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CN-122009017-A - Vehicle emergency stop warning control method and system and vehicle

CN122009017ACN 122009017 ACN122009017 ACN 122009017ACN-122009017-A

Abstract

The invention provides a vehicle emergency stop warning control method, a system and a vehicle, wherein the vehicle emergency stop warning control method comprises the following steps of responding to a driver abnormal state detection signal or an emergency stop request signal initiated by a user, controlling the vehicle to be decelerated to complete stop; the method comprises the steps of controlling a controllable release mechanism on a vehicle to release a warning device after the vehicle stops, controlling the vehicle to run forwards for a preset distance after the warning device is released, identifying the warning device through an image obtained by a visual sensor, controlling the vehicle to stop if the vehicle is identified successfully within the preset running distance, sending a rotation instruction to the warning device if the included angle between the warning surface of the warning structure and the center line of a lane is detected to be beyond a preset threshold range, enabling the warning device to drive the warning structure to rotate around a vertical axis according to the rotation instruction, adjusting the posture of the warning structure, and controlling the vehicle to continue to run for a preset safety distance along a current lane and stop after confirming that the posture of the warning structure is adjusted in place.

Inventors

  • XU ZHUYUAN

Assignees

  • 东风汽车集团股份有限公司

Dates

Publication Date
20260512
Application Date
20260323

Claims (10)

  1. 1. The vehicle emergency stop warning control method is characterized by comprising the following steps of: Responding to a driver abnormal state detection signal or an emergency stop request signal initiated by a user, and controlling the vehicle to be decelerated to complete stopping after safely changing the lane to an emergency lane; After the vehicle is braked, controlling a controllable release mechanism on the vehicle to release the warning device; after the warning device is released, controlling the vehicle to run forwards for a preset distance, identifying the warning device through the image acquired by the visual sensor, and controlling the vehicle to stop if the identification is successful within the preset running distance; The gesture of the warning structure is identified through the image acquired by the visual sensor, if the included angle between the warning surface of the warning structure and the central line of the lane is detected to be beyond the preset threshold range, a rotation instruction is sent to the warning device, so that the warning device drives the warning structure to rotate around the vertical axis according to the rotation instruction, and the gesture of the warning structure is adjusted, so that the included angle between the warning surface of the warning structure and the central line of the lane is within the preset threshold range; and after confirming that the posture of the warning structure is adjusted in place, controlling the vehicle to continue to run along the current lane for a preset safety distance, and stopping.
  2. 2. The method of claim 1, further comprising the step of sending an unfolding instruction to the warning device before the gesture of the warning structure is identified, so that the warning device drives the warning structure to switch from the folded state to the unfolded state according to the unfolding instruction.
  3. 3. The method according to claim 1, wherein in the step of controlling the vehicle to travel forward a predetermined distance, if the warning device is not recognized yet when the vehicle travels beyond the predetermined distance, the vehicle is controlled to stop and a manual alert or a malfunction process is triggered.
  4. 4. The method of claim 1, wherein controlling the vehicle to continue traveling along the current lane for a predetermined safe distance comprises determining the predetermined safe distance according to a grade of a road on which the vehicle is located, and controlling the vehicle to continue traveling along the current lane for the predetermined safe distance.
  5. 5. The vehicle emergency stop warning control system is characterized by comprising a warning device, a visual sensor and an intelligent driving domain controller, wherein the warning device is fixed at the rear part of a vehicle through a controllable release mechanism; the intelligent driving area controller is configured to be able to perform the steps in the vehicle emergency stop warning control method according to any one of claims 1 to 4.
  6. 6. The system of claim 5, wherein the warning device comprises a base, a control module, a wireless communication module, a power module, a rotating mechanism and a unfolding driving device, wherein the rotating mechanism is internally provided with the rotating driving device, the base is arranged above the rotating mechanism and connected with the rotating driving device and driven to rotate by the rotating driving device, the warning structure and the unfolding driving device are arranged on the base, the unfolding driving device is used for driving the warning structure to unfold, the power module supplies power for the warning device, the wireless communication module is electrically connected with the control module, and the control module is electrically connected with the unfolding driving device and the rotating driving device respectively.
  7. 7. The system of claim 5, wherein the intelligent driving area controller is integrated with a warning device recognition module and a gesture judgment module, the warning device recognition module is used for recognizing the warning device according to the image acquired by the vision sensor, and the gesture judgment module is used for recognizing the gesture of the warning structure according to the image acquired by the vision sensor.
  8. 8. The system of claim 7, wherein the controllable release mechanism comprises a locking structure, the locking structure is electrically connected with a vehicle body controller, the vehicle body controller is configured to control the locking structure to lock and release the warning device, the warning device is provided with a locking structure matched with the locking structure, and the vehicle body controller is electrically connected with the intelligent driving domain controller.
  9. 9. The system of claim 7, wherein the visual sensor is electrically coupled to an intelligent driving domain controller, and wherein the intelligent driving domain controller is electrically coupled to the vehicle HMI.
  10. 10. A vehicle comprising the vehicle emergency stop warning control system according to any one of claims 5 to 9.

Description

Vehicle emergency stop warning control method and system and vehicle Technical Field The invention relates to the technical field of vehicle safety warning, in particular to a vehicle emergency stop warning control method and system and a vehicle. Background The warning devices configured on the market are mostly manual devices, and the warning devices are manually placed in the back of the vehicle for tens of meters after a driver parks the vehicle. The existing automatic walking warning device is also operated by a driver, the driver controls the warning device to walk backwards through a mobile phone and the like, and the placement scheme of the automatic walking warning device is not participated by the driver under the condition that the driver loses consciousness and other emergency conditions are not considered. And warning devices designed by related technologies mostly comprise the capability of sensing road scenes and walking tens of meters away, and have high equipment complexity and high cost. And the driver is required to get off the vehicle to place the mobile warning device, the warning device is required to run tens of meters far after the vehicle is driven, the lane track, the driving direction and the like are required to be judged, the equipment is required to have larger electric quantity reserve, the requirement on driving track control is higher, and the equipment has high complexity and high cost. Disclosure of Invention The invention aims to solve at least one technical problem in the prior art and provides a vehicle emergency stop warning control method and system and a vehicle. In a first aspect, the invention discloses a vehicle emergency stop warning control method, which comprises the following steps: Responding to a driver abnormal state detection signal or an emergency stop request signal initiated by a user, and controlling the vehicle to be decelerated to complete stopping after safely changing the lane to an emergency lane; After the vehicle is braked, controlling a controllable release mechanism on the vehicle to release the warning device; after the warning device is released, controlling the vehicle to run forwards for a preset distance, identifying the warning device through the image acquired by the visual sensor, and controlling the vehicle to stop if the identification is successful within the preset running distance; Sending an unfolding instruction to the warning device so that the warning device drives the warning structure to switch from a folded state to an unfolded state according to the unfolding instruction; The gesture of the warning structure is identified through the image acquired by the visual sensor, if the included angle between the warning surface of the warning structure and the central line of the lane is detected to be beyond the preset threshold range, a rotation instruction is sent to the warning device, so that the warning device drives the warning structure to rotate around the vertical axis according to the rotation instruction, and the gesture of the warning structure is adjusted, so that the included angle between the warning surface of the warning structure and the central line of the lane is within the preset threshold range; and after confirming that the posture of the warning structure is adjusted in place, controlling the vehicle to continue to run along the current lane for a preset safety distance, and stopping. In some embodiments, the preset threshold ranges from 90 ° -a ° to 90 ° +a °, where a is the allowed angular error. In some embodiments, in the step of controlling the vehicle to travel forward for a preset distance, if the vehicle travels over the preset distance and the warning device is not recognized yet, the vehicle is controlled to stop and a manual reminding or fault handling is triggered. In some embodiments, controlling the vehicle to continue traveling along the current lane for a preset safety distance comprises determining the preset safety distance according to the grade of the road where the vehicle is located, and controlling the vehicle to continue traveling along the current lane for the preset safety distance. In a second aspect, the invention also discloses a vehicle emergency stop warning control system, which comprises a warning device, a visual sensor and an intelligent driving domain controller, wherein the warning device is fixed at the rear part of a vehicle through a controllable release mechanism; The intelligent driving area controller is configured to be able to perform steps in the vehicle emergency stop alert control method as described in the first aspect. In some embodiments, the warning device comprises a base, a control module, a wireless communication module, a power module, a rotating mechanism and a unfolding driving device, wherein the rotating driving device is arranged in the rotating mechanism, the base is arranged above the rotating mechanism and connected with the rotating driving de