Vehicle control method and device and vehicle

文档序号：1882882 发布日期：2021-11-26 浏览：2次中文

阅读说明：本技术 车辆的控制方法、装置和车辆 (Vehicle control method and device and vehicle ) 是由刘宗明王雷于 2020-05-20 设计创作，主要内容包括：本公开涉及一种车辆的控制方法、装置和车辆,该方法包括：获取车辆周围障碍物的测量信息,以确定障碍物的运动模型,根据车辆的方向盘转角和障碍物的运动模型,确定目标障碍物,根据目标障碍物的相对速度和所述车辆的行驶信息,确定第一距离阈值和第二距离阈值,若目标障碍物的相对距离小于或等于第一距离阈值,根据目标障碍物的运动模型确定第一减速度,并控制车辆的驱动电机的扭矩,以使车辆按照第一减速度行驶,若目标障碍物的相对距离小于或等于第二距离阈值,根据目标障碍物的运动模型确定第二减速度,并控制驱动电机的扭矩,和/或控制车辆的气压制动模块的扭矩,以使车辆按照第二减速度行驶。能够提高制动过程的平稳程度。(The disclosure relates to a control method and a control device for a vehicle and the vehicle, wherein the method comprises the following steps: the method includes the steps of obtaining measurement information of obstacles around a vehicle to determine a motion model of the obstacles, determining a target obstacle according to a steering wheel angle of the vehicle and the motion model of the obstacles, determining a first distance threshold and a second distance threshold according to a relative speed of the target obstacle and running information of the vehicle, determining a first deceleration according to the motion model of the target obstacle if the relative distance of the target obstacle is less than or equal to the first distance threshold, controlling a torque of a driving motor of the vehicle to enable the vehicle to run according to the first deceleration, determining a second deceleration according to the motion model of the target obstacle if the relative distance of the target obstacle is less than or equal to the second distance threshold, controlling the torque of the driving motor, and/or controlling a torque of a pneumatic brake module of the vehicle to enable the vehicle to run according to the second deceleration. The smoothness of the braking process can be improved.)

1. A control method of a vehicle, characterized by comprising:

acquiring measurement information of obstacles around a vehicle to determine a motion model of the obstacles, wherein the measurement information comprises the relative distance and the relative speed of the obstacles and the vehicle;

determining a target obstacle according to the steering wheel angle of the vehicle and the motion model of the obstacle;

determining a first distance threshold and a second distance threshold according to the relative speed of the target obstacle and the driving information of the vehicle, wherein the first distance threshold is larger than the second distance threshold, and the driving information comprises the driving speed and the acceleration of the vehicle;

if the relative distance of the target obstacle is smaller than or equal to the first distance threshold value, determining a first deceleration according to a motion model of the target obstacle, and controlling the torque of a driving motor of the vehicle so that the vehicle runs according to the first deceleration;

and if the relative distance of the target obstacle is smaller than or equal to the second distance threshold value, determining a second deceleration according to the motion model of the target obstacle, and controlling the torque of the driving motor and/or controlling the torque of a pneumatic brake module of the vehicle so that the vehicle runs according to the second deceleration, wherein the first deceleration is smaller than the second deceleration.

2. The method of claim 1, wherein the obtaining measurement information of an obstacle in front of a vehicle to determine a motion model of the obstacle comprises:

acquiring image information around the vehicle through an image acquisition device of the vehicle, and acquiring distance information around the vehicle through a radar of the vehicle;

fusing the image information and the distance information to determine the obstacle;

determining the measurement information of the obstacle according to the image information and the distance information;

and establishing a motion model of the obstacle according to the measurement information.

3. The method of claim 2, wherein the image acquisition device comprises: a forward looking camera and a fisheye camera; the fusing the image information and the distance information to determine the obstacle includes:

identifying a first object contained in the image information according to a preset image identification algorithm;

determining a second object contained in the distance information;

and taking the matched object in the first object and the second object as the obstacle.

4. The method of claim 1, wherein determining a target obstacle based on a steering wheel angle of the vehicle and a motion model of the obstacle comprises:

determining the position of the obstacle according to the movement model of the obstacle;

if the steering wheel angle is larger than or equal to a preset angle threshold value, determining the motion track of the vehicle according to the steering wheel angle and the size of the vehicle; taking an obstacle positioned on the motion trail of the vehicle as the target obstacle;

if the steering wheel angle is smaller than the angle threshold value and the lane line where the vehicle is located is not identified, determining the motion track of the vehicle according to the steering wheel angle and the size of the vehicle; taking an obstacle positioned on the motion trail of the vehicle as the target obstacle;

and if the steering wheel angle is smaller than the angle threshold value and the lane line where the vehicle is located is identified, taking the obstacle positioned in the lane line as the target obstacle.

5. The method of claim 1, wherein prior to said determining a first distance threshold and a second distance threshold based on the relative speed of the target obstacle and the travel information of the vehicle, the method further comprises:

determining the magnitude relation between the running speed and a preset activation speed threshold;

determining a first distance threshold and a second distance threshold according to the relative speed of the target obstacle and the driving information of the vehicle, comprising:

and if the running speed is greater than or equal to the activation speed threshold, determining the first distance threshold and the second distance threshold according to the relative speed of the target obstacle and the running information of the vehicle.

6. The method of claim 1, wherein determining a first distance threshold and a second distance threshold based on the relative speed of the target obstacle and the travel information of the vehicle comprises:

determining the first distance threshold value and the second distance threshold value according to the relative speed of the target obstacle, the running speed, the acceleration and a preset adjusting coefficient; the first distance threshold value and the relative speed and the running speed of the target obstacle both satisfy a direct proportional relation, and the second distance threshold value and the relative speed and the running speed of the target obstacle both satisfy a direct proportional relation.

7. The method according to any one of claims 1 to 6, wherein the determining a first deceleration from the motion model of the target obstacle and controlling the torque of a drive motor of the vehicle so that the vehicle travels at the first deceleration includes:

determining the first deceleration according to the collision time and the headway of the target obstacle in the motion model of the target obstacle, and determining a first braking torque corresponding to the first deceleration;

controlling the output torque and/or feedback torque of the driving motor according to the first braking torque so that the vehicle runs according to the first deceleration;

the determining a second deceleration according to the motion model of the target obstacle and controlling the torque of the driving motor and/or controlling the torque of a pneumatic brake module of the vehicle so that the vehicle travels at the second deceleration includes:

determining the second deceleration according to the collision time and the headway of the target obstacle included in the motion model of the target obstacle, and determining a second braking torque corresponding to the second deceleration;

if the output torque and the feedback torque of the driving motor meet the second braking torque, controlling the output torque and the feedback torque of the driving motor according to the second braking torque so that the vehicle runs according to the second deceleration;

and if the output torque and the feedback torque of the driving motor do not meet the second braking torque, controlling the output torque and the feedback torque of the driving motor according to the second braking torque, and controlling the braking torque of the air pressure braking module so that the vehicle runs according to the second deceleration.

8. The method according to any one of claims 1-6, further comprising:

if the relative distance of the target obstacle is smaller than or equal to the first distance threshold, sending first prompt information;

and if the relative distance of the target obstacle is smaller than or equal to the second distance threshold, sending out second prompt information and controlling the pre-tightening of the safety belt of the vehicle.

9. A control apparatus of a vehicle, characterized by comprising:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring measurement information of obstacles around a vehicle to determine a motion model of the obstacles, and the measurement information comprises the relative distance and the relative speed of the obstacles and the vehicle;

the first determination module is used for determining a target obstacle according to the steering wheel angle of the vehicle and the motion model of the obstacle;

a second determination module, configured to determine a first distance threshold and a second distance threshold according to the relative speed of the target obstacle and driving information of the vehicle, where the first distance threshold is greater than the second distance threshold, and the driving information includes a driving speed and an acceleration of the vehicle;

the control module is used for determining a first deceleration according to a motion model of the target obstacle and controlling the torque of a driving motor of the vehicle to enable the vehicle to run according to the first deceleration if the relative distance of the target obstacle is smaller than or equal to the first distance threshold;

the control module is further configured to determine a second deceleration according to the motion model of the target obstacle and control the torque of the driving motor and/or control the torque of a pneumatic brake module of the vehicle so that the vehicle travels according to the second deceleration if the relative distance of the target obstacle is less than or equal to the second distance threshold, where the first deceleration is less than the second deceleration.

10. A vehicle characterized in that a controller for executing the control method of the vehicle according to any one of claims 1 to 8 is provided on the vehicle.

Technical Field

The disclosure relates to the technical field of vehicle control, in particular to a vehicle control method and device and a vehicle.

Background

With the continuous development and popularization of vehicle control technology, ADAS (english: Advanced Driving Assistance System, chinese: Advanced Driving Assistance System) has been increasingly applied to vehicles, especially public transportation vehicles, and ADAS can give an alarm to prompt a driver to brake when a collision may occur. In general, in order to avoid that a driver cannot take measures in time due to tension, incapacity and the like when receiving an alarm, when the vehicle is determined to possibly collide, emergency braking measures are automatically taken to control the vehicle to stop so as to reduce collision damage as much as possible. However, in the case of a public transportation vehicle, passengers may stand in the passenger compartment, and it is difficult for passengers sitting on the seat to secure the safety belts, so that emergency braking may cause injury to the passengers, and safety and comfort of the vehicle may be reduced.

Disclosure of Invention

The invention aims to provide a control method and a control device of a vehicle and the vehicle, which are used for solving the problems that safety and comfort of the vehicle are reduced due to emergency braking in the prior art.

In order to achieve the above object, according to a first aspect of an embodiment of the present disclosure, there is provided a control method of a vehicle, the method including:

determining a target obstacle according to the steering wheel angle of the vehicle and the motion model of the obstacle;

Optionally, the obtaining measurement information of an obstacle in front of the vehicle to determine a motion model of the obstacle includes:

acquiring image information around the vehicle through an image acquisition device of the vehicle, and acquiring distance information around the vehicle through a radar of the vehicle;

fusing the image information and the distance information to determine the obstacle;

determining the measurement information of the obstacle according to the image information and the distance information;

and establishing a motion model of the obstacle according to the measurement information.

Optionally, the image acquisition apparatus comprises: a forward looking camera and a fisheye camera; the fusing the image information and the distance information to determine the obstacle includes:

identifying a first object contained in the image information according to a preset image identification algorithm;

determining a second object contained in the distance information;

and taking the matched object in the first object and the second object as the obstacle.

Optionally, the determining a target obstacle according to the steering wheel angle of the vehicle and the motion model of the obstacle includes:

determining the position of the obstacle according to the movement model of the obstacle;

Optionally, before determining the first distance threshold and the second distance threshold according to the relative speed of the target obstacle and the driving information of the vehicle, the method further comprises:

determining the magnitude relation between the running speed and a preset activation speed threshold;

determining a first distance threshold and a second distance threshold according to the relative speed of the target obstacle and the driving information of the vehicle, comprising:

Optionally, the determining a first distance threshold and a second distance threshold according to the relative speed of the target obstacle and the driving information of the vehicle includes:

Alternatively, the determining a first deceleration based on the motion model of the target obstacle and controlling a torque of a drive motor of the vehicle so that the vehicle travels at the first deceleration may include:

controlling the output torque and/or feedback torque of the driving motor according to the first braking torque so that the vehicle runs according to the first deceleration;

Optionally, the method further comprises:

if the relative distance of the target obstacle is smaller than or equal to the first distance threshold, sending first prompt information;

According to a second aspect of the embodiments of the present disclosure, there is provided a control apparatus of a vehicle, the apparatus including:

the first determination module is used for determining a target obstacle according to the steering wheel angle of the vehicle and the motion model of the obstacle;

Optionally, the obtaining module includes:

the acquisition submodule is used for acquiring image information around the vehicle through an image acquisition device of the vehicle and acquiring distance information around the vehicle through a radar of the vehicle;

a fusion submodule for fusing the image information and the distance information to determine the obstacle;

a determination submodule configured to determine the measurement information of the obstacle according to the image information and the distance information;

and the establishing submodule is used for establishing a motion model of the obstacle according to the measurement information.

Optionally, the image acquisition apparatus comprises: a forward looking camera and a fisheye camera; the fusion submodule is used for:

identifying a first object contained in the image information according to a preset image identification algorithm;

determining a second object contained in the distance information;

and taking the matched object in the first object and the second object as the obstacle.

Optionally, the first determining module is configured to:

determining the position of the obstacle according to the movement model of the obstacle;

Optionally, the apparatus further comprises:

the third determination module is used for determining the magnitude relation between the running speed and a preset activation speed threshold before determining the first distance threshold and the second distance threshold according to the relative speed of the target obstacle and the running information of the vehicle;

the second determining module is configured to determine the first distance threshold and the second distance threshold according to the relative speed of the target obstacle and the driving information of the vehicle if the driving speed is greater than or equal to the activation speed threshold.

Optionally, the second determining module is configured to determine the first distance threshold and the second distance threshold according to the relative speed of the target obstacle, the driving speed, the acceleration, and a preset adjustment coefficient; the first distance threshold value and the relative speed and the running speed of the target obstacle both satisfy a direct proportional relation, and the second distance threshold value and the relative speed and the running speed of the target obstacle both satisfy a direct proportional relation.

Optionally, the control module is configured to:

controlling the output torque and/or feedback torque of the driving motor according to the first braking torque so that the vehicle runs according to the first deceleration;

the control module is further configured to:

Optionally, the apparatus further comprises:

the prompting module is used for sending out first prompting information if the relative distance of the target obstacle is smaller than or equal to the first distance threshold;

and the prompting module is further used for sending out second prompting information and controlling the pre-tightening of the safety belt of the vehicle if the relative distance of the target obstacle is smaller than or equal to the second distance threshold.

According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle provided with a controller for executing the control method of the vehicle provided by the first aspect of the embodiments of the present disclosure.

According to the technical scheme, the method comprises the steps of firstly obtaining measurement information of obstacles around a vehicle, wherein the measurement information comprises the relative distance and the relative speed between the obstacles and the vehicle, so as to determine a motion model of the obstacles, then determining a target obstacle according to the steering wheel angle of the vehicle and the motion model of the obstacles, and then determining a first distance threshold value and a second distance threshold value according to the relative speed of the target obstacle and the driving information of the vehicle. And in the case that the relative distance of the target obstacle is less than or equal to a first distance threshold value, determining a first deceleration according to the motion model of the target obstacle, thereby controlling the torque of the driving motor so that the vehicle travels at the first deceleration, and in the case that the relative distance of the target obstacle is less than or equal to a second distance threshold value, determining a second deceleration according to the motion model of the target obstacle, thereby controlling the torque of the driving motor and/or the pneumatic brake module so that the vehicle travels at the second deceleration, wherein the first distance threshold value is greater than the second distance threshold value, and the first deceleration is less than the second deceleration. This is disclosed through the motion model of target barrier, confirms two kinds of different distance threshold values, according to the relation of relative distance and different distance threshold values, selects different deceleration and braking mode to brake, can intervene the brake control of vehicle in advance for the stationary degree of braking process has obtained the improvement, when avoiding the vehicle to bump, guarantees passenger's the degree of safety and comfort level in the vehicle.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

FIG. 1 is a flow chart illustrating a method of controlling a vehicle according to an exemplary embodiment;

FIG. 2 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;

FIG. 3 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;

FIG. 4 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;

FIG. 5 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;

FIG. 6 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment;

FIG. 7 is a block diagram illustrating a control apparatus of a vehicle according to an exemplary embodiment;

FIG. 8 is a block diagram illustrating another vehicle control apparatus according to an exemplary embodiment;

FIG. 9 is a block diagram illustrating another vehicle control apparatus according to an exemplary embodiment;

fig. 10 is a block diagram illustrating another control apparatus of a vehicle according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Before the control method and device for the vehicle and the vehicle provided by the present disclosure are introduced, application scenarios related to various embodiments of the present disclosure will be first introduced. This application scene can be the vehicle, is provided with multiple sensor on the vehicle for gather the various information around the vehicle, can be provided with on the vehicle for example: the intelligent front-view camera, the intelligent fisheye camera, the distance measuring radar, the vehicle speed sensor, the steering wheel angle sensor, the accelerator pedal depth sensor, the brake pedal depth sensor and the like. The vehicle may further include a controller to implement the vehicle Control method provided by the present disclosure, where the controller may be, for example, an MCU (micro controller Unit, chinese), an ECU (Electronic Control Unit, chinese), or a BCM (Body Control Module, chinese). Wherein, the vehicle can be the car, but not limited to traditional car, pure electric vehicles or mixed automobile, for example: buses, buses and the like, and can also be trains for rail traffic such as trains, high-speed rails, subways, light rails and the like.

Fig. 1 is a flowchart illustrating a control method of a vehicle according to an exemplary embodiment, as shown in fig. 1, the method including:

step 101, obtaining measurement information of obstacles around a vehicle to determine a motion model of the obstacles, wherein the measurement information comprises the relative distance and the relative speed between the obstacles and the vehicle.

For example, during the driving of the vehicle, the measurement information of the obstacle around the vehicle is obtained in real time, for example, the relative distance and the relative speed of the vehicle to the obstacle can be measured by a ranging radar arranged on the vehicle, and the relative distance and the relative speed are used as the measurement information. And determining a motion model of the obstacle according to the relative distance and the relative speed of the obstacle, wherein the motion model of the obstacle can be understood as a model capable of describing the motion attribute of the obstacle. The number of obstacles around the vehicle may be one or more, and the motion model of each obstacle may include: the number (i.e., ID), profile, type, position, and direction angle indicating the obstacle may also include the collision time and headway of the obstacle with the vehicle, the movement locus of the obstacle, and the like. For example, the collision time and the headway of the obstacle may be calculated from the traveling speed of the vehicle itself in addition to the relative distance and the relative speed of the obstacle, the contour of the obstacle may be determined from the point cloud information measured by the range radar and the position of the vehicle itself, the type, the position, the direction angle, and the like of the obstacle may be obtained, and the movement trajectory of the obstacle may be determined from the information such as the relative speed, the position, the direction angle, and the like of the obstacle.

And 102, determining a target obstacle according to the steering wheel angle of the vehicle and the motion model of the obstacle.

For example, there may be a plurality of obstacles around the vehicle, and these obstacles may be other vehicles on the road, other traffic participants such as pedestrians and riders on the road, and fixed obstacles such as railings and signs on the road. However, not all obstacles have the possibility of collision with the vehicle, and therefore, it is necessary to screen the obstacles around the vehicle to obtain the obstacle having the possibility of collision with the vehicle, i.e., the target obstacle, which may be one or more. The method can acquire the steering wheel angle of the vehicle in real time according to a steering wheel angle sensor arranged on the vehicle, and then determine the target obstacle according to the steering wheel angle and a movement model of the obstacle. Specifically, if the steering wheel has a large steering angle, which indicates that the vehicle is currently in a state of turning at a large angle or making an emergency lane change, the target obstacle may be located in front of the vehicle or on the side of the vehicle, so that the motion trajectory of the vehicle may be predicted first, and then, whether the obstacle is the target obstacle may be determined according to whether the position of the obstacle included in the motion model of the obstacle is located on the motion trajectory of the vehicle. If the steering wheel angle is small, the vehicle is similar to straight running at present, then a lane line in front of the vehicle can be identified according to an intelligent forward-looking camera and an intelligent fisheye camera which are arranged on the vehicle, and then whether the obstacle is a target obstacle or not is determined according to whether the position of the obstacle included in the movement model of the obstacle is located in the lane line or not.

Step 103, determining a first distance threshold and a second distance threshold according to the relative speed of the target obstacle and the running information of the vehicle, wherein the first distance threshold is larger than the second distance threshold, and the running information comprises the running speed and the acceleration of the vehicle.

For example, after determining the target obstacle, a first distance threshold and a second distance threshold may be determined according to the relative speed of the target obstacle and the driving information of the vehicle, wherein the first distance threshold is greater than the second distance threshold, it being understood that two distance thresholds of different urgency are determined, the first distance threshold corresponding to a lower urgency and the second distance threshold corresponding to a higher urgency. Specifically, the first distance threshold and the second distance threshold may be determined according to a preset algorithm according to a relative speed, a driving speed, an acceleration, and a preset adjustment coefficient of the target obstacle. The first distance threshold value and the relative speed and the running speed of the target obstacle both satisfy a direct proportional relation, and the second distance threshold value and the relative speed and the running speed of the target obstacle both satisfy a direct proportional relation. For example, the preset algorithm may be that the first distance threshold is i₁*V_{Relative to each other}+j₁*V_Absolute+m₁A, a second distance threshold i₂*V_{Relative to each other}+j₂*V_Absolute+m₂A, wherein V_{Relative to each other}Is the relative velocity, V, of the target obstacle_AbsoluteFor the speed of travel, a is the acceleration, i₁For calculating the first distance threshold V_{Relative to each other}Corresponding adjustment coefficient j₁For calculating the first distance threshold V_AbsoluteCorresponding adjustment factor, m₁Calculating the corresponding adjustment coefficient of a when the first distance threshold value is calculated, i₂For calculating the second distance threshold value V_{Relative to each other}Corresponding adjustment coefficient j₂For calculating the second distance threshold value V_AbsoluteCorresponding adjustment factor, m₂And calculating the corresponding adjustment coefficient of a when the second distance threshold value is calculated. The preset adjustment coefficient can beThe higher the adjustment factor (the larger both the first distance threshold and the second distance threshold), the higher the sensitivity of the vehicle control, i.e. the earlier the vehicle is involved in the braking control, and the lower the adjustment factor (the smaller both the first distance threshold and the second distance threshold), the lower the sensitivity of the vehicle control, i.e. the later the vehicle is involved in the braking control. The adjustment coefficient can be determined according to a large amount of previously collected empirical data, and can also be adjusted according to information such as the driving habits of the driver, the model of the vehicle, the road conditions of the road and the like.

And 104, if the relative distance of the target obstacle is smaller than or equal to the first distance threshold value, determining a first deceleration according to the motion model of the target obstacle, and controlling the torque of a driving motor of the vehicle so that the vehicle runs according to the first deceleration.

And 105, if the relative distance of the target obstacle is smaller than or equal to the second distance threshold, determining a second deceleration according to the motion model of the target obstacle, and controlling the torque of the driving motor and/or controlling the torque of a pneumatic brake module of the vehicle so that the vehicle runs according to the second deceleration, wherein the first deceleration is smaller than the second deceleration.

For example, in order to enable the vehicle to brake smoothly to ensure the safety and comfort of the passengers in the vehicle, different deceleration rates and braking modes can be selected for braking according to two different emergency degree distance thresholds. For example, when the relative distance of the target obstacle is less than or equal to the first distance threshold, a first deceleration (e.g., 1 m/s) at which the vehicle does not collide with the target obstacle may be determined in accordance with the motion model of the target obstacle²). The torque of the drive motor of the vehicle is then controlled so that the vehicle travels at the first deceleration. When the relative distance of the target obstacle is less than or equal to the second distance threshold, a second deceleration (e.g., 2.5 m/s) at which the vehicle does not collide with the target obstacle may be determined according to the motion model of the target obstacle²). The torque of the drive motor, and/or the pneumatic brake module of the vehicle, is then controlled to cause the vehicle to travel at a second deceleration, wherein the first deceleration is less than the second deceleration. Further, to avoid driver errorAnd when the relative distance of the target obstacle is smaller than or equal to the third distance threshold, the vehicle is controlled not to respond to the behavior that the driver steps on the accelerator pedal, so that the vehicle can be further prevented from colliding. Specifically, the emergency degree corresponding to the first distance threshold value is low, and the vehicle can be controlled to decelerate through the braking mode of the driving motor according to a small first deceleration, while the emergency degree corresponding to the second distance threshold value is high, and the vehicle can be controlled to decelerate through the braking mode of the driving motor according to a large second deceleration, or the vehicle can be controlled to decelerate through the braking mode of the air pressure braking module on the basis of the driving motor. Therefore, the braking control of the vehicle can be intervened in advance, different deceleration and braking modes are selected for braking according to the relation between the relative distance and different distance thresholds, the stability of the braking process is improved, and the safety and comfort of passengers in the vehicle are guaranteed while the vehicle is prevented from colliding.

In summary, the present disclosure first obtains measurement information of an obstacle around a vehicle, where the measurement information includes a relative distance and a relative speed between the obstacle and the vehicle, so as to determine a motion model of the obstacle, then determines a target obstacle according to a steering wheel angle of the vehicle and the motion model of the obstacle, and then determines a first distance threshold and a second distance threshold according to the relative speed of the target obstacle and the driving information of the vehicle. And in the case that the relative distance of the target obstacle is less than or equal to a first distance threshold value, determining a first deceleration according to the motion model of the target obstacle, thereby controlling the torque of the driving motor so that the vehicle travels at the first deceleration, and in the case that the relative distance of the target obstacle is less than or equal to a second distance threshold value, determining a second deceleration according to the motion model of the target obstacle, thereby controlling the torque of the driving motor and/or the pneumatic brake module so that the vehicle travels at the second deceleration, wherein the first distance threshold value is greater than the second distance threshold value, and the first deceleration is less than the second deceleration. This is disclosed through the motion model of target barrier, confirms two kinds of different distance threshold values, according to the relation of relative distance and different distance threshold values, selects different deceleration and braking mode to brake, can intervene the brake control of vehicle in advance for the stationary degree of braking process has obtained the improvement, when avoiding the vehicle to bump, guarantees passenger's the degree of safety and comfort level in the vehicle.

Fig. 2 is a flowchart illustrating another control method of a vehicle according to an exemplary embodiment, and as shown in fig. 2, the implementation of step 101 may include:

in step 1011, image information around the vehicle is acquired by the image acquisition device of the vehicle, and distance information around the vehicle is acquired by the radar of the vehicle.

Step 1012, fusing the image information and the distance information to determine the obstacle.

And a step 1013 of determining measurement information of the obstacle according to the image information and the distance information.

And step 1014, establishing a movement model of the obstacle according to the measurement information.

In a specific application scenario, image information around a vehicle may be acquired through an image acquisition device disposed on the vehicle, and distance information around the vehicle may also be acquired through a radar disposed on the vehicle, where the image acquisition device may include: the radar can be a distance measuring radar. The combination of the intelligent forward-looking camera and the intelligent fisheye camera is adopted, the acquired image information has a large visual angle, and not only can the image in front of the vehicle be acquired, but also the image on the side face of the vehicle can be acquired, so that the obstacles around the vehicle can be detected, and the detection range is enlarged. Similarly, the radar can detect an obstacle on the side of the vehicle as well as an obstacle in front of the vehicle. Furthermore, the obstacle is determined only by the image information or the distance information, and the problem of misjudgment may exist, so that the obstacle can be determined by fusing the image information and the distance information acquired at the same time, and the accuracy of obstacle determination is improved. The fusion of the image information and the distance information may be understood as the fusion of a coordinate system in the image information and a coordinate system in the distance information, so that the image information and the distance information may be represented in a unified coordinate system. And then, determining the measurement information of the obstacle according to the image information, the distance information and the unified coordinate system, and finally establishing a motion model of the obstacle according to the measurement information.

Specifically, step 1012 may be implemented by:

step 1) identifying a first object contained in the image information according to a preset image identification algorithm.

Step 2) determining a second object contained in the distance information.

And 3) taking the matched object in the first object and the second object as an obstacle.

For example, for the image information, a first object included in the image information may be identified according to a preset image identification algorithm, and the first object may be one or more. Likewise, for the distance information, a second object, which may be one or more, contained therein may be identified. And then, matching the first object with the second object, and taking the matched object as an obstacle. It can be understood that the coordinate system in the image information and the coordinate system in the distance information are fused to obtain a unified coordinate system. And then comparing the coordinate values of the first object in the unified coordinate system with the coordinate values of the second object in the unified coordinate system respectively, if the difference value of the coordinate values is smaller than a preset threshold value, indicating that the two objects are matched, and if the difference value of the coordinate values is larger than or equal to the preset threshold value, indicating that the two objects are not matched. Therefore, the image information and the distance information can be used for mutual verification, misjudgment on the barrier is avoided, the barrier judgment accuracy is improved, and accordingly the vehicle control accuracy is also improved.

FIG. 3 is a flow chart illustrating another method of controlling a vehicle, according to an exemplary embodiment, as shown in FIG. 3, step 102 includes:

step 1021, determining the position of the obstacle according to the movement model of the obstacle.

And step 1022, if the steering wheel angle is greater than or equal to the preset angle threshold, determining the motion track of the vehicle according to the steering wheel angle and the size of the vehicle. And taking the obstacle positioned on the motion trail of the vehicle as a target obstacle.

And step 1023, if the steering wheel angle is smaller than the angle threshold value and the lane line where the vehicle is located is not identified, determining the motion track of the vehicle according to the steering wheel angle and the size of the vehicle. And taking the obstacle positioned on the motion trail of the vehicle as a target obstacle.

And 1024, if the steering wheel angle is smaller than the angle threshold value and the lane line where the vehicle is located is identified, taking the obstacle positioned in the lane line as the target obstacle.

For example, to screen out target obstacles that may collide with the vehicle from among obstacles around the vehicle, different screening strategies may be selected according to the steering wheel angle. If the steering wheel angle is greater than or equal to the preset angle threshold value, which indicates that the vehicle is currently in a large-angle turning state or an emergency lane change state, the target obstacle may be located in front of the vehicle or on the side of the vehicle, so that the motion track of the vehicle may be determined according to the steering wheel angle and the size of the vehicle (for example, the width of the vehicle), and if the position of the obstacle included in the motion model of the obstacle is on the motion track of the vehicle, the obstacle is determined to be the target obstacle.

If the steering wheel angle is smaller than the angle threshold value, the fact that the vehicle is approximately in straight running at present is indicated, then the lane line where the vehicle is located can be identified according to the intelligent forward-looking camera and the intelligent fisheye camera which are arranged on the vehicle, and then the obstacle with the position in the lane line is used as the target obstacle. Because the lane line may be worn or the lane line itself does not have the problem, the steering wheel angle may be smaller than the angle threshold value, but the scene of the lane line where the vehicle is located is not identified, at this time, the motion track of the vehicle may be determined according to the steering wheel angle and the size of the vehicle, and if the position of the obstacle is on the motion track of the vehicle, the obstacle is determined to be the target obstacle.

FIG. 4 is a flow chart illustrating another method of controlling a vehicle, as shown in FIG. 4, prior to step 103, further comprising:

and 106, determining the magnitude relation between the running speed and a preset activation speed threshold value.

Accordingly, the implementation manner of step 103 may be:

and if the running speed is greater than or equal to the activation speed threshold, determining a first distance threshold and a second distance threshold according to the relative speed of the target obstacle and the running information of the vehicle.

In one embodiment, when the vehicle is traveling at a slow speed (e.g., a traffic jam), the road conditions are complicated, the number of obstacles around the vehicle is large, and the vehicle may be braked frequently. Therefore, before determining the first distance threshold and the second distance threshold, the magnitude relationship between the traveling speed and a preset activation speed threshold may be determined, and the activation speed threshold may be 30km/h, for example. And determining a first distance threshold value and a second distance threshold value according to the relative speed of the target obstacle and the running information of the vehicle under the condition that the running speed is greater than or equal to the activation speed threshold value. And under the condition that the running speed is less than the activation speed threshold value, the vehicle is not subjected to braking control, so that the influence on the running experience caused by braking control due to system misjudgment is avoided.

FIG. 5 is a flow chart illustrating another method of controlling a vehicle according to an exemplary embodiment, as shown in FIG. 5, step 104 may include:

step 1041, determining a first deceleration according to the collision time and the headway of the target obstacle included in the motion model of the target obstacle, and determining a first braking torque corresponding to the first deceleration.

And 1042, controlling the output torque of the driving motor and/or the feedback torque according to the first braking torque so that the vehicle runs according to the first deceleration.

Step 105 may include:

step 1051, determining a second deceleration according to the collision time and the headway of the target obstacle included in the motion model of the target obstacle, and determining a second braking torque corresponding to the second deceleration.

Step 1052, if the output torque and the feedback torque of the driving motor satisfy the second braking torque, controlling the output torque and the feedback torque of the driving motor according to the second braking torque, so that the vehicle runs according to the second deceleration.

And 1053, if the output torque and the feedback torque of the driving motor do not meet the second braking torque, controlling the output torque and the feedback torque of the driving motor according to the second braking torque, and controlling the braking torque of the air pressure braking module so that the vehicle runs according to the second deceleration.

When the relative distance of the target obstacle is less than or equal to the second distance threshold, the second deceleration (e.g., 2.5 m/s) may be determined in accordance with the collision time and the headway included in the motion model of the target obstacle²). Then, a second braking torque is determined according to the second deceleration, and finally, the driving motor and the air of the vehicle are controlled according to the second braking torqueAnd pressing the brake module to enable the vehicle to run according to the second deceleration. When the output torque and the feedback torque of the driving motor can meet the braking effect of the second braking torque, the vehicle can be braked only through the driving motor, and when the output torque and the feedback torque of the driving motor cannot meet the braking effect of the second braking torque, the braking torque of the air pressure braking module can be simultaneously controlled on the basis of braking the vehicle by using the driving motor to brake the vehicle, so that the vehicle can be braked. Therefore, when the relative distance of the target obstacle is smaller than or equal to the first distance threshold, the braking control of the vehicle can be intervened in advance, different deceleration and braking modes are selected for braking according to the relation between the relative distance and different distance thresholds, the stability of the braking process is improved, and the safety and comfort of passengers in the vehicle are guaranteed while the vehicle is prevented from colliding.

FIG. 6 is a flow chart illustrating another method of controlling a vehicle, according to an exemplary embodiment, further including, as shown in FIG. 6:

and step 107, if the relative distance of the target obstacle is smaller than or equal to the first distance threshold, sending out first prompt information.

And step 108, if the relative distance of the target obstacle is smaller than or equal to a second distance threshold, sending out second prompt information, and controlling the pre-tightening of the safety belt of the vehicle.

In another implementation scenario, the driver or the passenger can be reminded by sending prompt information, and the driver is reminded to reduce the vehicle speed and the passenger is reminded to fasten a safety belt or grab a stable handrail when the collision possibly occurs. Specifically, when the relative distance of the target obstacle is smaller than or equal to the first distance threshold, first prompt information can be sent out, the first prompt information can be displayed on a display or a central control display screen of the vehicle in an image or text mode, can be played on a loudspeaker of the vehicle in a voice mode, and can also send out alarm sound through an alarm buzzer. Further, the first prompt message may be in the form of a seat vibrator for controlling the vehicle, and/or a steering wheel vibrator for vibrating. When the relative distance of the target obstacle is smaller than or equal to the second distance threshold, second prompt information can be sent out, and the pre-tightening of the safety belt of the vehicle can be controlled. The second prompt message can be displayed on a display or a central control display screen of the vehicle in an image or text mode, can be played on a loudspeaker of the vehicle in a voice mode, and can also give out an alarm sound through an alarm buzzer. Further, the second prompt message may be in the form of controlling a seat vibrator and a steering wheel vibrator of the vehicle to vibrate.

Fig. 7 is a block diagram illustrating a control apparatus of a vehicle according to an exemplary embodiment, and as shown in fig. 7, the apparatus 200 includes:

the acquiring module 201 is configured to acquire measurement information of an obstacle around the vehicle to determine a motion model of the obstacle, where the measurement information includes a relative distance and a relative speed of the obstacle from the vehicle.

The first determination module 202 is configured to determine a target obstacle according to a steering wheel angle of a vehicle and a motion model of the obstacle.

The second determining module 203 is configured to determine a first distance threshold and a second distance threshold according to the relative speed of the target obstacle and the driving information of the vehicle, where the first distance threshold is greater than the second distance threshold, and the driving information includes the driving speed and the acceleration of the vehicle.

And the control module 204 is configured to determine a first deceleration according to the motion model of the target obstacle and control the torque of the driving motor of the vehicle so that the vehicle travels according to the first deceleration if the relative distance of the target obstacle is less than or equal to the first distance threshold.

The control module 204 is further configured to determine a second deceleration according to the motion model of the target obstacle and control the torque of the driving motor and/or control the torque of the pneumatic brake module of the vehicle so that the vehicle travels according to the second deceleration if the relative distance of the target obstacle is less than or equal to the second distance threshold, where the first deceleration is less than the second deceleration.

Fig. 8 is a block diagram showing another control apparatus of a vehicle according to an exemplary embodiment, and as shown in fig. 8, the acquisition module 201 includes:

the acquisition sub-module 2011 is configured to acquire image information around the vehicle through an image acquisition device of the vehicle, and acquire distance information around the vehicle through a radar of the vehicle.

A fusion sub-module 2012 for fusing the image information and the distance information to determine the obstacle.

And the determining submodule 2013 is used for determining the measurement information of the obstacle according to the image information and the distance information.

And the establishing sub-module 2014 is used for establishing a movement model of the obstacle according to the measurement information.

Optionally, the image acquisition device comprises: a forward looking camera and a fisheye camera. The fusion submodule 2012 may be used to perform the following steps:

step 1) identifying a first object contained in the image information according to a preset image identification algorithm.

Step 2) determining a second object contained in the distance information.

And 3) taking the matched object in the first object and the second object as an obstacle.

Optionally, the first determining module 202 is configured to perform the following steps:

step A) determining the position of the obstacle according to the movement model of the obstacle.

And B) if the steering wheel angle is larger than or equal to a preset angle threshold, determining the motion track of the vehicle according to the steering wheel angle and the size of the vehicle. And taking the obstacle positioned on the motion trail of the vehicle as a target obstacle.

And C) if the steering wheel angle is smaller than the angle threshold value and the lane line where the vehicle is located is not identified, determining the motion track of the vehicle according to the steering wheel angle and the size of the vehicle. And taking the obstacle positioned on the motion trail of the vehicle as a target obstacle.

And D) if the steering wheel angle is smaller than the angle threshold value and the lane line where the vehicle is located is identified, taking the obstacle positioned in the lane line as a target obstacle.

Fig. 9 is a block diagram illustrating another control apparatus of a vehicle according to an exemplary embodiment, and as shown in fig. 9, the apparatus 200 further includes:

a third determining module 205, configured to determine a magnitude relationship between the driving speed and a preset activation speed threshold before determining the first distance threshold and the second distance threshold according to the relative speed of the target obstacle and the driving information of the vehicle.

Correspondingly, the second determining module 203 is configured to determine the first distance threshold and the second distance threshold according to the relative speed of the target obstacle and the driving information of the vehicle if the driving speed is greater than or equal to the activation speed threshold.

Optionally, the second determining module 203 is configured to determine the first distance threshold and the second distance threshold according to the relative speed, the driving speed, the acceleration of the target obstacle and a preset adjustment coefficient. The first distance threshold value and the relative speed and the running speed of the target obstacle both satisfy a direct proportional relation, and the second distance threshold value and the relative speed and the running speed of the target obstacle both satisfy a direct proportional relation.

Optionally, the control module 204 is configured to:

and determining a first deceleration according to the collision time and the headway of the target obstacle in the motion model of the target obstacle, and determining a first braking torque corresponding to the first deceleration. The output torque of the driving motor and/or the feedback torque are controlled based on the first braking torque so that the vehicle travels at the first deceleration.

The control module 204 is further configured to:

and determining a second deceleration according to the collision time and the headway of the target obstacle in the motion model of the target obstacle, and determining a second braking torque corresponding to the second deceleration. And if the output torque and the feedback torque of the driving motor meet the second braking torque, controlling the output torque and the feedback torque of the driving motor according to the second braking torque so that the vehicle runs according to the second deceleration. And if the output torque and the feedback torque of the driving motor do not meet the second braking torque, controlling the output torque and the feedback torque of the driving motor according to the second braking torque, and controlling the braking torque of the air pressure braking module so that the vehicle runs according to the second deceleration.

Fig. 10 is a block diagram illustrating another control apparatus of a vehicle according to an exemplary embodiment, and as shown in fig. 10, the apparatus 200 further includes:

the prompt module 206 is configured to send out a first prompt message if the relative distance of the target obstacle is smaller than or equal to a first distance threshold.

The prompt module 206 is further configured to send a second prompt message and control pre-tightening of a seat belt of the vehicle if the relative distance of the target obstacle is smaller than or equal to a second distance threshold.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

The present disclosure also relates to a vehicle provided with a controller for executing the control method of the vehicle provided in the above-described embodiment.

With regard to the vehicle in the above-described embodiment, the specific manner in which the controller performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

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