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CN-121989803-A - Vehicle control method and vehicle

CN121989803ACN 121989803 ACN121989803 ACN 121989803ACN-121989803-A

Abstract

The application provides a vehicle control method and a vehicle, and relates to the technical field of rearview mirror control. In the method, when the running state of the target vehicle meets the preset condition and the obstacle exists around the target vehicle, a determination process of the target type is executed to screen whether the outside rearview mirror of the vehicle needs to be adjusted. The target type of the obstacle is identified, which enables to distinguish the extent of influence of different types of obstacles on the field of view. Based on the object type and situation data of the obstacle, determining a turnover angle and controlling the exterior rearview mirror to turn to the turnover angle. Based on the target type and situation data, the adjusting direction and the adjusting amplitude of the outside rearview mirror are controlled, and the self-adaptability of blind area compensation is realized. According to the scheme, the obstacle can fall into the visible range of the outside rearview mirror for the driver to observe, and the safety during driving can be obviously improved.

Inventors

  • WANG XUEYING
  • ZHANG YAJUAN
  • WANG HAO

Assignees

  • 长城汽车股份有限公司

Dates

Publication Date
20260508
Application Date
20260403

Claims (12)

  1. 1. A vehicle control method, characterized in that the method comprises: determining whether an obstacle exists around a target vehicle under the condition that the running state of the target vehicle meets a preset condition, wherein the preset condition is a triggering condition that an angle adjusting function of an outside rearview mirror is started; determining a target type of an obstacle in the case where the obstacle exists around the target vehicle; acquiring situation data of the obstacle, wherein the situation data is used for reflecting the spatial distribution state of the obstacle and the threat degree of the obstacle to the running safety of the target vehicle; And determining the turning angle of the outside rearview mirror corresponding to the obstacle based on the target type and the situation data, and controlling the outside rearview mirror to be turned to the turning angle, wherein the turning angle is used for compensating the vision blind area caused by the obstacle.
  2. 2. The method according to claim 1, wherein the method further comprises: Acquiring pose data of the exterior rearview mirror, wherein the pose data are used for reflecting the space distribution state of the exterior rearview mirror; determining an angle generation rule based on the target type, wherein the angle generation rule is used for indicating a determination logic adopted by the turning angle of the outside rearview mirror; and determining the overturning angle based on the angle generation rule, the situation data and the pose data.
  3. 3. The method of claim 2, wherein the determining an angle generation rule based on the target type comprises: Determining the angle generation rule as a first generation rule for indicating that the height of the obstacle is greater than the installation height of the exterior mirror, and for indicating to adjust the exterior mirror downward and for controlling the obstacle of the first type to enter the lower half of the field of view of the exterior mirror, in the case that the target type is the first type; Determining the angle generation rule as a second generation rule for indicating that the height of the obstacle is smaller than the installation height of the exterior mirror and that the obstacle is a raised obstacle, in the case that the target type is a second type, the second generation rule being for indicating that the exterior mirror is adjusted downward with reference to a minimum pitch angle at which the exterior mirror can be turned over and focusing on the top and edge of the raised obstacle; in the case that the target type is a third type, determining the angle generation rule as a third generation rule for indicating that the height of the obstacle is smaller than the installation height of the outside mirror and that the obstacle is a recessed obstacle, the third generation rule for indicating that the outside mirror is adjusted downward based on a risk coefficient of the recessed obstacle for reflecting the threat level and focusing on the bottom of the recessed obstacle.
  4. 4. A method according to claim 3, wherein the flip angle comprises a pitch angle for controlling an upper and lower range of the field of view and an azimuth angle for controlling a left and right range of the field of view, the determining the flip angle based on the angle generation rule, the situational data and the pose data comprising: Determining a first pitch angle which the exterior mirror should turn over when the angle is of the first type based on a first distance in the pose data and a second distance in the situation data, wherein the first distance is a distance between the exterior mirror and the ground, and the second distance is a distance between the exterior mirror and an obstacle; And determining a first azimuth angle, which is needed to be turned over by the outside rearview mirror in the first type, as a first preset angle.
  5. 5. The method of claim 4, wherein the determining a first pitch angle that the exterior mirror should turn when of the first type based on a first distance in the pose data and a second distance in the pose data comprises: Determining the sum of the first distance and a redundant distance as a third distance, wherein the redundant distance is the up-down adjustment quantity of the mirror surface center of the outside rearview mirror relative to the installation datum point of the outside rearview mirror; Determining a first ratio between the third distance and the second distance, and determining an arctangent value of the first ratio as the first pitch angle.
  6. 6. The method of claim 3, wherein the pose data comprises the minimum pitch angle, and wherein the determining the flip angle based on the angle generation rule, the situation data, and the pose data comprises: Determining a second pitch angle which the outside mirror should turn over when the vehicle is of the second type based on the minimum pitch angle and a fourth distance in the situation data, wherein the fourth distance is a horizontal distance between the outside mirror and the raised obstacle; and determining a second ratio between the fourth distance and a fifth distance in the situation data, and determining an arctangent value of the second ratio as a second azimuth angle at which the exterior mirror should turn over in the second type, wherein the fifth distance is a vertical distance between the exterior mirror and the raised obstacle.
  7. 7. The method of claim 6, wherein the determining a second pitch angle that the exterior mirror should turn over when of the second type based on the minimum pitch angle and a fourth distance in the situational data comprises: Determining the product of the fourth distance and a first coefficient as a first angle, wherein the first coefficient is a pitch angle of the outside rearview mirror which is required to be turned over in a unit distance; and determining the sum of the first angle and the minimum pitch angle as the second pitch angle.
  8. 8. The method of claim 3, wherein the determining the flip angle based on the angle generation rule, the situational data, and the pose data comprises: Determining a third pitch angle which the outside mirror should turn over when the vehicle is of the third type based on a risk coefficient, a first pitch angle and a second pitch angle of the obstacle in the situation data, wherein the first pitch angle and the second pitch angle are obtained based on the situation data and the pose data; And determining a third ratio between a sixth distance and a seventh distance in the situation data, and determining an arctangent value of the third ratio as a third azimuth angle at which the exterior mirror should be turned over in the third type, wherein the sixth distance is a horizontal distance between the exterior mirror and the recessed barrier, and the seventh distance is a vertical distance between the exterior mirror and the recessed barrier.
  9. 9. The method of claim 8, wherein the determining a third pitch angle that the exterior mirror should turn over when the third type is based on the risk factor, the first pitch angle, and the second pitch angle of the obstacle in the situation data comprises: determining a difference value between a first preset value and the dangerous coefficient as a second coefficient; and based on the second coefficient and the risk coefficient, carrying out weighted fusion on the first pitch angle and the second pitch angle to obtain the third pitch angle.
  10. 10. The method of claim 8, wherein the method of determining the risk factor comprises: determining a fourth ratio between the actual depth of the recessed barrier and a minimum safe depth, and determining the risk factor based on the fourth ratio, or, Determining a depth factor based on the magnitude relation between the actual depth and the minimum safety depth, wherein the depth factor is used for reflecting the physical damage degree of the depth of the concave obstacle to the target vehicle; Determining an urgent factor based on the current speed of the target vehicle, an eighth distance, and a maximum reaction time acceptable to the target vehicle, and determining the risk factor based on the depth factor and the urgent factor, wherein the urgent factor is used for reflecting a safety margin in reaction time when the target vehicle avoids the sunken obstacle, and the eighth distance is a distance between the target vehicle and the sunken obstacle.
  11. 11. The method according to any one of claims 1-10, wherein the determining the target type of the obstacle comprises: Determining the target type as a fourth type in the case that the number of obstacles is a preset number, wherein the fourth type is used for indicating that a single geometric feature obstacle exists around the target vehicle, and comprises a first type, a second type and a third type; under the condition that the number of the barriers is larger than the preset number, the geometric features of the barriers are obtained; Determining the target type as the fourth type in the case that the geometric features of the plurality of obstacles are the same; in the case where there are differences in the geometric features of the plurality of obstacles, the target type is determined to be a fifth type for indicating that there are obstacles of the plurality of geometric features around the target vehicle.
  12. 12. A vehicle, characterized in that the vehicle comprises: A memory for storing executable program code; a processor for calling and running the executable program code from the memory, causing the vehicle to perform the method of any one of claims 1 to 11.

Description

Vehicle control method and vehicle Technical Field The present application relates to the technical field of rearview mirror control, and more particularly, to a vehicle control method and a vehicle in the technical field of rearview mirror control. Background When a vehicle runs or parks in a narrow space, a driver often observes the road conditions around the vehicle by means of the outside rearview mirror so as to obtain a better driving view. In the related art, the position relation of each obstacle relative to the vehicle is determined based on obstacle information around the vehicle, the expected running path of the vehicle is determined based on track information of the vehicle, and the adjustment angle of the outside rearview mirror is determined based on the position relation and the expected running path. In the above-mentioned adjustment angle determination process, the vehicle needs to analyze the geometric relationship between the vehicle track (possibly a complex curve) and the obstacle contour (possibly a complex polygon) in real time, and solve the optimal adjustment angle through a complex mathematical optimization algorithm (such as minimizing the blind area or maximizing the coverage rate of the field of view). The calculation amount for solving the adjustment angle is large, and the prediction interference of the expected driving path is easy to occur. Therefore, there is a need for a vehicle control method to more precisely adjust the turning angle of the exterior mirror. Disclosure of Invention The application provides a vehicle control method and a vehicle, wherein the method can more accurately adjust the turning angle of an external rearview mirror, and can remarkably improve the safety during driving. In a first aspect, a vehicle control method is provided, and the method includes determining whether an obstacle exists around a target vehicle when a driving state of the target vehicle satisfies a preset condition, wherein the preset condition is a trigger condition that an angle adjustment function of an outside mirror is turned on, determining a target type of the obstacle when the obstacle exists around the target vehicle, acquiring situation data of the obstacle, wherein the situation data is used for reflecting a spatial distribution state of the obstacle and a threat degree of the obstacle to driving safety of the target vehicle, determining a turning angle of the outside mirror corresponding to the obstacle based on the target type and the situation data, and controlling the outside mirror to be turned to the turning angle, wherein the turning angle is used for compensating a vision blind area existing due to the obstacle. In the above technical solution, when the driving state of the target vehicle satisfies the trigger condition that the angle adjusting function of the exterior mirror is turned on and there is an obstacle around the target vehicle, the determining process of the target type is performed to screen whether the exterior mirror needs to be adjusted, which can avoid meaningless adjustment. Further, the target type of the obstacle is identified, so that the influence degree of the obstacle of different types on the visual field can be distinguished, and a reliable basis is provided for the determination of the subsequent overturning angle. Based on the target type and situation data of the obstacle, determining the turning angle of the exterior rearview mirror corresponding to the obstacle, and controlling the exterior rearview mirror to turn to the turning angle. The types of the introduced obstacles can distinguish the inherent properties of the obstacles, such as height, concave-convex and the like, and the form of a visual field blind area caused by different obstacles is defined, so that a classification basis is provided for adjusting the outside rearview mirror. The introduced situation data can control the outside rearview mirror to dynamically adjust along with the actual position of the obstacle. That is, the adjustment direction and the adjustment amplitude of the outside mirror can be controlled based on the target type and situation data, so that the self-adaptability of the blind area compensation can be realized. According to the scheme, the obstacle can fall into the visible range of the outside rearview mirror for the driver to observe, and the safety during driving can be obviously improved. With reference to the first aspect, in some possible implementation manners, the method further includes obtaining pose data of the exterior mirror, where the pose data is used to reflect a spatial distribution state of the exterior mirror, determining an angle generation rule based on the target type, where the angle generation rule is used to indicate determination logic adopted by a turning angle of the exterior mirror, and determining the turning angle based on the angle generation rule, the situation data, and the pose data. According to the technical