CN-116087991-B - Vehicle, method and device for controlling vehicle passing

CN116087991BCN 116087991 BCN116087991 BCN 116087991BCN-116087991-B

Abstract

The application discloses a vehicle, a method and equipment for controlling the passing of the vehicle, and belongs to the technical field of vehicles. The distance measuring system in the vehicle comprises a control device, a first radar sensor and a second radar sensor, wherein the first radar sensor determines a first time length from sending a first laser signal to receiving a first laser signal reflected by a first obstacle, the second radar sensor determines a second time length from sending a second laser signal to receiving a second laser signal reflected by a second obstacle, the control device respectively determines position information of the first obstacle and the second obstacle based on the first time length and the second time length, the second distance is determined based on the position information of the two obstacles and the first distance, and the vehicle is controlled to pass under the condition that the width of the vehicle body is smaller than the second distance. Compared with the distance between the barriers at two sides, the system can accurately determine the distance between the barriers at two sides, so that the vehicle passing is controlled more accurately.

Inventors

ZHANG DAOLI
CHENG TAO
DONG LIANGJIN

Assignees

奇瑞汽车股份有限公司

Dates

Publication Date: 20260505
Application Date: 20230228

Claims (7)

1. A vehicle is characterized by comprising a vehicle body, a distance measuring system arranged on the vehicle body and a vehicle-mounted terminal, wherein a target application program is installed on the vehicle-mounted terminal and comprises a distance measuring function; the distance measurement system comprises a control device, a first radar sensor and a second radar sensor, wherein the first radar sensor and the second radar sensor are electrically connected with the control device, and the first radar sensor and the second radar sensor are arranged on two sides of a front bumper of the vehicle; The first radar sensor comprises a timer, a signal transmitter and a signal receiver; the output end of the signal transmitter and the output end of the signal receiver are electrically connected with the input end of the timer, and the output end of the timer is electrically connected with the control equipment; The vehicle-mounted terminal is used for detecting the state of the distance measurement function, and sending a second notification message to the control equipment when detecting that the distance measurement function is in an on state; the control device is configured to determine, according to the second notification message, that the distance measurement function is in an on state, and in this case, send a first measurement instruction to the signal transmitter and send a second measurement instruction to the second radar sensor; The signal transmitter is used for transmitting a first laser signal based on the first measurement instruction, and transmitting a timing starting instruction to the timer when the first laser signal is transmitted; The signal receiver is used for receiving the first laser signal reflected by the first obstacle and sending a timing stopping instruction to the timer when the reflected first laser signal is received; The timer is used for determining a first time length according to the starting timing instruction and the stopping timing instruction, and sending the first time length to the control equipment, wherein the first time length is used for indicating the time from sending the first laser signal to receiving the reflected first laser signal; The second radar sensor is used for transmitting a second laser signal and receiving a second laser signal reflected by a second obstacle based on the second measurement instruction, determining a second time length, and transmitting the second time length to the control equipment, wherein the second time length is used for representing the time from the transmission of the second laser signal to the reception of the reflected second laser signal; The control device is used for determining a third distance based on the first time length, wherein the third distance is used for representing a linear distance between the signal emitter and the first obstacle, taking the position of the signal emitter as a center, taking a first horizontal direction as an axis of abscissa and taking a second horizontal direction as an axis of ordinate, establishing a rectangular coordinate system, wherein the first horizontal direction is an X direction, the second horizontal direction is a Y direction, and the first horizontal direction is perpendicular to the second horizontal direction; The control device is further used for determining a sixth distance based on the second duration, wherein the sixth distance is the distance between the second obstacle and the second radar sensor in the first horizontal direction, determining the sum value of the fourth distance, the sixth distance and the first distance to obtain a second distance, wherein the first distance is the distance between the first radar sensor and the second radar sensor, the second distance is the distance between the first obstacle and the second obstacle, the first radar sensor and the second radar sensor are on the same straight line, and the first obstacle and the second obstacle are on the same straight line, and the two straight lines are parallel to the first horizontal direction; The control device is further configured to determine, when the width of the vehicle body is smaller than the second distance, a first included angle between the current running direction of the vehicle and the first horizontal direction, and a second included angle between a straight line formed by the first radar sensor and the first obstacle and the first horizontal direction, where the first included angle and the second included angle are both smaller than 90 °; if the first included angle is smaller than the second included angle, determining that the vehicle cannot pass through the current position and the running direction, and under the condition, carrying out route planning according to the current position, the first position information of the first obstacle and the second position information of the second obstacle to obtain a passing path; if the first included angle is larger than the second included angle, determining that the vehicle can pass through the current position and the driving direction, and sending a notification message to the vehicle-mounted terminal; The vehicle-mounted terminal is further used for outputting a first voice message based on the notification message, and the first voice message is used for prompting the vehicle to pass through the current position of the vehicle.
2. The vehicle according to claim 1, characterized in that the control device is further configured to send the traffic path to the in-vehicle terminal; The vehicle-mounted terminal is also used for carrying out voice navigation according to the traffic path.
3. The vehicle of claim 2, further comprising an alarm device electrically connected to the control device; The control device is also used for sending a first alarm signal to the alarm device when the width of the vehicle body is not smaller than the second distance, the alarm device is used for controlling the flickering of an alarm lamp and the alarm of a buzzer based on the first alarm signal, or The control device is further used for sending a second alarm signal to the vehicle-mounted terminal when the width of the vehicle body is not smaller than the second distance, the vehicle-mounted terminal is used for outputting a second voice message based on the second alarm signal, and the second voice message is used for prompting that the vehicle cannot pass through.
4. A method of controlling vehicle traffic, the method comprising: The vehicle-mounted terminal detects the state of the distance measurement function, and when detecting that the distance measurement function is in an on state, sends a second notification message to the control equipment; The control device determines that the distance measurement function is in an on state according to the second notification message, and in this case, sends a first measurement instruction to a signal transmitter in the first radar sensor and sends a second measurement instruction to the second radar sensor; The signal transmitter transmits a first laser signal based on a first measurement instruction, and transmits a timing starting instruction to a timer when transmitting the first laser signal; A signal receiver receives a first laser signal reflected by a first obstacle, and when the reflected first laser signal is received, a timing stop instruction is sent to the timer, and the first radar sensor comprises the signal transmitter, the timer and the signal receiver; The timer determines a first time length according to the starting timing instruction and the stopping timing instruction, and sends the first time length to the control equipment, wherein the first time length is used for indicating the time from sending the first laser signal to receiving the reflected first laser signal; The second radar sensor is used for transmitting a second laser signal based on the second measurement instruction, receiving a second laser signal reflected by a second obstacle, determining a second time period, and transmitting the second time period to the control equipment, wherein the second time period is used for representing the time from the transmission of the second laser signal to the reception of the reflected second laser signal, and the first radar sensor and the second radar sensor are arranged on two sides of a front bumper of the vehicle; The control device determines a third distance based on the first time length, wherein the third distance is used for representing a linear distance between the signal emitter and the first obstacle, a rectangular coordinate system is established by taking the position of the signal emitter as a center and a first horizontal direction as an axis of abscissa and a second horizontal direction as an axis of ordinate, the first horizontal direction is an X direction, the second horizontal direction is a Y direction, and the first horizontal direction is perpendicular to the second horizontal direction; The control device determines a sixth distance based on the second duration, wherein the sixth distance is a distance between the second obstacle and the second radar sensor in the first horizontal direction, determines a sum of the fourth distance, the sixth distance and the first distance to obtain a second distance, wherein the first distance is a distance between the first radar sensor and the second radar sensor, the second distance is a distance between the first obstacle and the second obstacle, the first radar sensor and the second radar sensor are on the same straight line, and the first obstacle and the second obstacle are also on the same straight line, and both straight lines are parallel to the first horizontal direction; The control device determines a first included angle between the current running direction of the vehicle and the first horizontal direction and a second included angle between a straight line formed by the first radar sensor and the first obstacle and the first horizontal direction when the width of the vehicle body is smaller than the second distance, wherein the first included angle and the second included angle are smaller than 90 degrees; if the first included angle is smaller than the second included angle, determining that the vehicle cannot pass through the current position and the running direction, and under the condition, carrying out route planning according to the current position, the first position information of the first obstacle and the second position information of the second obstacle to obtain a passing path; if the first included angle is larger than the second included angle, determining that the vehicle can pass through the current position and the driving direction, and sending a notification message to the vehicle-mounted terminal; the vehicle-mounted terminal outputs a first voice message based on the notification message, wherein the first voice message is used for prompting the vehicle to pass through the current position of the vehicle.
5. A control device comprising a processor and a memory, the memory having stored therein at least one program code that is loaded and executed by the processor to implement the method of controlling vehicle traffic as recited in claim 4.
6. A computer readable storage medium having stored therein at least one program code, the at least one program code loaded and executed by a processor to implement the method of controlling vehicle traffic of claim 4.
7. A computer program product, characterized in that it has stored therein at least one program code, which is loaded and executed by a processor to implement the method of controlling the passage of a vehicle according to claim 4.

Description

Vehicle, method and device for controlling vehicle passing Technical Field The application relates to the technical field of vehicles, in particular to a vehicle, a method and equipment for controlling the passing of the vehicle. Background With the development of urban traffic, traffic facilities such as overpasses, pedestrian overpasses, tunnels and the like are continuously increased. In order to ensure traffic safety, barriers such as cement piers, width limiting pile heads and the like are arranged on two sides of a road on some road sections so as to achieve the purpose of limiting the width of the road. If the width of the vehicle is smaller than the distance between the obstacles on two sides, the vehicle can pass through, and if the width of the vehicle is larger than the distance, the vehicle can not pass through. Therefore, when the vehicle is driven to travel on the limited road section, the user is required to determine the distance between the obstacles at two sides first, and then determine whether the vehicle can pass or not according to the magnitude relation between the distance and the width of the vehicle. In the related art, the distance between the obstacles at two sides is mainly determined by visual inspection of a user, and then whether the distance is larger than the width of the vehicle is determined according to self experience, so as to determine whether the vehicle can pass. However, the user can only roughly judge the distance between the obstacles at two sides by visual inspection, so that a large error exists between the judged distance and the actual distance, and accurate judgment on whether the vehicle can pass or not cannot be realized. Disclosure of Invention The embodiment of the application provides a vehicle, a method and equipment for controlling the vehicle to pass, and the method and equipment can accurately judge whether the vehicle can pass through a limited road section. The technical scheme is as follows: in one aspect, a vehicle is provided that includes a body and a distance measurement system disposed on the body; The distance measurement system comprises a control device, a first radar sensor and a second radar sensor, wherein the first radar sensor and the second radar sensor are electrically connected with the control device; The first radar sensor is used for transmitting a first laser signal and receiving the first laser signal reflected by a first obstacle, determining a first time length, and transmitting the first time length to the control equipment, wherein the first time length is used for representing the time taken from the transmission of the first laser signal to the reception of the reflected first laser signal; The second radar sensor is used for transmitting a second laser signal and receiving a second laser signal reflected by a second obstacle, determining a second time length, and transmitting the second time length to the control equipment, wherein the second time length is used for representing the time taken from the transmission of the second laser signal to the reception of the reflected second laser signal; The control device is used for determining first position information of the first obstacle based on the first duration, determining second position information of the second obstacle based on the second duration, and determining second distance based on the first position information, the second position information and a first distance, wherein the first distance is the distance between the first radar sensor and the second radar sensor, and the second distance is the distance between the first obstacle and the second obstacle; The control device is further used for controlling the vehicle to pass when the width of the vehicle body is smaller than the second distance. In one possible implementation manner, the vehicle further comprises a vehicle-mounted terminal electrically connected with the control device; The control device is used for determining that the vehicle cannot pass from the current position and generating a passing path if the vehicle is based on the current position, the first position information and the second position information of the vehicle under the condition that the width of the vehicle body is smaller than the second distance; and the vehicle-mounted terminal is used for carrying out voice navigation according to the traffic path. In another possible implementation manner, the control device is configured to send a notification message to the vehicle-mounted terminal if it is determined that the vehicle can pass from the current location; The vehicle-mounted terminal is used for outputting a first voice message based on the notification message, and the first voice message is used for prompting the vehicle to pass through the current position of the vehicle. In another possible implementation, the vehicle further includes an alarm device electrically connected with the control device; The control de