阅读说明：本技术 车辆滑行控制方法、系统、电子设备以及存储介质 (Vehicle coasting control method and system, electronic device and storage medium ) 是由 丁亚儒 李敏强 陆迫元 陈亮 于 2021-08-09 设计创作，主要内容包括：本发明公开了一种车辆滑行控制方法、系统、电子设备以及存储介质,所述车辆滑行控制方法包括：获取目标传感器所采集的实时数据,所述目标传感器包括加速度传感器、陀螺仪、GPS及编码器；对已获取的实时数据进行特征提取以得到当前车辆信息,所述车辆信息包括车辆位置、车辆姿态及车辆速度；基于所述车辆信息计算得到当前时刻车辆的第一侧滑角度；基于所述第一侧滑角度预测下一时刻车辆的第二侧滑角度；若所述第二侧滑角度大于预设阈值,则指令车辆控制中心对车辆进行控制以避免车辆侧滑。本发明通过对车辆侧滑角度进行预测,可以在车辆发生侧滑前自动控制车辆,由此避免车辆发生侧滑。(The invention discloses a vehicle sliding control method, a system, an electronic device and a storage medium, wherein the vehicle sliding control method comprises the following steps: acquiring real-time data acquired by a target sensor, wherein the target sensor comprises an acceleration sensor, a gyroscope, a GPS and an encoder; performing feature extraction on the acquired real-time data to obtain current vehicle information, wherein the vehicle information comprises a vehicle position, a vehicle posture and a vehicle speed; calculating to obtain a first sideslip angle of the vehicle at the current moment based on the vehicle information; predicting a second sideslip angle of the vehicle at a next time based on the first sideslip angle; and if the second sideslip angle is larger than a preset threshold value, the vehicle control center is instructed to control the vehicle so as to avoid sideslip of the vehicle. The invention can automatically control the vehicle before the vehicle sideslips by predicting the sideslip angle of the vehicle, thereby avoiding the vehicle sideslips.)

1. A vehicle coasting control method characterized by comprising:

acquiring real-time data acquired by a target sensor, wherein the target sensor comprises an acceleration sensor, a gyroscope, a GPS and an encoder;

performing feature extraction on the acquired real-time data to obtain current vehicle information, wherein the vehicle information comprises a vehicle position, a vehicle posture and a vehicle speed;

calculating to obtain a first sideslip angle of the vehicle at the current moment based on the vehicle information;

predicting a second sideslip angle of the vehicle at a next time based on the first sideslip angle;

and if the second sideslip angle is larger than a preset threshold value, the vehicle control center is instructed to control the vehicle so as to avoid sideslip of the vehicle.

2. The vehicle coasting control method of claim 1, wherein the performing feature extraction on the acquired real-time data to obtain current vehicle information comprises:

classifying and storing the acquired real-time data in different temporary spaces through a MapReduce framework based on Hadoop;

and integrating the real-time data in each temporary space and calculating to obtain the current vehicle information.

3. The vehicle coasting control method of claim 1, wherein the calculating a first sideslip angle of the vehicle at the current time based on the vehicle information comprises:

and storing the vehicle information into an extended Kalman filter algorithm to calculate and obtain a first sideslip angle of the vehicle at the current moment.

4. The vehicle coasting control method of claim 1, further comprising:

and if the second sideslip angle is smaller than or equal to a preset threshold value, feeding back the first sideslip angle to serve as basic data for predicting the second sideslip angle.

5. The vehicle coasting control method of claim 5, wherein the acquiring real-time data collected by the target sensor comprises:

and storing the real-time data acquired by the target sensor in the MongoDB database system according to the time sequence.

6. A vehicle coasting control system is characterized in that.

The acquisition module is used for acquiring real-time data acquired by a target sensor, and the target sensor comprises an acceleration sensor, a gyroscope, a GPS and an encoder;

the data processing module is used for carrying out feature extraction on the acquired real-time data to obtain current vehicle information, and the vehicle information comprises a vehicle position, a vehicle posture and a vehicle speed;

the calculation module is used for calculating and obtaining a first sideslip angle of the vehicle at the current moment based on the vehicle information;

a prediction module to predict a second sideslip angle of the vehicle at a next time based on the first sideslip angle;

the judging module is used for judging whether the second sideslip angle is larger than a preset threshold value or not;

and the control module is used for instructing the vehicle control center to control the vehicle so as to avoid the vehicle sideslip.

7. A storage medium having stored thereon a computer program for performing the steps of the vehicle coasting control method according to any one of claims 1 to 5 when executed by a processor.

8. An electronic device, characterized in that the electronic device comprises:

a processor;

storage medium having stored thereon a computer program which, when being executed by the processor, carries out the steps of the vehicle coasting control method according to any one of claims 1 to 5.

Technical Field

The invention relates to the technical field of big data, in particular to a vehicle sliding control method, a vehicle sliding control system, electronic equipment and a storage medium.

Background

Among many road traffic accidents, the accidents of vehicle sliding on the road are extremely easy to cause fatal harm to drivers and pedestrians. The influence factors causing the vehicle to slide are many, such as the linear speed, the steering force and the rigidity modulus of a single wheel. According to different influence ratios of the influence factors, different vehicle sliding accidents can occur. Since the variety of influencing factors and the result of coasting by integration are also diversified and the amount of data is enormous, it is often difficult to explain the degree of correlation and influence between the cause and the result.

Disclosure of Invention

In view of the above technical problems, the present invention provides a method, a system, an electronic device and a storage medium for controlling vehicle sliding to avoid vehicle sideslip.

According to an aspect of the present invention, there is provided a vehicle coasting control method including:

acquiring real-time data acquired by a target sensor, wherein the target sensor comprises an acceleration sensor, a gyroscope, a GPS and an encoder;

performing feature extraction on the acquired real-time data to obtain current vehicle information, wherein the vehicle information comprises a vehicle position, a vehicle posture and a vehicle speed;

calculating to obtain a first sideslip angle of the vehicle at the current moment based on the vehicle information;

predicting a second sideslip angle of the vehicle at a next time based on the first sideslip angle;

and if the second sideslip angle is larger than a preset threshold value, the vehicle control center is instructed to control the vehicle so as to avoid sideslip of the vehicle.

In an embodiment of the present invention, the extracting the features of the acquired real-time data to obtain the current vehicle information includes:

classifying and storing the acquired real-time data in different temporary spaces through a Map/Reduce frame based on Hadoop;

and integrating the real-time data in each temporary space and calculating to obtain the current vehicle information.

In one embodiment of the present invention, the calculating the first sideslip angle of the vehicle at the current time based on the vehicle information includes:

and storing the vehicle information into an extended Kalman filter algorithm to calculate and obtain a first sideslip angle of the vehicle at the current moment.

In one embodiment of the present invention, the vehicle coasting control method further includes:

and if the second sideslip angle is smaller than or equal to a preset threshold value, feeding back the first sideslip angle to serve as basic data for predicting the second sideslip angle.

In an embodiment of the present invention, the acquiring real-time data collected by the target sensor includes:

and storing the real-time data acquired by the target sensor in the MongoDB database system according to the time sequence.

According to another aspect of the present invention, there is provided a vehicle coasting control system comprising:

the acquisition module is used for acquiring real-time data acquired by a target sensor, and the target sensor comprises an acceleration sensor, a gyroscope, a GPS and an encoder;

the data processing module is used for carrying out feature extraction on the acquired real-time data to obtain current vehicle information, and the vehicle information comprises a vehicle position, a vehicle posture and a vehicle speed;

the calculation module is used for calculating and obtaining a first sideslip angle of the vehicle at the current moment based on the vehicle information;

a prediction module to predict a second sideslip angle of the vehicle at a next time based on the first sideslip angle;

the judging module is used for judging whether the second sideslip angle is larger than a preset threshold value or not;

and the control module is used for instructing the vehicle control center to control the vehicle so as to avoid the vehicle sideslip.

According to another aspect of the present invention, a storage medium is provided, having stored thereon a computer program which, when being executed by a processor, performs the steps of the vehicle coasting control method as described above.

According to still another aspect of the present invention, there is provided an electronic apparatus including:

a processor;

a storage medium having stored thereon a computer program which, when executed by the processor, performs the steps of the vehicle coasting control method as described above.

The invention can automatically control the vehicle before the vehicle sideslips by predicting the sideslip angle of the vehicle, thereby avoiding the vehicle sideslips.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 is a flow chart of a method for controlling coasting of a vehicle in accordance with an embodiment of the present invention;

FIG. 2 is a partial flow diagram of a method for controlling coasting of a vehicle in accordance with an embodiment of the present invention;

fig. 3 is a block diagram of a vehicle coasting control system according to an embodiment of the present invention.

Fig. 4 is a block diagram of a coasting control system for a vehicle in accordance with another embodiment of the present invention.

Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the invention.

Fig. 6 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.

Detailed Description

In order to make the description of the present invention more complete and complete, reference is made to the various embodiments illustrated in the figures and described below, in which like numerals represent the same or similar elements. In other instances, well-known elements and steps have not been described in detail in order to avoid unnecessarily obscuring the present invention. In the description of the embodiments and the claims, reference to "connected" may generally mean that one element is indirectly coupled to another element through another element or that one element is directly connected to another element without the need for other elements. In the description of the embodiments and the claims, reference to "connected" may generally refer to one component being in wired and/or wireless communication, indirectly, with another component through the other component or one component being physically connected to the other component without the other component. In the embodiments and claims, the articles "a" and "an" may refer broadly to one or more than one, unless the context specifically states otherwise. As used herein, "about" or "approximately" is intended to modify any slightly variable quantity without changing its nature. Unless otherwise specified, the range of error for values modified by "about", "about" or "approximately" is generally tolerated within twenty percent, preferably within ten percent, and more preferably within five percent.

According to an aspect of the present invention, a vehicle coasting control method is provided. Fig. 1 is a flowchart of a vehicle coasting control method according to an embodiment of the present invention. As shown in fig. 1, the vehicle coasting control method includes:

and S100, acquiring real-time data acquired by a target sensor, wherein the target sensor comprises an acceleration sensor, a gyroscope, a GPS and an encoder.

Specifically, the real-time data collected by each target sensor and all variables are independent of each other and input into the system in a data set mode.

Further, the acquiring real-time data collected by the target sensor includes:

and storing the real-time data acquired by the target sensor in the MongoDB database system according to the time sequence. The database system administrator controls the server configuration, the fragment server and the data block size through the embedded Mongos application. If a single node has limited capacity, an administrator or system can fragment the service using the automatic fragmentation function in the Mongos application. The default data chunk size stored in the auto-partitioning environment may be calculated by the ChunkSize command. In addition, the MongoDB database system automatically creates duplicate data sets for backing up the stored data. Mongos is an abbreviation of MongoDB guard, which is a routing service that provides query requests to the application layer and determines the location of data in the MongoDB shard.

S200, performing feature extraction on the acquired real-time data to obtain current vehicle information, wherein the vehicle information comprises a vehicle position, a vehicle posture and a vehicle speed.

In particular, the real-time data collected by the target sensor are raw data, which must be refined in order to obtain an accurate prediction.

And S300, calculating to obtain a first sideslip angle of the vehicle at the current moment based on the vehicle information.

Specifically, the vehicle information may be stored in an extended kalman filter algorithm to calculate a first sideslip angle of the vehicle at the current time.

And S400, predicting a second sideslip angle of the vehicle at the next moment based on the first sideslip angle.

Specifically, a first side-slip angle of the vehicle at the present time is one of variables that predicts a second side-slip angle of the vehicle at the next time, from which the second side-slip angle can be predicted based on the first side-slip angle.

S500, if the second sideslip angle is larger than a preset threshold value, a vehicle control center is instructed to control the vehicle to avoid sideslip of the vehicle.

Specifically, whether the vehicle sideslips at the next moment can be judged by comparing whether the difference value between the first sideslip angle of the vehicle at the current moment and the second sideslip angle of the vehicle at the next moment obtained through prediction is larger than a preset threshold value, if yes, a warning signal is sent to a vehicle control center, and the vehicle control center controls the vehicle to avoid the vehicle sideslip. The signal is guaranteed to be transmitted in a unique special frequency band and encrypted by WP a2-Enterprise technology. Further, the control center stores the vehicle sensor data and the status data in separate data repositories.

The invention can automatically control the vehicle before the vehicle sideslips by predicting the sideslip angle of the vehicle, thereby avoiding the vehicle sideslips and further ensuring the life safety of drivers and pedestrians.

With continued reference to fig. 1, in another embodiment of the present invention, the vehicle coasting control method further includes:

and if the second sideslip angle is smaller than or equal to a preset threshold value, feeding back the first sideslip angle to serve as basic data for predicting the second sideslip angle.

Specifically, whether the vehicle sideslips at the next moment can be judged by comparing whether the difference value between the first sideslip angle of the vehicle at the current moment and the second sideslip angle of the vehicle at the next moment obtained through prediction is larger than a preset threshold value, and if not, the state information of the vehicle at the current moment is returned through an extended Kalman filter to be used as basic data for predicting the second sideslip angle of the vehicle at the next moment.

FIG. 2 is a partial flow diagram of a method for controlling coasting of a vehicle in accordance with an embodiment of the present invention; as shown in fig. 2, in some embodiments of the present invention, the performing feature extraction on the acquired real-time data to obtain current vehicle information includes:

s210, storing the acquired real-time data in different temporary spaces in a classified manner through a Map/Reduce frame based on Hadoop;

and S220, integrating the real-time data in each temporary space and calculating to obtain the current vehicle information.

Specifically, a Map/Reduce frame is adopted in the extraction and calculation process, different sensor data are stored in a temporary space in a blocking mode in the Mapper process, and after the Mapper is completed, data in different Maps are integrated and calculated through the Reducer process to obtain the vehicle information.

According to another aspect of the present invention, a vehicle creep control system is provided. Fig. 3 is a block diagram of a vehicle coasting control system according to an embodiment of the present invention. The modules of the vehicle coasting control system 300 include an acquisition module 310, a data processing module 320, a calculation module 330, a prediction module 340, a determination module 350, and a control module 360. The acquisition module 310 is configured to acquire real-time data acquired by a target sensor, where the target sensor includes an acceleration sensor, a gyroscope, a GPS, and an encoder. The data processing module 320 is configured to perform feature extraction on the acquired real-time data to obtain current vehicle information, where the vehicle information includes a vehicle position, a vehicle posture, and a vehicle speed; the calculation module 330 is configured to calculate a first sideslip angle of the vehicle at the current time based on the vehicle information; the prediction module 340 is configured to predict a second sideslip angle of the vehicle at a next time based on the first sideslip angle; the determining module 350 is configured to determine whether the second sideslip angle is greater than a preset threshold; the control module 360 is used to instruct the vehicle control center to control the vehicle to avoid vehicle sideslip. The invention can automatically control the vehicle before the vehicle sideslips by predicting the sideslip angle of the vehicle, thereby avoiding the vehicle sideslips.

The invention also provides another vehicle coasting control system. Fig. 4 is a block diagram of a coasting control system for a vehicle in accordance with another embodiment of the present invention. In this embodiment, the vehicle coasting control system 400 includes a feedback module 410 in addition to the acquiring module 310, the data processing module 320, the calculating module 330, the predicting module 340, the determining module 350 and the control module 360 shown in fig. 3. The feedback module 410 is configured to transmit the state information of the vehicle at the current time back through the extended kalman filter as the basic data for predicting the second sideslip angle of the vehicle at the next time. The invention can automatically control the vehicle before the vehicle sideslips by predicting the sideslip angle of the vehicle, thereby avoiding the vehicle sideslips.

According to still another aspect of the present invention, there is provided an electronic apparatus including:

a processor;

a storage medium having stored thereon a computer program which, when executed by the processor, performs the steps of the vehicle coasting control method as described above.

A vehicle coasting control device 600 according to an embodiment of the present application is described below with reference to fig. 5. The vehicle coasting control device 600 shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.

As shown in fig. 5, device 600 is in the form of a general purpose computing device. The components of device 600 may include, but are not limited to: at least one processor 610, at least one memory unit 620, a bus 630 connecting the various system components (including the memory unit 620 and the processor 610), a display unit 640, and the like.

Wherein the storage unit stores program code executable by the processor 610 to cause the processor 610 to perform the steps according to various exemplary embodiments of the present application described in the above-mentioned electronic prescription flow processing method section of the present specification. For example, the processor 610 may perform the steps in the above method.

The storage unit 620 may include storage media in the form of volatile storage units, such as a random access memory unit (RAM)6201 and/or a cache storage unit 6202, and may further include a read-only memory unit (ROM) 6203.

The memory unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

Bus 630 may be one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a tenant to interact with the electronic device 600, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 600 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the electronic device 600 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet) via the network 102 adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via the bus 630. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

According to another aspect of the present invention, a storage medium is provided, having stored thereon a computer program which, when being executed by a processor, performs the steps of the vehicle coasting control method as described above.

Referring to fig. 6, in one embodiment, a program product 800 for implementing the above-described method may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a server. However, those skilled in the art will appreciate that the program product referred to herein is not limited to such, but may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, implemented using Application Specific Integrated Circuits (ASICs), general purpose computers or any other similar hardware devices. In one embodiment, the software programs of the present application may be executed by a processor to implement the above steps or functions. Likewise, the software programs (including associated data structures) of the present application may be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Additionally, some of the steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.

In addition, some of the present application can be applied as a computer program product, such as computer program instructions, which when executed by a computer, can invoke or provide the method or technical solution according to the present application through the operation of the computer. Those skilled in the art will appreciate that the computer program instructions may be present in the form of computer storage media including, but not limited to, source files, executable files, installation package files, and the like, and that the manner in which the computer program instructions are executed by a computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. In this regard, computer storage media may be any available computer readable storage media or communication media that can be accessed by a computer.

Communication media includes media by which communication signals, including, for example, computer readable instructions, data structures, program modules, or other data, are transmitted from one system to another. Communication media may include conductive transmission media such as cables and wires, e.g., fiber optics, coaxial, and the like, and wireless (non-conductive transmission) media capable of propagating energy waves such as acoustic, electromagnetic, RF, microwave, and infrared. Computer readable instructions, data structures, program modules, or other data may be embodied in a modulated data signal, for example, in a wireless medium such as a carrier wave or similar mechanism such as is embodied as part of spread spectrum techniques. The term "modulated data signal" means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. The modulation may be analog, digital or hybrid modulation techniques.

By way of example, and not limitation, computer-readable storage media may include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. For example, computer-readable storage media include, but are not limited to, volatile memory such as random access memory (RAM, DRAM, SRAM); and non-volatile memory such as flash memory, various read-only memories (ROM, PROM, EPROM, EEPROM), magnetic and ferromagnetic/ferroelectric memories (MRAM, FeRAM); and magnetic and optical storage devices (hard disk, tape, CD, DVD); or other now known media or later developed that can store computer-readable information or data for use by a computer system.

In summary, the vehicle coasting control method, system, electronic device, and storage medium of the present invention can automatically control the vehicle before the vehicle slips, thereby preventing the vehicle from slipping.

The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.