison result is that the difference value between Vmax1 'and the Vreal2 is not larger than the second preset threshold, determining the Vreal2 as a new maximum speed Vmax 1' which can be reached by the first vehicle at the current moment;
the first vehicle determines that the running operation to be performed at the present time is any one of deceleration, braking, and maintaining the running state at the present time.
13. A method according to claim 2 or 3, characterized in that the method further comprises:
if the Bluetooth pairing result is that the pairing is successful, the first vehicle acquires the brake information of the target vehicle at the current moment; the brake information is used for representing whether the target vehicle has brake action at the current moment;
and the first vehicle determines the running operation to be executed at the current moment according to the braking information of the target vehicle.
14. The method of claim 13, wherein the first vehicle determining the operation to be performed at the current time based on the braking information of the target vehicle comprises:
if the target vehicle has a braking action at the present moment and the first vehicle is behind the target vehicle, the first vehicle cuts off the motor and keeps the cut-off state for a preset time;
and after the preset time length, the first vehicle determines that the new operation to be executed at the current moment is overtaking.
15. The method of claim 13, further comprising:
if the first vehicle is in front of the target vehicle, the first vehicle sends the braking information of the first vehicle at the current moment to the target vehicle; the braking information of the first vehicle is used for representing whether the first vehicle has braking action at the current moment.
16. The method of claim 4, wherein the first vehicle determines the operation to be performed at the current time according to the operation parameter and the relative positional relationship, and comprises:
if the first vehicle is behind the target vehicle, the first vehicle judges whether the distance information is larger than a preset distance threshold value;
if so, determining that the running operation to be executed at the current moment is overtaking by the first vehicle;
otherwise, the first vehicle determines that the running operation to be performed at the present moment is deceleration or braking.
17. The method according to any one of claims 1-4, wherein the first vehicle determines the target vehicle from the front and rear second vehicles based on the front and rear obstacle results obtained at the current time, comprising:
the first vehicle detects ultrasonic echo signals returned by second vehicles at the front and the back, and determines obstacle results at the front and the back according to the ultrasonic echo signals;
if it is determined that second vehicles exist in front of and behind the first vehicle, the first vehicle determines current distance information between the current moment and each of the second vehicles in front of and behind the first vehicle according to the ultrasonic echo signals;
and the first vehicle determines a target vehicle according to the current distance information.
18. The method of claim 17, wherein the first vehicle determines a target vehicle from the respective current distance information, comprising:
and the first vehicle acquires minimum distance information from each piece of current distance information and determines a second vehicle corresponding to the minimum distance information as the target vehicle.
19. The method of claim 18, wherein determining the relative positional relationship of the first vehicle to the target vehicle based on the front-rear obstacle results obtained at the current time comprises:
the first vehicle determines a target ultrasonic ranging device according to the ultrasonic echo signal corresponding to the minimum distance information; the target ultrasonic ranging device is a front ultrasonic ranging device arranged in front of the first vehicle or a rear ultrasonic ranging device arranged behind the first vehicle;
and the first vehicle determines the relative position relation with the target vehicle according to the position of the target ultrasonic ranging device.
20. The method of claim 19, wherein determining the relative positional relationship of the first vehicle to the target vehicle based on the position of the target ultrasonic ranging device comprises:
determining that the first vehicle is behind the target vehicle if the target ultrasonic ranging device is the front ultrasonic ranging device;
if the target ultrasonic ranging device is the rear ultrasonic ranging device, determining that the first vehicle is in front of the target vehicle.
21. A vehicle control apparatus, characterized in that the apparatus comprises:
the position relation determining module is used for determining a target vehicle from front and rear second vehicles according to the front and rear obstacle results obtained at the current moment and determining the relative position relation between the first vehicle and the target vehicle;
the parameter determining module is used for acquiring a Bluetooth pairing result of the target vehicle and determining required operation parameters according to the Bluetooth pairing result and the relative position relation; the operating parameter comprises speed information of the first vehicle and the target vehicle, or distance information between the first vehicle and the target vehicle;
the operation determining module is used for determining the operation to be executed at the current moment according to the operation parameters and the relative position relation; the running operation includes any one of overtaking, decelerating, braking, and maintaining a current driving state.
22. The apparatus of claim 21, wherein the parameter determination module comprises:
the first parameter determining unit is used for determining the required operation parameters according to the relative position relationship when the Bluetooth pairing result is successful; the relative positional relationship includes the first vehicle being rearward of the target vehicle or the first vehicle being forward of the target vehicle.
23. The apparatus of claim 22, wherein the first parameter determining unit comprises:
a back reference determination subunit for determining a required operating parameter as speed information of the first vehicle and the target vehicle when the first vehicle is behind the target vehicle;
a forward reference determination subunit for determining a required operating parameter as speed information of the first vehicle when the first vehicle is in front of the target vehicle.
24. The apparatus of claim 22, wherein the means for determining based on the parameters comprises:
and the second parameter determining unit is used for determining that the required operation parameter is the distance information between the first vehicle and the target vehicle when the Bluetooth pairing result is that the pairing is failed and the first vehicle is behind the target vehicle.
25. The apparatus of claim 23, wherein the speed information of the first vehicle comprises a maximum speed Vmax1 achievable by the first vehicle, and the speed information of the target vehicle comprises a maximum speed Vmax2 achievable by the target vehicle; the operation determination module includes:
and the speed comparison unit is used for comparing the Vmax1 with the Vmax2 when the first vehicle is behind the target vehicle, and determining the running operation to be executed at the current moment according to the comparison result.
26. The apparatus of claim 25, wherein the speed comparison unit comprises:
the first comparison subunit is used for comparing the difference value between the Vmax1 and the Vmax2 with a first preset threshold value to obtain a first comparison result;
and the first determining subunit is used for determining the running operation to be executed at the current moment according to the first comparison result.
27. The apparatus of claim 26, wherein the first determining subunit is further configured to
When the first comparison result is that the difference value between the Vmax1 and the Vmax2 is larger than the first preset threshold value, determining that the running operation to be executed at the current moment is overtaking.
28. The apparatus of claim 26, wherein the first determining subunit is further configured to
When the first comparison result is that the difference value between the Vmax1 and the Vmax2 is not larger than the first preset threshold value, determining the Vmax2 as the highest speed Vmax 1' which can be reached by the first vehicle at the current moment; and determining the running operation to be executed at the current moment according to the Vmax 1'.
29. The apparatus according to claim 28, characterized in that the speed information of the first vehicle further comprises the real speed Vreal1 of the first vehicle at the present moment, the speed information of the target vehicle further comprises the real speed Vreal2 of the target vehicle at the present moment; the first determining subunit is further configured to
When the Vreal2 is less than the Vmax2, determining that the target vehicle is not currently traveling at a maximum speed Vmax 2; comparing the Vmax 1' with the Vreal2, and determining the running operation to be executed at the current moment according to the comparison result.
30. The apparatus of claim 29, wherein the first determining subunit is further configured to determine the first time interval
Comparing the difference value of Vmax 1' and the Vreal2 with a second preset threshold value to obtain a second comparison result; and determining the operation to be executed at the current moment according to the second comparison result.
31. The apparatus of claim 30, wherein the first determining subunit is further configured to
When the second comparison result is that the difference value between Vmax 1' and Vreal2 is greater than the second preset threshold, determining that the running operation to be executed at the current moment is overtaking.
32. The apparatus of claim 30, wherein the first determining subunit is further configured to
Determining the Vreal2 as a new maximum speed Vmax1 "that the first vehicle can reach at the current moment when the second comparison result is that the difference between Vmax 1' and the Vreal2 is not more than the second preset threshold; and determining the running operation to be executed at the current moment as any one of deceleration, braking and keeping the running state at the current moment.
33. The apparatus of claim 22 or 23, further comprising:
the brake information acquisition module is used for acquiring the brake information of the target vehicle at the current moment when the Bluetooth pairing result is successful; the brake information is used for representing whether the target vehicle has brake action at the current moment;
and the braking operation determining module is used for determining the running operation to be executed at the current moment according to the braking information of the target vehicle.
34. The apparatus of claim 33, wherein the brake operation determination module comprises:
the cutting unit is used for cutting off the motor and keeping a cutting-off state for a preset time when the target vehicle has a brake action at the current moment and the first vehicle is behind the target vehicle;
and the brake operation determining unit is used for determining that the new running operation to be executed at the current moment is overtaking after the preset time length.
35. The apparatus of claim 33, further comprising:
the transmitting module is used for transmitting the self brake information of the first vehicle at the current moment to the target vehicle when the first vehicle is in front of the target vehicle; the braking information of the first vehicle is used for representing whether the first vehicle has braking action at the current moment.
36. The apparatus of claim 24, wherein the operation determination module comprises:
a distance determination unit configured to determine whether the distance information is greater than a preset distance threshold when the first vehicle is behind the target vehicle;
the first operation determining unit is used for determining that the running operation to be executed at the current moment is overtaking when the distance information is larger than the preset distance threshold;
and the second operation determining unit is used for determining that the running operation to be executed at the current moment is deceleration or braking when the distance information is not larger than the preset distance threshold.
37. The apparatus according to any one of claims 21-24, wherein the position relation determining module comprises:
the obstacle determining unit is used for detecting ultrasonic echo signals returned by second vehicles in front of and behind the first vehicle and determining obstacle results in front of and behind the first vehicle according to the ultrasonic echo signals;
the distance information determining unit is used for determining current distance information between the current moment and each second vehicle in front and back according to the ultrasonic echo signals when the second vehicles exist in front and back of the first vehicle;
and the target determining unit is used for determining a target vehicle according to the current distance information.
38. The apparatus of claim 37, wherein the goal determination unit is further configured to determine the goal based on the determined location of the target object
And acquiring minimum distance information from each piece of current distance information, and determining a second vehicle corresponding to the minimum distance information as the target vehicle.
39. The apparatus of claim 38, wherein the positional relationship determination module further comprises:
the target device determining unit is used for determining a target ultrasonic ranging device according to the ultrasonic echo signal corresponding to the minimum distance information; the target ultrasonic ranging device is a front ultrasonic ranging device arranged in front of the first vehicle or a rear ultrasonic ranging device arranged behind the first vehicle;
and the position relation determining unit is used for determining the relative position relation between the target vehicle and the target ultrasonic ranging device according to the position of the target ultrasonic ranging device.
40. The apparatus of claim 39, wherein the position relation determining unit is further configured to
Determining that the first vehicle is behind the target vehicle when the target ultrasonic ranging device is the front ultrasonic ranging device; determining that the first vehicle is in front of the target vehicle when the target ultrasonic ranging device is the rear ultrasonic ranging device.
41. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 20 are implemented when the computer program is executed by the processor.
42. A vehicle comprising the electronic device of claim 41.
43. A storage medium having a computer program stored thereon, the computer program, when being executed by a processor, realizing the steps of the method of any one of claims 1 to 20.
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method, an apparatus, a device, a vehicle, and a medium for controlling a vehicle.
Background
The sharing electric bicycle is taken as a novel traffic mode, wins the public green and ignores with the advantages of no pile type parking mode, low rent price and the like, provides great convenience for the life of people, relieves the pressure of urban public transport to a certain extent, but when a plurality of electric bicycles are ridden on the road simultaneously, the safety problem can be easily caused.
Disclosure of Invention
The embodiment of the disclosure provides a vehicle control method, a vehicle control device, equipment, a vehicle and a medium, which can be used for improving driving safety.
In a first aspect, an embodiment of the present disclosure provides a vehicle control method, including:
the first vehicle determines a target vehicle from the front and rear second vehicles according to the obstacle result of the front and rear vehicles acquired at the current moment, and determines the relative position relation between the first vehicle and the target vehicle;
the first vehicle acquires a Bluetooth pairing result with the target vehicle and determines required operation parameters according to the Bluetooth pairing result and the relative position relation; the operating parameter includes speed information of the first vehicle and the target vehicle, or distance information between the first vehicle and the target vehicle;
the first vehicle determines the operation to be executed at the current moment according to the operation parameters and the relative position relation; the running operation includes any one of overtaking, decelerating, braking, and maintaining a current-time running state.
In a second aspect, embodiments of the present disclosure provide a vehicle control apparatus, the apparatus comprising:
the position relation determining module is used for determining a target vehicle from front and rear second vehicles according to the front and rear obstacle results obtained at the current moment and determining the relative position relation between the first vehicle and the target vehicle;
the parameter determining module is used for acquiring a Bluetooth pairing result of the target vehicle and determining required operation parameters according to the Bluetooth pairing result and the relative position relation; the operating parameter includes speed information of the first vehicle and the target vehicle, or distance information between the first vehicle and the target vehicle;
the operation determining module is used for determining the operation to be executed at the current moment according to the operation parameters and the relative position relation; the running operation includes any one of overtaking, decelerating, braking, and maintaining a current-time running state.
In a third aspect, an embodiment of the present disclosure provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the method of the first aspect when executing the computer program.
In a fourth aspect, the disclosed embodiments provide a vehicle including the electronic device of the third aspect.
In a fifth aspect, the present disclosure provides a computer-readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the method of the first aspect.
According to the vehicle control method, the vehicle control device, the vehicle control equipment, the vehicle control medium and the vehicle control program, the first vehicle can determine the target vehicle and the relative position relation with the target vehicle from the front and rear second vehicles according to the obstacle results of the front and rear vehicles at the current moment, determine the operation parameters required by the current moment according to the Bluetooth pairing result and the relative position relation with the target vehicle and finally determine the operation to be executed at the current moment according to the operation parameters and the relative position relation. Wherein the operation parameters comprise speed information of the first vehicle and the target vehicle or distance information between the first vehicle and the target vehicle, and the operation comprises any one of overtaking, decelerating, braking and keeping a current driving state. In the method, the first vehicle can determine the operation parameters required at the current moment according to the Bluetooth pairing result and the relative position relation between the first vehicle and the target vehicle, namely, the first vehicle can perform Bluetooth interaction with the front vehicle and the rear vehicle, so that the operation states of the front vehicle and the rear vehicle can be accurately obtained, namely, the determined operation parameters are relatively accurate, so that the operation of the vehicle can be accurately controlled by using the accurate operation parameters, and the driving safety of the vehicle can be accurately ensured.
Drawings
FIG. 1 is a diagram of an exemplary vehicle control system;
FIG. 2 is a schematic flow chart diagram of a vehicle control method in one embodiment;
FIG. 3 is a schematic flow chart diagram of a vehicle control method in another embodiment;
FIG. 4 is a schematic flow chart diagram of a vehicle control method in another embodiment;
FIG. 5 is a schematic flow chart diagram of a vehicle control method in another embodiment;
FIG. 6 is a block diagram showing the construction of a vehicle control device according to an embodiment;
FIG. 7 is a block diagram showing the construction of a vehicle control apparatus according to another embodiment;
FIG. 8 is a block diagram showing the construction of a vehicle control apparatus according to another embodiment;
FIG. 9 is a block diagram showing the construction of a vehicle control apparatus according to another embodiment;
FIG. 10 is a diagram illustrating an internal structure of an electronic device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clearly understood, the embodiments of the present disclosure are described in further detail below with reference to the accompanying drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the embodiments of the disclosure and that no limitation to the embodiments of the disclosure is intended.
First, before specifically describing the technical solution of the embodiment of the present disclosure, a technical background or a technical evolution context on which the embodiment of the present disclosure is based is described. In general, in the field of vehicle travel, the current technical background is: when a plurality of vehicles run together on a road, the safety problem is easy to occur. Based on the background, the applicant discovers whether vehicles are arranged in front of and behind the vehicle through long-term model simulation research and development and experimental data collection, demonstration and verification, and when the front vehicle and the rear vehicle are not on the same straight line, the situation that the front vehicle and the rear vehicle cannot be detected easily occurs, so that the problem that the front vehicle and the rear vehicle cannot keep a safe distance is caused. How to accurately guarantee the driving safety through other modes becomes a difficult problem to be solved urgently at present. In addition, it should be noted that, from the technical solutions described in the following embodiments and the determination that the infrared detection device is difficult to accurately ensure driving safety, the applicant has paid a lot of creative efforts.
The following describes technical solutions related to the embodiments of the present disclosure with reference to a scenario in which the embodiments of the present disclosure are applied.
The vehicle control method provided by the embodiment of the disclosure can be applied to the system architecture shown in fig. 1. The system architecture includes a
In one embodiment, a vehicle control method is provided, and the embodiment relates to how to determine an operation parameter according to a bluetooth pairing result and a relative position relationship between a first vehicle and a target vehicle, and determine a specific process of an operation according to the operation parameter. Taking the example of the method applied to the first vehicle in fig. 1 as an example, as shown in fig. 2, the method may include the following steps:
s202, the first vehicle determines a target vehicle from the front and rear second vehicles according to the front and rear obstacle results acquired at the current moment, and determines the relative position relation between the first vehicle and the target vehicle.
In this step, it should be noted that the first vehicle and the second vehicle may be vehicles of the same manufacturer and the same type, or may be vehicles of the same manufacturer and different types, or may be vehicles of the same type and different manufacturers, or may be vehicles of different types and different manufacturers.
The obstacle result may include distance information between the first vehicle and the obstacle in front of and behind the first vehicle, and the distance information is information detected by a front ultrasonic ranging device or a rear ultrasonic ranging device on the first vehicle; the obstacle here refers to a second vehicle around the first vehicle, and usually refers to four directions of the first vehicle, front, back, left and right, which are generally parallel to the first vehicle, but in a real scene, two vehicles are hard to say completely parallel to each other, and generally have a sequence, but only a sequence, so that the second vehicle in the left and right directions of the first vehicle can also be considered as a second vehicle in front of and behind the first vehicle.
Specifically, after a user unlocks a current first vehicle and uses the first vehicle, a front ultrasonic distance measuring device and a rear ultrasonic distance measuring device which are arranged on the first vehicle start to work, the first vehicle can utilize the front ultrasonic distance measuring device and the rear ultrasonic distance measuring device on the first vehicle to transmit ultrasonic signals to the surroundings at intervals of a certain time or all the time, and after ultrasonic echo signals returned by surrounding second vehicles are received, the second vehicle can be determined to be detected. Afterwards, the first vehicle can determine the number of the second vehicles in front of and behind the first vehicle according to the number of the received ultrasonic echo signals, that is, a plurality of second vehicles or only one second vehicle can be determined in front of and behind the first vehicle, and meanwhile, whether the second vehicles exist in the front-back direction or only one direction can be determined.
Then, the first vehicle may calculate distance information between the first vehicle and the second vehicle according to the ultrasonic echo signal of the second vehicle, and the distance information is information detected by a front ultrasonic ranging device or a rear ultrasonic ranging device on the first vehicle. If there is only one second vehicle in the front-to-rear direction of the first vehicle, the second vehicle may be determined as the target vehicle. If there are a plurality of second vehicles in the front-rear direction of the first vehicle, the target vehicle can be selected from the plurality of second vehicles, and the selection principle can be that the target vehicle is closest to the first vehicle, or the distance from the first vehicle is within a certain threshold value range, or the distance from the first vehicle is farthest, and so on. After the target vehicle is determined, the relative position relationship between the target vehicle and the first vehicle can be determined according to the ultrasonic echo signal corresponding to the target vehicle, wherein the first vehicle is behind the target vehicle, or the first vehicle is in front of the target vehicle.
S204, the first vehicle acquires a Bluetooth pairing result with the target vehicle and determines required operation parameters according to the Bluetooth pairing result and the relative position relation; the operating parameter includes speed information of the first vehicle and the target vehicle, or distance information between the first vehicle and the target vehicle.
In this step, it should be noted that the first vehicle and the target vehicle may be vehicles of the same manufacturer and the same type, or may be vehicles of the same manufacturer and different types. For example, the first vehicle may be an electric bicycle of manufacturer a and the target vehicle may be an electric automobile of manufacturer a.
The bluetooth pairing result may be a bluetooth pairing success or a bluetooth pairing failure. Before the vehicles leave the factory, a special bluetooth pairing signal may be set in advance for each vehicle, for example, a bluetooth pairing key and transmitted information content and format may be set, so as to prevent the vehicles and other devices (such as mobile phones and tablet computers) carrying bluetooth from being paired to acquire wrong data, that is, to improve the accuracy of vehicle control.
After the first vehicle determines the target vehicle and the relative position relationship between the target vehicle and the target vehicle, the first vehicle may perform bluetooth pairing with the target vehicle, and then obtain a pairing result, where the pairing result includes a successful bluetooth pairing or a failed bluetooth pairing, generally, different pairing results have different corresponding operation parameters, and meanwhile, different relative position relationships have different corresponding operation parameters, so that the first vehicle may obtain the operation parameters required at the current time by combining the bluetooth pairing result with the target vehicle and the relative position relationship. Of course, after the bluetooth pairing is successful, the first vehicle and the target vehicle can also transmit the operation parameters required at the current moment through bluetooth. The operation parameter here may be speed information of the first vehicle, speed information of the target vehicle, distance information between the first vehicle and the target vehicle, and the like; the speed information may include, among other things, the highest speed, whether the vehicle is currently traveling at the highest speed, the true speed, and so on. Of course, the operating parameters may also include braking information of the first vehicle and the target vehicle, and so on.
S206, the first vehicle determines the operation to be executed at the current moment according to the operation parameters and the relative position relation; the running operation includes any one of overtaking, decelerating, braking, and maintaining a current-time running state.
In this step, the operation given here is only an example, but other operation may be included, such as turning off the motor of the vehicle, braking, etc.
Specifically, after obtaining the operation parameters required at the current time, the first vehicle may select to send the operation parameters to the target vehicle according to the relative position relationship with the target vehicle, and then perform corresponding operation, for example, maintain the current driving state; or, the speed information in the operation parameters can be selected to be compared, and corresponding operation is executed according to the speed comparison result; or, comparing the distance information in the operation parameters with a threshold value, and executing corresponding operation according to the distance comparison result; other ways are of course possible.
In the vehicle control method, the first vehicle may determine the target vehicle and the relative position relationship with the target vehicle from the front and rear second vehicles according to the obstacle results at the current time, determine the operation parameter required at the current time according to the bluetooth pairing result with the target vehicle and the relative position relationship, and finally determine the operation to be executed at the current time according to the operation parameter and the relative position relationship. Wherein the operation parameters comprise speed information of the first vehicle and the target vehicle or distance information between the first vehicle and the target vehicle, and the operation comprises any one of overtaking, decelerating, braking and keeping a current driving state. In the method, the first vehicle can determine the operation parameters required at the current moment according to the Bluetooth pairing result and the relative position relation between the first vehicle and the target vehicle, namely, the first vehicle can perform Bluetooth interaction with the front vehicle and the rear vehicle, so that the operation states of the front vehicle and the rear vehicle can be accurately obtained, namely, the determined operation parameters are relatively accurate, so that the operation of the vehicle can be accurately controlled by using the accurate operation parameters, and the driving safety of the vehicle can be accurately ensured.
In another embodiment, another vehicle control method is provided, which relates to a specific process of how the first vehicle determines the required operating parameters based on the bluetooth pairing result and the relative positional relationship. On the basis of the foregoing embodiment, the determining the required operating parameters according to the bluetooth pairing result and the relative positional relationship in S204 may include the following steps a:
step A, if the Bluetooth pairing result is that the pairing is successful, the first vehicle determines the required operation parameters according to the relative position relationship; the relative positional relationship includes the first vehicle being rearward of the target vehicle or the first vehicle being forward of the target vehicle.
The successful bluetooth pairing may be successful matching of a bluetooth key preset between the two vehicles, and may be that the first vehicle sends a bluetooth pairing request to the target vehicle, where the request includes the key, and the target vehicle verifies the key after receiving the bluetooth pairing request, and if the verification is successful, returns a response of successful pairing to the first vehicle, otherwise, does not return a response or returns a response of failed pairing. Typically, only vehicles of the same manufacturer will have bluetooth pairings successfully, and vehicles of different manufacturers will typically have bluetooth pairings that fail.
When the bluetooth pairing is successful and the first vehicle determines the required operation parameters according to the relative position relationship, the two types of operation parameters can be divided into two types, one type is in front of the target vehicle and the other type is behind the target vehicle, and then optionally, if the first vehicle is behind the target vehicle, the first vehicle determines the required operation parameters to be the speed information of the first vehicle and the target vehicle, namely the operation parameters comprise the speed information of the first vehicle and the speed information of the target vehicle; if the first vehicle is in front of the target vehicle, the first vehicle determines the required operating parameter as speed information of the first vehicle.
Optionally, if the bluetooth pairing result is that the pairing is failed and the first vehicle is behind the target vehicle, the first vehicle determines that the required operation parameter is distance information between the first vehicle and the target vehicle. That is, if the first vehicle does not receive a response returned by the target vehicle within a set time, or the received response is a pairing failure response, it may be determined that the two bluetooth pairings fail, and at this time, if the first vehicle is in front of the target vehicle, the first vehicle may determine that the current operation parameter is distance information between the two bluetooth pairings, and the operation may be any one of overtaking, decelerating, braking, and keeping a current driving state; if the first vehicle is behind the target vehicle, the first vehicle may also determine the current operating parameter as distance information between the two, and may then determine the operating operation to be performed based on the distance information between the two.
In this embodiment, when the bluetooth pairing is successful or the bluetooth pairing is failed, the corresponding operation parameters can be determined according to different bluetooth pairing conditions and relative position relationships, so that the determined operation parameters are relatively in accordance with real conditions, that is, relatively accurate, and then the determined operation is relatively accurate when the accurate operation parameters are subsequently used for determining the operation, so that the driving safety of the vehicle can be accurately ensured through the accurate operation.
In another embodiment, another vehicle control method is provided, and this embodiment relates to a method in which the speed information of the first vehicle includes a maximum speed Vmax1 that can be achieved by the first vehicle, and the speed information of the target vehicle includes a maximum speed Vmax2 that can be achieved by the target vehicle, and then after the bluetooth pairing of the first vehicle and the target vehicle is successful, how the first vehicle determines a specific procedure of a running operation to be performed at the present time from Vmax1 and Vmax2 and the relative positional relationship. On the basis of the above embodiment, the above S206 may include the following step B:
and step B, if the first vehicle is behind the target vehicle, comparing the Vmax1 with the Vmax2 by the first vehicle, and determining the running operation to be executed at the current moment according to the comparison result.
In this step, optionally, if the first vehicle is in front of the target vehicle, the operation parameter required by the first vehicle is speed information of the first vehicle, and the first vehicle only needs to send its own speed information to the target vehicle through bluetooth.
When the first vehicle is behind the target vehicle, driving safety needs to be paid extra attention at this time, in order to ensure accurate driving safety, the first vehicle and the target vehicle can interact through bluetooth at this time, so that the first vehicle can receive the maximum speed Vmax2 which can be reached and is sent by the target vehicle through bluetooth, of course, the target vehicle can also receive the maximum speed Vmax1 which can be reached by the first vehicle through bluetooth, and then Vmax1 and Vmax2 are compared, during comparison, optionally, Vmax1 and Vmax2 can be directly compared, or a difference value of Vmax1 and Vmax2 and a threshold value can be compared, and the embodiment mainly adopts the comparison of the difference value of Vmax1 and Vmax2 and the threshold value.
Optionally, the first vehicle compares the difference between Vmax1 and Vmax2 with a first preset threshold to obtain a first comparison result, and the first vehicle determines the running operation to be executed at the current time according to the first comparison result. The first preset threshold may be set according to actual conditions, and may be, for example, 5km/h, 3km/h, and the like, where in the comparison, a difference obtained by subtracting Vmax2 from Vmax1 is compared with the first preset threshold to obtain a first comparison result. Optionally, if the first comparison result is that the difference between Vmax1 and Vmax2 is greater than a first preset threshold, the first vehicle determines that the running operation to be executed at the current time is overtaking. That is, when the maximum speed that can be reached by the first vehicle is faster than the maximum speed that can be reached by the target vehicle by a first predetermined threshold, then the overtaking may be exceeded, which is also safe, and then the first vehicle may be allowed to overtake at the current time.
Optionally, if the first comparison result is that the difference between Vmax1 and Vmax2 is not greater than a first preset threshold, determining Vmax2 as a maximum speed Vmax 1' that can be reached by the first vehicle at the current time; the first vehicle determines the running operation to be performed at the present moment, based on Vmax 1'. That is, when the maximum speed that can be reached by the first vehicle is not faster than the maximum speed that can be reached by the target vehicle by the first preset threshold, the overtaking may not be exceeded at this time, the first vehicle may collide with the target vehicle, and the driving safety is affected, and the first vehicle may not be allowed to overtake at this time, but in order to avoid some users from wanting to overtake, the maximum speed that can be reached by the first vehicle may be reduced to Vmax2, which is denoted as Vmax 1', so that even if the users are willing to overtake, when the target vehicle is also driven at the maximum speed, the maximum speeds of the first vehicle and the target vehicle are the same, which is also the overtaking, and the driving safety can be ensured. Of course, the target vehicle may not be traveling at the highest speed, and the magnitude relationship between the speed information of the target vehicle and the speed information of the first vehicle may be continuously determined.
In the case of continuing the determination, other speed information of the first vehicle and the target vehicle is needed, and optionally, the speed information of the first vehicle further includes a real speed Vreal1 of the first vehicle at the current time, and the speed information of the target vehicle further includes a real speed Vreal2 of the target vehicle at the current time. The first vehicle can then compare the real speed Vreal2 of the target vehicle at the current time with the maximum speed Vmax2 that can be achieved, and if Vreal2 is equal to Vmax2, where Vreal2 would not typically be greater than Vmax2, then determine that the target vehicle is traveling at the maximum speed at the current time. If Vreal2 is less than Vmax2, it is determined that the target vehicle is not driven at the maximum speed Vmax2 at the present time; the first vehicle compares Vmax 1' with Vreal2, and determines a running operation to be performed at the current time according to the comparison result. Of course, the first vehicle may also send the real speed Vreal1 at the current time and whether the current time is driven at the maximum speed Vmax1 directly to the target vehicle through bluetooth, and the target vehicle may also send the real speed Vreal2 at the current time and whether the current time is driven at the maximum speed Vmax2 directly to the first vehicle through bluetooth, but of course, the two vehicles may also only interact with Vreal1 and Vreal2, and whether the current time is driven at the maximum speed may be obtained by comparing the obtained Vreal1 and Vreal2 with the corresponding maximum speed.
When comparing Vmax1 'with Vreal2, optionally, Vmax 1' may be directly compared with Vreal2, or a difference between Vmax1 'and Vreal2 may be compared with a threshold, and this embodiment mainly adopts comparing a difference between Vmax 1' and Vreal2 with a threshold.
Optionally, the first vehicle compares the difference between Vmax 1' and Vreal2 with a second preset threshold to obtain a second comparison result; and the first vehicle determines the running operation to be executed at the current moment according to the second comparison result.
The second preset threshold may be set according to actual conditions, and may be the same as or different from the first preset threshold, for example, 5km/h, 3km/h, and so on, where in comparison, the difference between Vmax 1' and Vreal2 is compared with the second preset threshold to obtain a second comparison result. Optionally, if the second comparison result is that the difference between Vmax 1' and Vreal2 is greater than a second preset threshold, the running operation to be performed by the first vehicle at the current moment is a passing. That is, if the maximum speed Vmax 1' that can be achieved after the first vehicle has slowed down for the first time is still a second predetermined threshold value greater than the actual speed of the target vehicle, then the overtaking may be exceeded at that time, which is also safe, and then the first vehicle may be allowed to overtake at the current time.
If the second comparison result is that the difference value between Vmax1 'and Vreal2 is not larger than a second preset threshold, Vreal2 is determined as a new maximum speed Vmax 1' which can be reached by the first vehicle at the current moment; the first vehicle determines that the running operation to be performed at the present time is any one of deceleration, braking, and maintaining the running state at the present time. That is, when the maximum speed that can be reached after the first vehicle decelerates for the first time is not faster than the real speed of the target vehicle by the second preset threshold, the overtaking is not passed at this time, the first vehicle may collide with the target vehicle, and the driving safety is affected, so the first vehicle cannot be permitted to overtake at this time, but in order to avoid some users from wanting to overtake, the maximum speed Vmax 1' that can be reached by the first vehicle may be reduced to Vreal2, which is denoted as Vmax1 ", that is, the second deceleration is performed, so even if the users are wanting to overtake, when the target vehicle drives at the real speed Vreal2, the maximum speed that can be reached by the first vehicle is the same as the real speed of the target vehicle, which is also inexhausted, and the driving safety can be ensured. Of course, the optimal operation is any one of deceleration, braking and keeping the current driving state, so that the driving safety can be more effectively ensured.
In this embodiment, if the first vehicle is behind the target vehicle, the final running operation to be performed by the first vehicle can be obtained by comparing and analyzing the highest speed of the first vehicle, the highest speed of the target vehicle and the real speed. In the embodiment, the real speeds of the front and rear vehicles can be compared accurately, and the highest speeds of the front and rear vehicles can be compared, so that the vehicles can be operated more accurately in a speed reduction, over speed and other operations, and the driving safety of the vehicles can be ensured more accurately.
In another embodiment, another vehicle control method is provided, and the embodiment relates to a specific process that the first vehicle can interact with the target vehicle for braking information after the bluetooth pairing is successful. On the basis of the above embodiment, as shown in fig. 3, the method may further include the following steps:
s302, if the Bluetooth pairing result is that the pairing is successful, the first vehicle acquires the brake information of the target vehicle at the current moment; the braking information is used for representing whether the target vehicle has braking action at the current moment.
Specifically, after the bluetooth pairing is successful, the first transportation means and the target transportation means may also perform interaction of braking information, that is, the first transportation means may send braking information of itself to the target transportation means, and similarly, the target transportation means may send braking information of itself to the first transportation means. The braking information is used for representing whether the target vehicle or the first vehicle has braking action at the current moment, and can be detected by a braking sensor arranged on the target vehicle or the first vehicle.
And S304, the first vehicle determines the running operation to be executed at the current moment according to the braking information of the target vehicle.
After the first vehicle receives the braking information sent by the target vehicle, whether the target vehicle has braking action or not can be obtained, optionally, if the target vehicle has braking action at the current moment and the first vehicle is behind the target vehicle, the first vehicle cuts off the motor and keeps the cut-off state for a preset time; and after the preset time length, the first vehicle determines that the new operation to be executed at the current moment is overtaking. The preset time period may be determined according to actual conditions, and may be, for example, 1 second, 2 seconds, 5 seconds, and so on. That is, when the first vehicle is behind the target vehicle and the target vehicle has a braking action, the speed of the target vehicle will drop rapidly, so as to avoid the collision between the first vehicle and the target vehicle, the first vehicle may first cut off the motor for a certain period of time, i.e. first decelerate, and after a certain period of time and after the target vehicle is stable, the first vehicle may accelerate to exceed the target vehicle, thereby ensuring the driving safety.
Of course, if the first vehicle is in front of the target vehicle, the first vehicle may also send the braking information, that is, optionally, if the first vehicle is in front of the target vehicle, the first vehicle sends the braking information of the first vehicle at the current moment to the target vehicle; the braking information of the first vehicle is used for representing whether the first vehicle has braking action at the current moment. Therefore, a brake information reference can be provided for the rear vehicle, so that the rear vehicle can adjust the operation in time, the rear vehicle is prevented from colliding with the first vehicle, and the driving safety of the first vehicle is further ensured.
In the embodiment, after the first vehicle and the target vehicle are successfully matched with each other through the Bluetooth, the first vehicle and the target vehicle can interact with each other through the braking information, and whether the other vehicle needs to brake or not can be definitely known through the interactive braking information, so that corresponding operation can be pertinently taken, the vehicle collision is avoided, and the driving safety can be accurately guaranteed.
In another embodiment, another vehicle control method is provided, which relates to a specific process of how to maintain a safe vehicle distance between the first vehicle and the target vehicle by distance after a bluetooth pairing failure. On the basis of the above embodiment, as shown in fig. 4, the above S206 may include the following steps:
s402, if the first vehicle is behind the target vehicle, the first vehicle judges whether the distance information is larger than a preset distance threshold value.
And S404, if the current time is larger than the current time, the first vehicle determines that the running operation to be executed at the current time is overtaking.
S406, otherwise, the first vehicle determines that the running operation to be performed at the present moment is deceleration or braking.
In this embodiment, if the first vehicle is in front of the target vehicle, the first vehicle may send the distance information between the first vehicle and the target vehicle, and the running operation to be performed at the current time may be any one of overtaking, decelerating, braking, and maintaining the driving state at the current time, depending on the actual situation.
If the first vehicle is behind the target vehicle, the first vehicle can compare the distance information between the first vehicle and the target vehicle with a preset distance threshold, if the distance information is greater than the distance threshold, the distance between the first vehicle and the target vehicle can be determined to be large, no danger can occur when the first vehicle overtakes, and the first vehicle can be allowed to overtake; if the distance information is smaller than or equal to the distance threshold, the fact that the distance between the first vehicle and the second vehicle is small at the moment is indicated, collision risks are likely to occur, and the first vehicle needs to decelerate or brake to pull the distance between the first vehicle and the second vehicle apart, so that the safe vehicle distance is guaranteed. The preset distance threshold may be set according to actual conditions, and may be, for example, 0.5 meter, 1 meter, 1.2 meters, and the like.
In this embodiment, when the bluetooth pairing fails, if the first vehicle is behind the target vehicle, the distance information between the first vehicle and the target vehicle may be compared with the distance threshold, and different operation operations may be performed according to the comparison result. Because the safe vehicle distance between the front vehicle and the rear vehicle can be ensured through the distance information when the Bluetooth pairing fails, the driving safety of the vehicle can also be ensured.
In another embodiment, another vehicle control method is provided, which relates to a specific process of how a first vehicle determines a target vehicle from among front and rear second vehicles based on front and rear obstacle results acquired at the present time. On the basis of the above embodiment, as shown in fig. 5, the above S202 may include the following steps:
and S502, the first vehicle detects ultrasonic echo signals returned by the second vehicles at the front and the back, and determines obstacle results at the front and the back according to the ultrasonic echo signals.
In this step, if the front ultrasonic ranging device and the rear ultrasonic ranging device of the first vehicle both detect ultrasonic echo signals, it can be determined that the second vehicle exists in front of and behind the first vehicle; if the front ultrasonic ranging device of the first vehicle detects the ultrasonic echo signal, it can be determined that an obstacle exists in front of the first vehicle; if the rear ultrasonic ranging device of the first vehicle detects the ultrasonic echo signal, it can be determined that an obstacle is behind the first vehicle.
S504, if it is determined that the second vehicles exist in front of and behind the first vehicle, the first vehicle determines current distance information between the current time and each of the second vehicles in front of and behind the first vehicle according to the ultrasonic echo signals.
In this step, if there are second transportation means in front of and behind the first transportation means, the first transportation means may receive the ultrasonic echo signals returned by the second transportation means in front of and behind the first transportation means, and then the distance between the first transportation means and each second transportation means may be calculated according to each ultrasonic echo signal, and each distance may be recorded as current distance information, so that a plurality of pieces of current distance information may be obtained.
S506, the first vehicle determines the target vehicles according to the current distance information.
In this step, optionally, the first vehicle acquires minimum distance information from each piece of current distance information, and determines the second vehicle corresponding to the minimum distance information as the target vehicle. That is to say, the first vehicle may find out the minimum distance information from the plurality of current distance information, so that the ultrasonic echo signal corresponding to the minimum distance information may be obtained, and then the second vehicle corresponding to the ultrasonic echo signal may be obtained, that is, the target vehicle may be obtained.
Of course, after the obstacle results and the target vehicle in front and back are determined, the relative position relationship between the first vehicle and the target vehicle can be continuously determined according to the obstacle results and the target vehicle. Alternatively, the following steps C1-C2 may be used for the determination, as follows:
c1, the first vehicle determines a target ultrasonic ranging device according to the ultrasonic echo signal corresponding to the minimum distance information; the target ultrasonic ranging device is a front ultrasonic ranging device arranged in front of the first vehicle or a rear ultrasonic ranging device arranged behind the first vehicle.
That is, after the first vehicle obtains the minimum distance information, the ultrasonic echo signal corresponding to the minimum distance information may also be obtained, so that which ultrasonic ranging device detected the ultrasonic echo signal.
And C2, the first vehicle determines the relative position relation with the target vehicle according to the position of the target ultrasonic ranging device.
Optionally, if the target ultrasonic ranging device is a front ultrasonic ranging device, determining that the first vehicle is behind the target vehicle; and if the target ultrasonic ranging device is a rear ultrasonic ranging device, determining that the first vehicle is in front of the target vehicle. That is, if the ultrasonic echo signal corresponding to the minimum distance information is detected by the front ultrasonic ranging device, it indicates that the first vehicle is behind the target vehicle, and if the ultrasonic echo signal corresponding to the minimum distance information is detected by the rear ultrasonic ranging device, it indicates that the first vehicle is in front of the target vehicle.
In this embodiment, the first vehicle detects obstacles in front and rear of the vehicle through the ultrasonic echo signals emitted by the ultrasonic ranging device, determines whether second vehicles exist in front and rear of the vehicle according to the ultrasonic echo signals, and if so, obtains current distance information between the first vehicle and each second vehicle according to the ultrasonic echo signals, and determines the target vehicle according to each current distance information. In this embodiment, since the target vehicle can be determined by the ultrasonic echo signal emitted by the ultrasonic ranging device, the detection accuracy of the ultrasonic ranging device is higher, and the requirement on the relative position relationship between the front vehicle and the rear vehicle is not strict, the sensitivity of detecting the second vehicle can be improved, and the driving safety of the first vehicle can be better ensured.
An embodiment of the present disclosure is described below with reference to a specific travel scenario, and the method may include the following steps S1-S21:
and S1, the first vehicle detects the ultrasonic echo signals returned by the second vehicles at the front and the rear sides, and determines the obstacle results at the front and the rear sides according to the ultrasonic echo signals.
And S2, if the second vehicles exist in front of and behind the first vehicle, determining the current distance information between the current time and each of the second vehicles in front of and behind the first vehicle according to the ultrasonic echo signals.
And S3, the first vehicle acquires minimum distance information from the current distance information, and determines the second vehicle corresponding to the minimum distance information as the target vehicle.
And S4, the first vehicle determines a target ultrasonic ranging device according to the ultrasonic echo signal corresponding to the minimum distance information, wherein the target ultrasonic ranging device is a front ultrasonic ranging device arranged in front of one vehicle or a rear ultrasonic ranging device arranged behind the first vehicle.
S5, if the target ultrasonic ranging device is a front ultrasonic ranging device, determining that the first vehicle is behind the target vehicle; and if the target ultrasonic ranging device is a rear ultrasonic ranging device, determining that the first vehicle is in front of the target vehicle.
And S6, performing Bluetooth pairing on the first vehicle and the target vehicle, and executing S7 if the pairing is successful, or executing S17 if the pairing is failed.
S7, if the first vehicle is behind the target vehicle, the first vehicle determines the required operation parameters as the speed information of the first vehicle and the target vehicle; wherein the speed information comprises the speed information of the first vehicle comprising the maximum speed Vmax1 which can be reached by the first vehicle, the speed information of the target vehicle comprising the maximum speed Vmax2 which can be reached by the target vehicle, and the speed information of the target vehicle further comprising the real speed Vreal2 of the target vehicle at the current moment.
S8, the first vehicle judges whether the difference value between Vmax1 and Vmax2 is larger than a first preset threshold value, if so, S9 is executed, and if not, S10 is executed.
S9, the first vehicle determines that the operation to be performed at the present time is a passing.
S10, the first vehicle determines Vmax2 as the highest speed Vmax 1' that can be achieved at the current time.
S11, the first vehicle judges whether Vreal2 is smaller than Vmax2, if so, S12 is executed, otherwise, S20 is executed.
S12, the first vehicle determines that the target vehicle does not run at the highest speed Vmax2 at the current moment, and judges whether the difference value between Vmax 1' and Vreal2 is larger than a second preset threshold value, if yes, S9 is executed, and if not, S13 is executed.
S13, the first vehicle determines Vreal2 as a new highest speed Vmax1 ″ that can be reached at the current time, and determines that the running operation to be performed at the current time is any one of deceleration, braking, and maintaining the running state at the current time.
And S14, the first vehicle acquires the braking information of the target vehicle at the current time, and judges whether the target vehicle has braking action at the current time, if so, S15 is executed, otherwise, S21 is executed.
And S15, if the first vehicle is behind the target vehicle, the first vehicle cuts off the motor and keeps the cut-off state for a preset time, and after the preset time, the new running operation to be executed at the current moment is determined as overtaking.
And S16, if the first vehicle is in front of the target vehicle, the first vehicle determines that the required operation parameter is the speed information of the first vehicle, and sends the braking information of the first vehicle at the current moment to the target vehicle.
S17, if the first vehicle is behind the target vehicle, the first vehicle determines the required operating parameter as distance information between the first vehicle and the target vehicle.
And S18, the first vehicle judges whether the distance information is larger than a preset distance threshold value, if so, S9 is executed, and otherwise, S19 is executed.
S19, the first vehicle determines whether the operation to be performed at the present time is deceleration or braking.
S20, the first vehicle determines that the target vehicle is currently traveling at a maximum speed Vmax 2.
S21, the first vehicle maintains the current driving state at the moment.
It should be understood that although the various steps in the flow charts of fig. 2-5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-5 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 6, there is provided a vehicle control apparatus including: a positional relationship determination module 10, a parameter determination module 11, and an operation determination module 12, wherein:
a position relation determining module 10, configured to determine a target vehicle from the front and rear second vehicles according to the obstacle result of the front and rear vehicles obtained at the current time, and determine a relative position relation between the first vehicle and the target vehicle;
the parameter determining module 11 is configured to obtain a bluetooth pairing result with the target vehicle, and determine a required operation parameter according to the bluetooth pairing result and the relative position relationship; the operating parameter includes speed information of the first vehicle and the target vehicle, or distance information between the first vehicle and the target vehicle;
an operation determining module 12, configured to determine, according to the operation parameter and the relative position relationship, an operation to be performed at the current time; the running operation includes any one of overtaking, decelerating, braking, and maintaining a current-time running state.
For specific limitations of the vehicle control device, reference may be made to the above limitations of the vehicle control method, which are not described in detail herein.
In another embodiment, as shown in fig. 7, there is provided another vehicle control apparatus, on the basis of the above embodiment, the parameter determination module 11 includes: the first parameter determining unit 110 is provided with a first parameter determining unit,
the first parameter determining unit 110 is configured to determine a required operation parameter according to the relative position relationship when the bluetooth pairing result is that the pairing is successful; the relative positional relationship includes the first vehicle being rearward of the target vehicle or the first vehicle being forward of the target vehicle.
Optionally, with continuing reference to fig. 7, the first parameter determining unit 110 includes: a back reference determination subunit 1101 and a front reference determination subunit 1102, wherein:
a back reference determination subunit 1101 configured to determine, when the first vehicle is behind the target vehicle, the required operational parameter as speed information of the first vehicle and the target vehicle;
a front reference determining subunit 1102, configured to determine the required operating parameter as speed information of the first vehicle when the first vehicle is in front of the target vehicle.
Optionally, with continuing reference to fig. 7, the parameter determining module 11 may further include: the second parameter determination unit 111 is provided with,
the second parameter determining unit 111 is configured to determine that the required operation parameter is distance information between the first vehicle and the target vehicle when the bluetooth pairing result is that the pairing fails and the first vehicle is behind the target vehicle.
In another embodiment, as shown in fig. 8, another vehicle control device is provided, and on the basis of the above embodiment, the operation determination module 12 may include: the speed comparison unit 120 is provided with a speed comparison unit,
the speed comparison unit 120 is configured to compare Vmax1 and Vmax2 when the first vehicle is behind the target vehicle, and determine a running operation to be performed at the current time according to a comparison result.
Optionally, with continuing reference to fig. 8, the speed comparison unit 120 may include: a first comparison subunit 1201 and a first determination subunit 1202, wherein:
the first comparison subunit 1201 is configured to compare the difference between Vmax1 and Vmax2 with a first preset threshold, so as to obtain a first comparison result;
a first determining subunit 1202, configured to determine, according to the first comparison result, an operation to be performed at the current time.
Optionally, with continued reference to fig. 8, the first determining subunit 1202 is further configured to determine that the running operation to be performed at the current time is a passing when the first comparison result is that the difference between Vmax1 and Vmax2 is greater than a first preset threshold.
Optionally, with continued reference to fig. 8, the first determining subunit 1202 is further configured to determine Vmax2 as a highest speed Vmax 1' that can be reached by the first vehicle at the current time when the first comparison result is that a difference between Vmax1 and Vmax2 is not greater than a first preset threshold; from Vmax 1', the running operation to be performed at the current time is determined.
Optionally, with continued reference to fig. 8, the speed information of the first vehicle further includes a real speed Vreal1 of the first vehicle at the current time, and the speed information of the target vehicle further includes a real speed Vreal2 of the target vehicle at the current time; the first determining subunit 1202 is further configured to determine that the target vehicle is not traveling at the highest speed Vmax2 at the present time when Vreal2 is smaller than Vmax 2; vmax 1' is compared with Vreal2, and the running operation to be executed at the current moment is determined according to the comparison result.
Optionally, with continuing reference to fig. 8, the first determining subunit 1202 is further configured to compare the difference between Vmax 1' and Vreal2 with a second preset threshold, so as to obtain a second comparison result; and determining the operation to be executed at the current moment according to the second comparison result.
Optionally, with continued reference to fig. 8, the first determining subunit 1202 is further configured to determine that the running operation to be performed at the current time is a passing when the second comparison result is that the difference between Vmax 1' and Vreal2 is greater than the second preset threshold.
Optionally, with continued reference to fig. 8, the first determining subunit 1202 is further configured to determine Vreal2 as a new maximum speed Vmax1 ″ that can be reached by the first vehicle at the current time when the second comparison result is that a difference between Vmax 1' and Vreal2 is not greater than a second preset threshold; and determining the running operation to be executed at the current moment as any one of deceleration, braking and keeping the running state at the current moment.
In another embodiment, continuing with fig. 8, the apparatus may further comprise: a braking information obtaining module 13 and a braking operation determining module 14, wherein:
the brake information acquisition module 13 is used for acquiring brake information of the target vehicle at the current moment when the Bluetooth pairing result is successful; the brake information is used for representing whether the target vehicle has brake action at the current moment;
and the braking operation determining module 14 is used for determining the running operation to be executed at the current moment according to the braking information of the target vehicle.
Optionally, the braking operation determining module 14 may include: a cut-off unit 141 and a brake operation determination unit 142, wherein:
the cutting unit 141 is used for cutting off the motor and keeping a cutting-off state for a preset time when the target vehicle has a braking action at the current moment and the first vehicle is behind the target vehicle;
and a brake operation determining unit 142, configured to determine that the new operation to be performed at the current time is a passing after a preset time period.
Optionally, with continuing reference to fig. 8, the apparatus may further include: the sending module (15) is used for sending the data,
the sending module 15 is configured to send the braking information of the first vehicle to the target vehicle at the current time when the first vehicle is in front of the target vehicle; the braking information of the first vehicle is used for representing whether the first vehicle has braking action at the current moment.
Optionally, continuing with fig. 8, the operation determining module 12 may include: a distance judgment unit 121, a first operation determination unit 122, and a second operation determination unit 123, wherein:
a distance determination unit 121 configured to determine whether the distance information is greater than a preset distance threshold when the first vehicle is behind the target vehicle;
a first operation determining unit 122 that determines that the operation to be performed at the current time is overtaking when the distance information is greater than a preset distance threshold;
a second operation determination unit 123 configured to determine that the running operation to be performed at the present time is deceleration or braking when the distance information is not greater than the preset distance threshold.
In another embodiment, as shown in fig. 9, another vehicle control device is provided, and on the basis of the above embodiment, the position relation determination module 10 may include: an obstacle determining unit 101, a distance information determining unit 102, and a target determining unit 103, wherein:
the obstacle determining unit 101 is used for detecting ultrasonic echo signals returned by second vehicles in front of and behind the first vehicle and determining obstacle results in front of and behind the first vehicle according to the ultrasonic echo signals;
the distance information determining unit 102 is configured to determine current distance information between the current time and each of the second vehicles in front and rear of the first vehicle according to the ultrasonic echo signal when it is determined that the second vehicles exist in front and rear of the first vehicle;
a target determination unit 103 for determining the target vehicles according to the respective current distance information.
Optionally, the target determining unit 103 is further configured to obtain minimum distance information from each piece of current distance information, and determine a second vehicle corresponding to the minimum distance information as a target vehicle.
Optionally, with continuing reference to fig. 9, the position relationship determining module 10 may further include: a target device determination unit 104 and a positional relationship determination unit 105, wherein:
a target device determining unit 104, configured to determine a target ultrasonic ranging device according to the ultrasonic echo signal corresponding to the minimum distance information; the target ultrasonic ranging device is a front ultrasonic ranging device arranged in front of the first vehicle or a rear ultrasonic ranging device arranged behind the first vehicle;
and a positional relationship determination unit 105 for determining a relative positional relationship with the target vehicle based on the position of the target ultrasonic ranging device.
Optionally, the position relation determining unit 105 is further configured to determine that the first vehicle is behind the target vehicle when the target ultrasonic ranging device is a front ultrasonic ranging device; when the target ultrasonic ranging device is a rear ultrasonic ranging device, it is determined that the first vehicle is in front of the target vehicle.
For specific limitations of the vehicle control device, reference may be made to the above limitations of the vehicle control method, which are not described in detail herein.
The respective modules in the vehicle control apparatus described above may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the electronic device, and can also be stored in a memory in the electronic device in a software form, so that the processor can call and execute operations corresponding to the modules.
Fig. 10 is a block diagram illustrating an electronic device 1300 in accordance with an example embodiment. For example, the electronic device 1300 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and so forth.
Referring to fig. 10, electronic device 1300 may include one or more of the following components: a
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In an exemplary embodiment, the electronic device 1300 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic components for performing the vehicle control methods described above.
In an exemplary embodiment, a vehicle is also provided, comprising the above-mentioned electronic device.
In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as the
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided by the embodiments of the disclosure may include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express a few implementation modes of the embodiments of the present disclosure, and the description thereof is specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, variations and modifications can be made without departing from the concept of the embodiments of the present disclosure, and these are all within the scope of the embodiments of the present disclosure. Therefore, the protection scope of the patent of the embodiment of the disclosure should be subject to the appended claims.
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