CN112356832A

CN112356832A - Vehicle control method, device and system

Info

Publication number: CN112356832A
Application number: CN202011287187.XA
Authority: CN
Inventors: 李恒
Original assignee: Suzhou Yixinan Industrial Technology Co ltd
Current assignee: Suzhou Yixinan Industrial Technology Co ltd
Priority date: 2020-11-17
Filing date: 2020-11-17
Publication date: 2021-02-12

Abstract

The application provides a vehicle control method, a vehicle control device and a vehicle control system, after state information of a vehicle is acquired, if the state information of the vehicle is detected to meet an anti-collision condition, the vehicle is controlled to enter a first working mode in time, collision of the vehicle when the vehicle continues to run at an original speed is avoided, and meanwhile, an acceleration instruction aiming at the vehicle is prohibited to be responded under the first working mode, so that potential safety hazards caused by mistaken acceleration of a driver on the vehicle under the condition that the vehicle is likely to collide are solved, and the running safety of the vehicle is improved; and under the condition that the newly acquired state information does not meet the anti-collision condition and/or the acquired specific control signal, the first working mode of the vehicle can be quickly released, namely, the vehicle is controlled to be switched from the first working mode to the second working mode, so that the vehicle can respond to an acceleration instruction and meet the normal operation requirement of the vehicle.

Description

Vehicle control method, device and system

Technical Field

The application is mainly applied to the field of safe driving of vehicles, and particularly relates to a vehicle control method, device and system.

Background

In the working scenes such as factories, docks, warehouses and the like, a forklift anti-collision early warning system can be configured generally, the system is suitable for factory blind area anti-collision and corner anti-collision, anti-collision early warning between a forklift and the forklift, between the forklift and people and between the forklift and objects is realized, vehicle accidents can be effectively reduced, casualties are reduced, and goods damage is avoided.

Specifically, the staff who gets into the work place can be required to wear the response label to at fork truck or work area installation response alarm, in the dangerous operation radius that the staff who wears the label is close to operation fork truck, the response alarm will send the warning, reminds fork truck driver deceleration, and reminds to be close to the personnel and keep away from the danger area as early as possible.

However, in the process of driving the vehicle to decelerate according to the alarm, sometimes the accelerator pedal is intentionally stepped on to the bottom in order to ensure the normal requirement of the vehicle, so that the vehicle is suddenly accelerated, and further the vehicle collision accident is caused.

Disclosure of Invention

In view of the above, in order to solve the above technical problems, the present application provides the following technical solutions:

a vehicle control method, the method comprising:

acquiring state information of a vehicle;

detecting that the state information meets an anti-collision condition, controlling the vehicle to enter a first working mode, and forbidding to respond to an acceleration instruction aiming at the vehicle;

detecting that newly acquired state information does not meet the anti-collision condition and/or acquiring a specific control signal, and controlling the vehicle to be switched from the first working mode to a second working mode;

wherein the vehicle is capable of responding to an acceleration command for the vehicle while the vehicle is in the second mode of operation.

Optionally, the detecting that the state information meets the collision avoidance condition includes:

analyzing the state information to obtain the current distance between the currently detected obstacle and the vehicle, the current speed of the vehicle and/or the current driving state, wherein the current driving state comprises an acceleration driving state or a deceleration driving state;

detecting that a current distance between the vehicle and an obstacle is less than a first collision avoidance threshold; or,

detecting that a current distance between the vehicle and an obstacle is smaller than the first collision avoidance threshold, and a current vehicle speed of the vehicle is larger than a first vehicle speed threshold and/or the vehicle is in an acceleration driving state; or,

and detecting that the distance between the vehicle and an obstacle is greater than the first anti-collision threshold and smaller than a second anti-collision threshold, and the current speed of the vehicle is greater than a second speed threshold and/or the vehicle is in an acceleration running state.

Optionally, the controlling the vehicle to enter a first operating mode includes:

controlling the vehicle to stop running or decelerate running or change the running direction according to the matching result of the state information and the anti-collision condition so as to change the state information of the vehicle and enable the changed state information not to meet the anti-collision condition;

outputting first alarm information, wherein the first alarm information is used for indicating that the obstacle is far away from the vehicle, or indicating and adjusting the running direction of the vehicle so as to be far away from the obstacle.

Optionally, the acquiring the state information of the vehicle includes:

receiving a state parameter sensed by a sensor in an external device communicatively connected to the vehicle, wherein a relative positional relationship between the vehicle and the external device is unchanged during communication between the vehicle and the external device;

and determining corresponding state information of the vehicle according to the state corresponding relation between the external equipment and the vehicle and the state parameters.

Optionally, the obtaining of the specific control signal includes at least one of the following implementation manners:

receiving a particular control signal generated based on operation of a particular collision avoidance component of the vehicle;

receiving a specific control signal sent by an external device in communication connection with the vehicle;

generating a specific control signal based on an emotional state detection result for a driver of the vehicle.

Optionally, the state information includes position information of an acceleration component of the vehicle, and the obtaining of the specific control signal further includes:

obtaining the position change of the acceleration component according to the position information of the acceleration component;

generating a specific control signal if the change in position indicates that the acceleration component is returning from an acceleration position to a non-acceleration position;

and if the position change indicates that the acceleration component is maintained at the acceleration position, outputting second alarm information.

Optionally, the method further includes:

acquiring parameters sensed by a position sensor, wherein the position sensor is configured for the acceleration component;

and obtaining the position information of the acceleration component by using the acquired parameters.

A vehicle control apparatus, the apparatus comprising:

the state information acquisition module is used for acquiring the state information of the vehicle;

the anti-collision control module is used for detecting that the state information meets an anti-collision condition, controlling the vehicle to enter a first working mode and forbidding responding to an acceleration instruction aiming at the vehicle;

the anti-collision removing module is used for detecting that the newly acquired state information does not meet the anti-collision condition and/or acquiring a characteristic control signal and controlling the vehicle to be switched from the first working mode to the second working mode;

A vehicle control system, the system comprising:

an acceleration component;

a memory for storing a program for implementing the vehicle control method as described above;

and the vehicle-mounted controller is used for loading and executing the program stored in the memory so as to realize the steps of the vehicle control method.

Optionally, the system further includes:

an alarm device;

an in-vehicle communication device;

the external equipment is in communication connection with the vehicle-mounted communication device and used for acquiring state parameters sensed by a sensor of the external equipment during the working period of the vehicle so that the external equipment or the vehicle-mounted controller determines corresponding state information of the vehicle according to the state parameters and the corresponding relation between the external equipment and the previous state of the vehicle;

a fixing member capable of maintaining a relative positional relationship between the external device and the vehicle unchanged.

Therefore, after the state information of the vehicle is acquired, if the state information of the vehicle is detected to meet the anti-collision condition, the vehicle is controlled to enter a first working mode in time, the vehicle is prevented from continuously running at the original speed to generate collision, and meanwhile, in the first working mode, the vehicle is prohibited from responding to an acceleration instruction aiming at the vehicle, so that the potential safety hazard caused by mistaken acceleration of a driver on the vehicle under the condition that the vehicle is possibly collided is solved, and the running safety of the vehicle is improved; when the vehicle needs to run normally, the obtained specific control signal can be utilized to quickly release the first working mode of the vehicle, namely, the vehicle is controlled to be switched from the first working mode to the second working mode, so that the vehicle can respond to an acceleration instruction and meet the normal operation requirement of the vehicle.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic flow chart diagram illustrating an alternative example of a vehicle control method as set forth herein;

FIG. 2 is a schematic flow chart diagram illustrating yet another alternative example of the vehicle control method set forth herein;

FIG. 3 illustrates a schematic diagram of an alternative crash avoidance application scenario suitable for use in the vehicle control method presented herein;

FIG. 4 shows a schematic flow diagram of yet another alternative example of the vehicle control method proposed by the present application;

FIG. 5 is a schematic flow chart diagram illustrating yet another alternative example of the vehicle control method set forth herein;

fig. 6 is a schematic configuration diagram showing an alternative example of the vehicle control apparatus proposed by the present application;

fig. 7 is a schematic diagram showing a hardware configuration of an alternative example of the vehicle control system proposed by the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be understood that "system", "apparatus", "unit" and/or "module" as used herein is a method for distinguishing different components, elements, parts or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.

As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements. An element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

In the description of the embodiments herein, "/" means "or" unless otherwise specified, for example, a/B may mean a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two. The terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

Additionally, flow charts are used herein to illustrate operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.

Referring to fig. 1, a schematic flowchart of an alternative example of a vehicle control method provided in the present application, which may be applied to a vehicle control device, such as an on-board safety terminal, is shown. As shown in fig. 1, the vehicle control method proposed by the present embodiment may include:

step S11, acquiring the state information of the vehicle;

in this embodiment, the state information may indicate a current driving environment and a current state of the vehicle, and specifically may include a driving speed of the vehicle, position information of an accelerator pedal, a distance between the vehicle and a surrounding obstacle, and especially a distance between the vehicle and an obstacle in a driving direction of the vehicle, and the like.

The obstacle can be a person, a wall, goods, other vehicles and the like, and can be determined according to the scene where the vehicle is located. It should be understood that, as the content of the above status information generally changes continuously with the time advance, it is said that step S11 may acquire the status information of the vehicle in real time or periodically (the time interval therebetween is often short) to realize online monitoring of the vehicle status.

Step S12, detecting that the state information meets the anti-collision condition, controlling the vehicle to enter a first working mode, and forbidding to respond to an acceleration instruction aiming at the vehicle;

in order to ensure that the vehicle runs safely, avoid the collision between the vehicle and the obstacle, threaten the safety of the vehicle and/or the obstacle, and prevent the collision between the vehicle and the obstacle, therefore, the collision avoidance method is configured in advance, when the acquired state information of the vehicle meets the collision avoidance condition, the vehicle can be considered to run continuously and collide with the obstacle in a short time, and in order to avoid the collision, the state information of the vehicle needs to be adjusted, so that the vehicle cannot reach the collision avoidance condition, and the collision is avoided.

Therefore, in the embodiment of the present application, the acquired state information of the vehicle may be detected in real time, and once it is detected that the acquired state information satisfies the anti-collision condition, the vehicle may be controlled to enter a first operation mode, which may also be referred to as an anti-collision operation mode, where a current driving state of the vehicle is adjusted to avoid that the vehicle drives according to the state and collides with the obstacle. Specifically, according to the actual situation, the embodiment of the present application may control the vehicle to stop running, or to run at a reduced speed, or to change the running direction (the vehicle runs according to the changed direction so that the state information of the vehicle no longer satisfies the above-mentioned anti-collision condition, for example, the vehicle is controlled to run in a direction opposite to the original running direction, or the vehicle is controlled to run in a direction forming a certain included angle with the original running direction, etc.).

In order to avoid that a vehicle driver executes misoperation for continuously accelerating the vehicle after the vehicle enters the first working mode, and huge safety risks are caused, the application can forbid response to an acceleration instruction aiming at the vehicle when the vehicle enters the first working mode, namely, under the first working mode, the acceleration operation executed by the driver on the vehicle belongs to invalid operation, so that the potential safety hazard caused by the fact that the driver continuously executes operation capable of accelerating and colliding on the vehicle under the condition that the state of the vehicle and an obstacle reaches an anti-collision condition is avoided, and the safety accident caused by the fact that the driver mistakenly uses an accelerator pedal of the vehicle as a brake pedal is avoided.

It should be noted that, the present application does not limit the generation manner of the acceleration command for the vehicle, for example, the driver presses the accelerator pedal to the bottom, or presses the accelerator button to the bottom, and the generation manner may be specifically determined according to the acceleration manner of the vehicle, and the present application is not described in detail herein.

In some embodiments, when the detected state information meets the collision avoidance condition, or after the vehicle is controlled to enter the first working mode, the first alarm information may be output, and may be used to indicate that the obstacle is far away from the vehicle, or indicate that the running direction of the vehicle is adjusted to be far away from the obstacle.

Certainly, in the case that the obstacle is a living body, such as a worker, the obstacle can also send an alarm control signal to the alarm tag worn by the obstacle, so as to control the alarm tag to output corresponding alarm information, such as controlling an indicator lamp on the alarm tag to flash, or controlling a configured vibration device to vibrate continuously, and the like, thereby achieving the purpose of danger alarm, and the like.

Based on the above analysis, after the vehicle enters the first working mode, in order to avoid collision between the vehicle and the obstacle, the state information of the vehicle is usually changed, specifically, the vehicle may be directly operated to change the acquired state information of the vehicle, and the acquired state information of the vehicle may also be changed by changing the position of the obstacle.

And step S13, detecting that the newly acquired state information does not meet the collision avoidance condition and/or acquiring a specific control signal, and controlling the vehicle to switch from the first working mode to the second working mode.

Following the above analysis, in order to avoid the vehicle speed suddenly increasing to cause the collision between the vehicle and the obstacle, after the vehicle enters the first operation mode, the system will prohibit the response to the acceleration command for the vehicle, so that in the case of detecting that the vehicle may collide with the obstacle, the system will prohibit the driver from operating the vehicle at normal acceleration, but in the case of determining that the vehicle will not collide with the obstacle, in order to meet the normal operation requirement of the vehicle, the present application may release the anti-collision operation mode of the vehicle, i.e. the first operation mode, i.e. the control system of the vehicle will control the vehicle to switch from the first operation mode to the second operation mode, which may be the normal operation mode of the vehicle, after obtaining the specific control signal, and in which the vehicle may be controlled to run according to any command, that is, the control system can control the vehicle to run with acceleration in response to an acceleration instruction for the vehicle.

In still other embodiments, since the state information of the vehicle usually changes continuously as time advances, according to the detection method, when it is detected that the newly acquired state information does not satisfy the collision avoidance condition any more, the specific situation may be determined according to the content of the collision avoidance condition at this time.

In still other embodiments, in order to improve the driving safety reliability, the present application may further control the vehicle to switch from the first operating mode to the second operating mode after detecting that the newly acquired state information no longer satisfies the collision avoidance condition and obtaining the specific control signal, and as to the meanings of the two operating modes and the switching manner thereof, reference may be made to the description in the relevant portions of the context, which is not limited by the present application.

It should be noted that, the content and the generation manner of the specific control signal are not limited in the present application, and may be determined according to the actual requirements of the scene. And for the triggering condition for switching from the first working mode to the second working mode, the triggering condition may include, but is not limited to, the three implementation manners listed above, and in practical application, one or more combination controls may be selected according to specific requirements of an application scenario, so as to ensure safety of vehicle driving.

In summary, in the embodiment, when the state information of the vehicle is detected to meet the anti-collision condition, the vehicle is controlled to enter the first working mode in time, so that the vehicle is prevented from continuously running at the original speed to cause collision, and meanwhile, in the first working mode, the response to the acceleration instruction for the vehicle is prohibited, so that the potential safety hazard caused by mistaken acceleration of the driver on the vehicle under the condition that the vehicle is likely to cause collision is solved, and the running safety of the vehicle is improved; and under the condition that the obtained specific control signal and/or the newly acquired state information do not meet the collision avoidance condition, the first working mode of the vehicle can be quickly released, namely, the vehicle is controlled to be switched from the first working mode to the second working mode, so that the vehicle can respond to an acceleration command and meet the normal operation requirement of the vehicle.

Referring to fig. 2, a schematic flow chart of yet another optional example of the vehicle control method proposed by the present application, where the present embodiment may be an optional detailed implementation of the vehicle control method described in the foregoing embodiment, as shown in fig. 2, the vehicle control method proposed by the present embodiment may include:

step S21, acquiring the state information of the vehicle;

with regard to the specific implementation of step S21, reference may be made to the description of the corresponding parts of the above-described embodiments. It should be noted that, the collision condition for determining whether the vehicle is about to collide in the present embodiment is usually determined by combining the distance between the vehicle and the obstacle, for example, the current distance between the vehicle and the obstacle is smaller than a preset collision avoidance threshold, but is not limited to this condition, and other state information of the vehicle, such as the current vehicle speed, the current driving state (such as an acceleration driving state, an acceleration driving state), and an acceleration of the vehicle, may be combined according to an actual application scenario, and the embodiment of the present application is not described in detail herein.

Based on this, in practical application, for different types of obstacle bodies, and different state information such as the current distance between the obstacle body and the vehicle, the driving state of the vehicle, the vehicle speed, and the like, it is determined that collision avoidance condition contents that the vehicle may collide with the obstacle body may be different, and for the same collision avoidance condition content, in view of the difference between the state information and the obstacle body type, various collision avoidance threshold values (such as a distance threshold value, a speed threshold value, and the like) related to the condition contents may also be different, which may be determined according to practical application scenarios, for example, may be set according to information such as the degree of danger of collision between the vehicle and the obstacle body, and the present application does not limit collision avoidance condition contents in different application scenarios.

It should be understood that, for the collision avoidance condition as described above, the distance between the vehicle and the obstacle is usually restricted, and therefore, the obtained state information of the vehicle usually includes or can indicate the current distance between the vehicle and the obstacle, and in combination with the specific content of the collision avoidance condition, includes other information contents, and for the state information of different contents, the obtaining manner may be the same or different, and the embodiment is not described in detail herein, which may be determined as the case may be.

Step S22, analyzing the state information to obtain the current distance between the obstacle and the vehicle;

following the above analysis, the implementation manner of obtaining the current distance in step S22 may be different for status information with different contents, and if the status information includes information about the current distance between the vehicle and each obstacle, the current distance between the obstacle closest to the vehicle and the vehicle, or the current distance between the obstacle in the vehicle driving direction and the vehicle may be directly determined. If the state information includes the position information of the vehicle and the position information of the obstacle, the step S22 may specifically obtain the current distance between the obstacle and the vehicle by calculating the position information of the vehicle and the obstacle.

The distance information or the position information may be obtained in a two-sided manner of radio ranging or in a one-sided ranging manner using laser, ultrasonic, or the like, and the detailed implementation method thereof is not described in detail in the present application.

It should be noted that, in the present embodiment, a collision avoidance condition is taken as an example of a condition that a current distance between the vehicle and the obstacle is smaller than a first collision avoidance threshold (which may be determined according to experiments or experiences, and values of which are not limited in the present application), and the content of the collision avoidance condition is not limited thereto in combination with the above analysis, when the content of the collision avoidance condition changes, a result obtained by analyzing the state information in step S22 may change accordingly, and the present embodiment is not described in detail.

Step S23, detecting that the current distance is smaller than a first anti-collision threshold value, controlling the vehicle to enter a first working mode, and forbidding to respond to an acceleration instruction aiming at the vehicle;

following the above description of the condition content included in the anti-collision condition of the present embodiment, the present embodiment may only consider the distance between the vehicle and the obstacle to determine whether the anti-collision condition is satisfied, that is, detect that the current distance between the vehicle and the obstacle is smaller than the first anti-collision threshold, indicate that the currently obtained state information satisfies the anti-collision condition, predict that the vehicle is likely to collide with the obstacle, may control the vehicle to enter and maintain the first operating mode, and in the first operating mode, prohibit the response to the acceleration instruction for the vehicle, and avoid the potential safety hazard caused by the sudden acceleration of the vehicle when the vehicle is in the first operating mode. The control procedure for the first operation mode may refer to the description of the corresponding parts of the above-described embodiments.

In some embodiments, in order to further improve the driving safety of the vehicle, before the collision avoidance condition is reached, it may be detected whether the state information satisfies the alarm condition, and then the content of the collision avoidance condition is described above, where the alarm condition may be that the current distance between the vehicle and the obstacle reaches the alarm threshold, and at this time, the alarm threshold is greater than the first collision avoidance threshold, that is, in the process that the vehicle gradually approaches the obstacle, the present embodiment satisfies the alarm condition first, outputs the first alarm information to remind the vehicle driver or the control system, takes a preset collision avoidance measure to slow down or even avoid the collision between the vehicle and the obstacle, and then, if the vehicle still continues to approach the obstacle, and when the collision avoidance condition is satisfied, executes the subsequent collision avoidance step.

Taking a vehicle as a forklift and an obstacle as an operator in a forklift working environment as an example for explanation, referring to a scene schematic diagram shown in fig. 3, as analysis is carried out, an alarm area of the forklift is larger than an anti-collision area of the forklift, if the forklift and the operator gradually approach to each other, the forklift enters the alarm area (as a scene state shown in fig. 3) first, under the condition, the forklift can output corresponding first alarm information to remind a driver of approaching and carefully driving, and even can output specific access of the approaching operator according to the direction detection of the approaching operator so as to timely adjust anti-collision measures such as driving direction or driving speed; of course, the vehicle can also send this first alarm information, or the control signal that generates based on this first alarm information to the warning label that the staff was worn with oneself to make this warning label output alarm information, with directly reminding this staff dangerous, pay attention to safety etc. this application does not restrict the mode and the content of this fork truck and the warning label output first alarm information that the staff wore.

In practical application, to above-mentioned first alarm information, can adopt output modes such as pilot lamp, bee calling organ, voice broadcast, characters/warning identifier display to realize, this application does not do the detail one by one.

In some embodiments, the first alarm information can be reported to a server, so that the server side can monitor the situation in time, and according to the actual scene requirements, the vehicle can be remotely controlled, and collision accidents are avoided; of course, other information of the vehicle, such as working time, working route, number of times of transporting goods, weight of the transported goods, operation events of each driver, etc., is reported to the server so as to be called to check or count the working condition of the driver in the following.

Step S24, detecting that the updated distance between the obstacle and the vehicle is larger than a first anti-collision threshold value, receiving a specific control signal generated based on the operation of a specific anti-collision component of the vehicle, and controlling the vehicle to be cut off from a first working mode to a second working mode;

in step S25, the vehicle is controlled to run with acceleration in response to an acceleration command for the vehicle.

For the obtaining manner of the updated distance between the obstacle and the vehicle, the obtaining manner of the current distance may be referred to above, and details are not repeated in this embodiment. It is determined that the updated distance is greater than the first collision avoidance threshold, and it may be considered that the collision avoidance condition is not satisfied, at which time, for driving safety reliability, it may be further detected whether a specific control signal is obtained.

Regarding the function of the specific control signal, reference may be made to the description of the corresponding part of the foregoing embodiment, and the present application does not limit the manner of acquiring the specific control signal, and is not limited to the manner of generating the specific control signal described in this embodiment, and in some embodiments, the specific control signal sent by an external device communicatively connected to the vehicle may also be received, where the external device may be a server or other terminal device; of course, the content and the generation method of the specific control signal are not limited in the present application, such as the specific control signal may be generated based on the detection result of the emotional state of the driver of the vehicle, and the present application is not limited to the several implementation methods described in the present embodiment, as appropriate.

The specific anti-collision component in step S24 in this embodiment may be, but is not limited to, a certain manual switch on the vehicle. In practical applications, after the state information satisfies the collision avoidance condition and the vehicle is controlled to enter the first working mode, the output control signal in the first working mode can be maintained unchanged, even if the acceleration command is received, the response to the acceleration command is prohibited, and after the state information does not satisfy the collision avoidance condition and the driver operates the specific collision avoidance component, the first working mode is ended, and the vehicle is switched to the second working mode, so that the vehicle can continuously respond to the received acceleration command.

In summary, in the embodiment, the state information of the vehicle can be analyzed in real time, the current distance between the vehicle and the obstacle is monitored, and once the current distance is smaller than the first anti-collision threshold, the vehicle is controlled to enter the first working mode in time, so that the vehicle is prohibited from responding to the acceleration instruction again, potential safety hazards caused by mistaken acceleration of a driver after the vehicle starts anti-collision operation are avoided, and the driving safety of the vehicle is improved; and then, when the updated distance between the vehicle and the obstacle is larger than the first anti-collision threshold, and a specific control signal generated by operating a specific anti-collision component of the vehicle is obtained, the vehicle is controlled to be switched to a second working mode, namely a normal working mode of the vehicle, so that the normal acceleration requirement of the scene on the vehicle is met.

Referring to fig. 4, which is a schematic flowchart of a further optional example of the vehicle control method provided in the present application, the present embodiment may be a further optional detailed implementation manner of the vehicle control method described in the foregoing embodiment, which is different from the content of the collision avoidance condition described in the foregoing embodiment, but is not limited to the content of the collision avoidance condition described in the present embodiment, and as shown in fig. 4, the vehicle control method of the present embodiment may include:

step S31, acquiring the state information of the vehicle;

step S32, analyzing the state information to obtain the current distance between the detected obstacle and the vehicle and the current speed of the vehicle;

in this embodiment, as for the manner of obtaining the distance between the obstacle and the vehicle, reference may be made to the description of the corresponding parts of the above embodiments, and details are not repeated. The vehicle speed of the vehicle can be obtained by reading a value of a real-time speedometer of the vehicle, or by using a state parameter sensed by a sensor of an external device which is in communication connection with the vehicle and has a constant relative position relationship, such as a mobile phone, a tablet personal computer and other mobile terminals, the driving speed of the vehicle can be obtained, that is, the current vehicle speed of the vehicle can be obtained, but the method is not limited to the obtaining mode and can be determined according to actual requirements.

Step S33, detecting that the current distance between the vehicle and the obstacle is smaller than a first anti-collision threshold value and the current speed of the vehicle is larger than a first vehicle speed threshold value, controlling the vehicle to enter a first working mode, and forbidding to respond to an acceleration instruction aiming at the vehicle;

in practical applications, if the current distance between the vehicle and the obstacle is smaller than the first collision avoidance threshold, it can be considered that the vehicle may collide with the obstacle from the distance, and if the vehicle stops running or the vehicle speed is very small, the time taken for the vehicle to run the current distance for the living obstacle is enough for the obstacle to be far away from the vehicle, and the vehicle can be controlled to continue to run in the second operation mode without switching to the first operation mode.

On the contrary, if the current distance between the vehicle and the obstacle is smaller than the first anti-collision threshold, but the vehicle speed is relatively large at this time, for a living obstacle, the time spent by the vehicle to travel the current distance is not enough for the obstacle to be far away from the vehicle, and if the vehicle does not take anti-collision measures, the probability of collision between the vehicle and the obstacle is increased, so in order to ensure the safety of the vehicle, the transported object, the obstacle and the like, the vehicle needs to be controlled to take the anti-collision measures in time, for example, the vehicle is controlled to enter the first working mode, so that the state information of the vehicle is changed, the anti-collision condition is not met any more, and the subsequent traveling safety of the vehicle is ensured.

Based on this, in this embodiment, when the current distance between the vehicle and the obstacle is detected to be smaller than the first collision avoidance threshold, it is determined that the current vehicle speed of the vehicle is greater than the first vehicle speed threshold, which indicates that the current state information of the vehicle meets the collision avoidance condition, and the subsequent collision avoidance measures are executed. It should be noted that, the specific value of the first vehicle speed threshold is not limited in the present application, and may be determined comprehensively according to data such as the first collision avoidance threshold, the current distance, and the current vehicle speed of the vehicle, and thus, in different application scenarios, the value of the first vehicle speed threshold is not limited.

In still other embodiments provided by the present application, in an application scenario in which the obstacle is movable, if the vehicle travels at the current vehicle speed, the time taken for traveling a distance (for convenience of description, referred to as a first distance) between the vehicle and the obstacle is sufficient for the obstacle to move away from the vehicle or avoid the vehicle traveling path, that is, the difference between the time taken for the vehicle to travel the distance (i.e., the first distance) and the time taken for the obstacle to move away from the vehicle is greater than a first time threshold (which is not a small value), it can be considered that the vehicle does not collide with the obstacle, and therefore, in this scenario, the state information of the vehicle does not satisfy the collision avoidance condition.

On the contrary, if the difference between the time taken by the vehicle to travel the route (i.e., the first route) and the time taken by the obstacle to move away from the vehicle is not greater than the first time threshold, if the vehicle is still running at an accelerated speed, it may be considered that the vehicle may collide with the obstacle, and at this time, it is considered that the state information of the vehicle meets the anti-collision condition.

In some embodiments, the collision avoidance condition for determining whether the vehicle will collide with the obstacle may be that the current distance between the vehicle and the obstacle is smaller than a first collision avoidance threshold, the current vehicle speed of the vehicle is greater than a first vehicle speed threshold, and the vehicle is in an acceleration driving state. The anti-collision condition under the scene is different from the content of the anti-collision condition provided by the embodiment shown in fig. 4, whether the vehicle collides with the obstacle can be judged more accurately, and on the premise of ensuring that the vehicle and the obstacle do not collide with each other, the moving frequency of the obstacle is reduced, so that the working efficiency is improved.

Based on the above analysis, in some embodiments provided by the present application, in some application scenarios, the collision avoidance condition for determining whether the vehicle will collide with the obstacle may be: in order to improve the anti-collision reliability, in this case, the present embodiment may control the vehicle to take an anti-collision measure, that is, control the vehicle to enter the first working mode, and as to a driving control manner after the vehicle enters the first working mode, refer to but not limited to the description of the corresponding part of the foregoing embodiment, which is not repeated herein.

And step S34, obtaining a specific control signal, and controlling the vehicle to switch from the first working mode to the second working mode.

For a specific implementation process of step S34, reference may be made to the description of the corresponding parts in the foregoing embodiments, which are not described in detail.

It can be understood that, when it is detected that the updated distance between the vehicle and the obstacle is greater than the first collision avoidance threshold and the updated vehicle speed of the vehicle is less than the first vehicle speed threshold, that is, the newly acquired state information of the vehicle no longer satisfies the collision avoidance condition, the vehicle may be directly controlled to switch from the first operating mode to the second operating mode, or step S34 is executed, and the specific implementation process is not described in detail in this embodiment.

In summary, in practical applications of the present embodiment, if it is detected that the distance between the vehicle and the obstacle is smaller than the first anti-collision threshold and the current vehicle speed of the vehicle is greater than the first vehicle speed threshold, it may be considered that the vehicle will possibly collide with the obstacle if the vehicle still travels in the current state, in order to avoid collision, the present embodiment controls the vehicle to travel in the first operating mode, and executes a preset anti-collision measure. And then, after the collision risk is determined to be eliminated, a specific control signal is generated, and after the vehicle control system obtains the specific control signal, the vehicle is controlled to be recovered to the second working mode to normally run, so that various instructions including an acceleration instruction can be responded, and the actual operation requirement is met.

In still other embodiments provided by the present application, in some application scenarios, the requirement of the collision risk on the distance between the vehicle and the obstacle may be further increased, that is, a second collision avoidance threshold greater than the first collision avoidance threshold is set, specifically, in a case that the current distance between the vehicle and the obstacle is greater than the first collision avoidance threshold, it does not mean that the vehicle and the obstacle will not collide with each other, and the present embodiment may further be determined by combining the current vehicle speed, and/or acceleration of the vehicle. It will be appreciated that if the distance between the vehicle and the obstacle is sufficiently large, the obstacle will have sufficient time to move away from the vehicle or its direction of travel to ensure that no collision will occur, even if the vehicle keeps running at the current speed or current acceleration.

Based on the above analysis, the second anti-collision threshold may be determined according to different driving speeds and/or accelerations of the vehicle, and according to the requirements of the actual application scenario, the second anti-collision threshold may be more reliably preset in combination with the moving speed at which the obstacle can move, that is, the vehicle and the obstacle operate according to the corresponding states, so as to ensure that the threshold value does not collide with each other. Based on the description of the determination manner of the second collision avoidance threshold in this embodiment, in practical application of the present application, the preset second collision avoidance threshold may be different for obstacles with different moving speeds; of course, the second collision avoidance threshold may also be determined comprehensively in combination with the moving speeds of different types of obstacles and the state information of the vehicle, which is not limited in the present application and may be determined as appropriate.

Therefore, in the embodiment of the present application, the state information of the vehicle is obtained, the state information is analyzed, the current distance between the currently detected obstacle and the vehicle, the current vehicle speed of the vehicle, and the current driving state are obtained, where the current driving state includes an acceleration driving state or a deceleration driving state, and a corresponding acceleration value can be obtained, and then, in the case that the current distance between the obstacle and the vehicle is greater than the first anti-collision threshold but less than the second anti-collision threshold, the current vehicle speed of the vehicle is further detected to be greater than the second vehicle speed threshold, and the vehicle is in the acceleration driving state, in combination with the above analysis of the application scenario of the present embodiment, at this time, the vehicle continues to accelerate according to the vehicle speed, and will collide with the obstacle, so that the vehicle can be controlled to enter the first working mode to drive, and a preset anti-collision measure is executed to avoid collision, meanwhile, in order to avoid the false acceleration operation of the vehicle, the acceleration instruction is prohibited from being executed on the vehicle, and the running safety of the vehicle is improved.

For the implementation process of controlling the switching control of the vehicle before the first operating mode and the second operating mode, reference may be made to the description of the corresponding parts in the above embodiments, which is not repeated in this embodiment.

Referring to fig. 5, which is a schematic flowchart of a further optional example of the vehicle control method proposed by the present application, the present embodiment may be a further optional detailed implementation manner of the vehicle control method described in the foregoing embodiment, and as shown in fig. 5, the vehicle control method proposed by the present embodiment may include:

step S41, acquiring distance signals sensed by a distance measuring sensor of the vehicle and position information of an accelerating component;

in combination with the above description of the application scenario of the present application, in order to achieve collision avoidance of the vehicle, it is necessary to monitor the distance between the vehicle and various obstacles appearing around the vehicle, so that in this embodiment, a distance measuring sensor may be configured on the vehicle for achieving distance measurement between the vehicle and the obstacles, and details of the type of the distance measuring sensor and the distance measuring principle thereof are not described in the present application.

In addition, in order to realize the controllable release of the first operation mode of the vehicle, i.e. release of the anti-collision operation mode of the vehicle, the present application may be realized according to a specific control signal, and the specific control signal may be obtained according to a specific action of the vehicle or an external device.

Therefore, the present embodiment may monitor the position information of the acceleration component of the vehicle, and specifically may obtain the position information of the acceleration component by acquiring the parameter sensed by the acceleration sensor configured for the acceleration component. Taking an accelerator component as an accelerator pedal as an example, a position sensor for monitoring the stepping position and the change of the accelerator pedal by a vehicle driver can be configured, the position sensor can monitor the relative position of the accelerator pedal in real time, and specifically can be a micro switch or other types of position sensors, and the application does not detail the type and the working principle of the position sensor for realizing the function.

It should be noted that, if the vehicle realizes acceleration control of the vehicle through other acceleration components such as an acceleration key, the present application may also utilize the position sensor to realize monitoring of the relative position of other acceleration components, in this case, the type of the position sensor may be determined according to the working principle of the corresponding acceleration component for vehicle acceleration control, for example, the pressing depth of the acceleration key is positively correlated with the acceleration size, a displacement sensor, a pressure sensor, etc. may be configured for the acceleration key, and the pressing depth of the acceleration key may be calculated according to the detection data, etc., which is not described in detail herein.

Step S42, obtaining the current distance between the vehicle and the obstacle by using the distance information;

step S43, detecting whether the current distance is smaller than the first anti-collision threshold value, if yes, entering step S44; if not, returning to the step S41;

it should be noted that, in the embodiment of the present application, only the detail that the collision condition is the condition that the current distance between the vehicle and the obstacle is smaller than the first collision avoidance threshold is taken as an example to illustrate the refinement scheme of the vehicle control method, and in practical application, the detail of the collision avoidance condition may be adjusted according to the requirements of different scenes, so that the implementation process of detecting whether the vehicle state information meets the collision avoidance condition in the embodiment is correspondingly changed, reference may be made to the description of the corresponding embodiment, and the detailed description of the embodiment is omitted.

Step S44, controlling the vehicle to be in a first working mode, and forbidding responding to an acceleration instruction aiming at the vehicle;

for specific implementation of step S42 to step S44, reference may be made to the description of corresponding parts in the foregoing embodiments, and details are not repeated in this embodiment.

Step S45, obtaining the position change of the acceleration component according to the position information of the acceleration component;

generally, for various types of acceleration components, the acceleration components generally include an acceleration position and a non-acceleration position, the non-acceleration position is generally a position where the acceleration component is in a natural state, and the acceleration position is generally a position where the acceleration component is subjected to an acceleration operation, such as pressing or stepping, so that the acceleration component is changed from the natural state to an operation state, and acceleration positions (which generally refer to relative positions of the acceleration components) corresponding to different acceleration speeds may be different, so that the present application may determine the magnitude of acceleration of the vehicle according to the position information of the acceleration component.

It should be noted that, for different types of acceleration components, corresponding acceleration positions and non-acceleration positions may be different, and the present application may determine the corresponding acceleration positions and non-acceleration positions according to an actual acceleration principle of the acceleration component, that is, corresponding to different types of acceleration components, position information represented by the acceleration positions and the non-acceleration positions may be different or the same, which is not limited in the present application and may be determined according to a situation.

In addition, in the present embodiment, after the vehicle is in the first operation mode, for example, in the case where the vehicle may collide with an obstacle, the vehicle may be controlled to stop running, accelerate running, change the running direction, or the like, however, in such a state of the vehicle, some drivers may intentionally step on the acceleration member in order to obtain a normal speed, so that even if the vehicle is automatically controlled to stop running or decelerate running, if sudden and rapid acceleration occurs, a great threat may be posed to surrounding persons, objects, the vehicle, the driver, or the like, and therefore, the present application requires that the vehicle be in the first operation mode, and the response to an acceleration command for the vehicle is prohibited.

In combination with the above analysis, it can be known that, during the normal running of the vehicle, the acceleration component is usually located at the acceleration position, so as to meet the collision avoidance condition, and automatically control the vehicle to decelerate or stop, and the acceleration component gradually gets away from the acceleration position and gradually gets close to the non-acceleration position, and if the acceleration component suddenly accelerates, the acceleration component will get away from the non-acceleration position and deepen the acceleration position, which may cause a danger. Therefore, the embodiment can monitor the position change of the acceleration component of the vehicle, and the specific implementation manner is not limited.

Step S46, detecting whether the position change accords with the change rule of anti-collision release, if so, entering step S47; if not, go to step S49;

step S47, generating a specific control signal;

step S48, in response to the specific control signal, controlling the vehicle to switch from the first operating mode to the second operating mode;

in the above analysis, the change rule of collision avoidance may be used to indicate whether the first operation mode of the vehicle can be currently cancelled, so that the driver can normally drive the vehicle to operate, and as the analysis, the change rule of collision avoidance may include that the acceleration component of the vehicle returns from the acceleration position to the non-acceleration position, such as that the driver releases the stepping on the accelerator pedal of the vehicle, or the driver does not forcibly step on the accelerator pedal of the vehicle, and the like, and may also include that the new state information of the vehicle does not satisfy the corresponding collision avoidance condition, and the like.

In practical application of the embodiment, in the case that it is determined that the position change of the acceleration component of the vehicle conforms to the anti-collision release change rule, the specific control signal may be generated, and then the first operation mode of the vehicle is released by responding to the specific control signal, and the vehicle is switched to the second operation mode, and then the vehicle can normally respond to the acceleration command of the vehicle. Of course, in the case where it is determined that the change in the position of the acceleration member of the vehicle conforms to the anti-collision release change rule, the vehicle may be directly controlled to switch from the first operation mode to the second operation mode.

And step S49, outputting second alarm information.

According to the detection method described above, if it is determined that the position change of the acceleration component of the vehicle does not conform to the change rule of the collision avoidance, it may be generally considered that the vehicle enters a deceleration state or a parking state, and the acceleration component is stepped on to the bottom all the time, and as the above analysis, such a situation may collide with surrounding obstacles, which brings great harm.

In some embodiments, if the position change of the acceleration component does not comply with the change rule of the anti-collision release, in order to ensure the personal safety of the driver and the surrounding workers, the vehicle may be forcibly controlled to be powered off, such as controlling the emergency braking of the vehicle, which is not described in detail herein.

In summary, in this embodiment, the distance between the vehicle and the surrounding obstacles may be monitored by using the distance signal sensed by the distance sensor, and if the monitored current distance is smaller than the first anti-collision threshold, the vehicle may be controlled to enter the first working mode in time, so as to avoid collision when the vehicle continues to run at the original speed.

In combination with the above embodiments of the vehicle control method corresponding to other contents of the collision avoidance condition, since whether the vehicle collides with the obstacle is determined more accurately in combination with the vehicle speed of the vehicle, that is, in each of the above embodiments, the acquiring of the state information of the vehicle may further include:

receiving state parameters sensed by a sensor in external equipment in communication connection with a vehicle, wherein during the communication between the vehicle and the external equipment, the relative position relationship between the vehicle and the external equipment is not changed, which can be realized by using a fixed part, and the specific implementation mode is not limited; of course, in this way, the movement displacement, i.e., the travel distance, of the vehicle may be obtained, the vehicle travel time may be counted, and the like, and the determination may be performed according to actual requirements.

The state corresponding relation between the external equipment and the vehicle can represent the mapping relation between the state parameters sensed by the external equipment of different types and the corresponding state information of the vehicle, so that the problem that the corresponding state information values of the represented vehicle are inconsistent due to the same state parameters of the external equipment of different types, such as inconsistent acceleration values sensed by mobile phones of different types, is solved. The embodiment can pre-construct the state corresponding relation in the modes of tests, calculation and the like so as to ensure the consistency of the acquired vehicle state information by adopting different types of external equipment.

In still other embodiments, for different application scenarios, after the vehicle is controlled to enter the first working mode, corresponding different anti-collision measures can be taken to better adapt to the states of the vehicle and the obstacle in the current scenario. Therefore, a specific implementation manner for controlling the vehicle to enter the first operating mode in the above embodiment may include: and controlling the vehicle to stop running or decelerate running or change the running direction according to the matching result of the state information of the vehicle and the anti-collision condition so as to change the state information of the vehicle and enable the changed state information not to meet the anti-collision condition. Wherein the matching result can indicate the content of the collision avoidance condition.

Based on this, if the current distance between the vehicle and the obstacle is smaller than the first collision avoidance distance, and the current vehicle speed of the vehicle is greater than the first vehicle speed threshold, a scene with a shorter distance and a higher vehicle speed can be considered, and collision may not be reliably avoided if the vehicle only decelerates to drive, especially for an obstacle which cannot move, so that the vehicle can be controlled to stop running, such as emergency braking, or change the driving direction in the scene; of course, if the vehicle speed is less than the first vehicle speed threshold value, it indicates that the vehicle speed is relatively slow, and there is enough time for deceleration to avoid the obstacle, at this time, the vehicle can be controlled to run at a reduced speed, and the running direction can be changed as required, so as to reduce the damage of emergency braking to the vehicle.

For application scenarios to which collision avoidance conditions of other contents are applicable, the implementation process of the executed collision avoidance measures is similar to that described above when the vehicle is controlled to enter the first working mode, and detailed description is not given in this application.

Referring to fig. 6, a schematic structural diagram of an alternative example of the vehicle control apparatus proposed in the present application, which may be applied to a vehicle control device, such as an in-vehicle safety terminal or the like, as shown in fig. 6, may include:

a state information acquisition module 11 for acquiring state information of the vehicle;

the anti-collision control module 12 is configured to detect that the state information satisfies an anti-collision condition, control the vehicle to enter a first working mode, and prohibit a response to an acceleration instruction for the vehicle;

the anti-collision removing module 13 is configured to detect that the newly acquired state information does not satisfy the anti-collision condition and/or obtain a characteristic control signal, and control the vehicle to switch from the first operating mode to a second operating mode;

In some embodiments provided in the present application, the status information obtaining module 11 may include:

a state parameter receiving unit configured to receive a state parameter sensed by a sensor in an external device communicatively connected to the vehicle, wherein a relative positional relationship between the vehicle and the external device is unchanged during communication between the vehicle and the external device;

and the state information determining unit is used for determining the corresponding state information of the vehicle according to the state corresponding relation between the external equipment and the vehicle and the state parameters.

Optionally, the collision avoidance control module 12 may include:

the first information analysis unit is used for analyzing the state information to obtain the current distance between the currently detected obstacle and the vehicle, the current speed and/or the current driving state of the vehicle, and the current driving state comprises an acceleration driving state or a deceleration driving state;

the first detection unit is used for detecting that the current distance between the vehicle and the obstacle is smaller than a first collision avoidance threshold value; or,

the second detection unit is used for detecting that the current distance between the vehicle and an obstacle is smaller than the first anti-collision threshold value, and the current vehicle speed of the vehicle is larger than a first vehicle speed threshold value and/or the vehicle is in an acceleration running state; or,

and the third detection unit is used for detecting that the distance between the vehicle and the obstacle is greater than the first anti-collision threshold and smaller than the second anti-collision threshold, and the current vehicle speed of the vehicle is greater than the second vehicle speed threshold and/or the vehicle is in an acceleration running state.

The first control unit is used for controlling the vehicle to stop running or decelerate running or change the running direction according to the matching result of the state information and the anti-collision condition so as to change the state information of the vehicle and enable the changed state information not to meet the anti-collision condition;

the first alarm unit is used for outputting first alarm information, and the first alarm information is used for indicating that the obstacle is far away from the vehicle or indicating and adjusting the running direction of the vehicle so as to be far away from the obstacle.

In order to obtain a specific control signal, the anti-collision avoidance module 13 may include at least one of the following signal acquisition units:

a first signal acquisition unit for receiving a specific control signal generated based on an operation of a specific collision avoidance component of the vehicle;

the second signal acquisition unit is used for receiving a specific control signal sent by an external device in communication connection with the vehicle;

a third signal acquisition unit for generating a specific control signal based on an emotional state detection result for a driver of the vehicle.

Optionally, in a case that the state information includes position information of an acceleration component of the vehicle, the anti-collision avoidance module 13 may further include:

a position change obtaining unit configured to obtain a position change of the acceleration member based on the position information of the acceleration member;

a fourth signal acquisition unit configured to generate a specific control signal in a case where the change in position indicates that the acceleration member is returned from the acceleration position to the non-acceleration position;

and the second alarm unit is used for outputting second alarm information under the condition that the position change indicates that the acceleration component is maintained at the acceleration position.

On the basis of the foregoing embodiments, the apparatus may further include:

the parameter acquisition module is used for acquiring parameters sensed by a position sensor, and the position sensor is configured aiming at the acceleration component;

and the position information obtaining module is used for obtaining the position information of the acceleration component by using the obtained parameters.

It should be noted that, various modules, units, and the like in the embodiments of the foregoing apparatuses may be stored in the memory as program modules, and the processor executes the program modules stored in the memory to implement corresponding functions, and for the functions implemented by the program modules and their combinations and the achieved technical effects, reference may be made to the description of corresponding parts in the embodiments of the foregoing methods, which is not described in detail in this embodiment.

The present application also provides a readable storage medium on which a computer program may be stored, the computer program being called and loaded by a processor to implement the steps of the vehicle control method described in the above embodiments.

Referring to fig. 7, a schematic diagram of a hardware structure of an alternative example of the vehicle control system proposed by the present application may include: acceleration component 21, memory 22 and on-board controller 23, wherein:

the acceleration component 21, the memory 22, and the onboard controller 23 may all be connected to a communication bus to implement data communication therebetween, and/or implement data communication therebetween through various communication interfaces, which are provided in the acceleration component 21, the memory 22, and the onboard controller 23.

The Communication interface may include a GSM module, a WIFI module, a GPRS module, a bluetooth model, an NFC (Near Field Communication) module, and/or other Communication interfaces of wireless/wired Communication networks, and may further include interfaces such as a USB interface, a serial/parallel port, and a CAN bus Communication, and specifically may determine a Communication mode between different components according to a Communication protocol requirement, and further determine to implement a Communication interface between the two components.

The accelerating component 21 may be a component capable of accelerating the vehicle, such as an accelerator pedal, an electrically controlled accelerator button, etc., and the product type of the accelerating component 21 and the accelerating principle thereof are not described in detail in this application, and may be determined as the case may be.

The memory 22 is used to store a program for implementing the vehicle control method described in any of the above method embodiments. The on-board controller 23 may be configured to load and execute a memory-stored program to implement the steps of the vehicle control method described in the respective method embodiments.

In the present embodiment, the memory 22 may include a high speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device or other volatile solid state storage device.

In conjunction with the description of the corresponding parts above, the onboard controller 23 may be an onboard security terminal, which may be a terminal integrated in the vehicle, or a mobile terminal fixed in the vehicle through a fixing component, such as a smart phone, a tablet computer, a wearable device, a Personal Computer (PC), a netbook, a Personal Digital Assistant (PDA), and the like, and the application does not limit the product type and the composition structure of the onboard controller 23.

It is understood that, in the case that the vehicle-mounted controller 23 is a mobile terminal, the stored program of the memory may be loaded and executed by a processor of the mobile terminal, such as a Central Processing Unit (CPU), an application-specific integrated circuit (ASIC), a Digital Signal Processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, so as to implement the steps of the vehicle control method described in the corresponding method embodiment. Moreover, the vehicle control system of the application can also utilize other detection equipment of the mobile terminal to meet the anti-collision processing requirements, such as vehicle speed detection, vehicle driving direction detection and the like, and the application is not detailed one by one.

In still other embodiments presented herein, the system may further include:

the application does not limit the product type of the alarm device and the alarm mode thereof, and reference can be made to, but not limited to, the description of the corresponding parts of the above embodiments.

The vehicle-mounted Communication device may be configured to implement a Communication connection with an external device, and implement data Communication with the external device, and may include, but is not limited to, the GSM module, the WIFI module, the GPRS module, the bluetooth model, the NFC (Near Field Communication, and/or the like described above, and may be determined according to specific Communication requirements, which is not described in detail herein.

The external equipment is in communication connection with the vehicle-mounted communication device and used for acquiring state parameters sensed by a sensor of the external equipment during the working period of the vehicle, so that the external equipment or the vehicle-mounted controller determines corresponding state information of the vehicle according to the state corresponding relation between the external equipment and the vehicle.

The external device may be a server or other terminal devices, and regarding its functions in the control method provided in the present application, reference may be made to the description of the corresponding parts above, which is not described again

A fixing member capable of maintaining a relative positional relationship between the external device and the vehicle.

In the embodiment of the present application, in the case where the external device is the mobile terminal listed above, the fixing member may be a fixing bracket, a magnetic attraction bracket, or the like. According to the requirement, the fixed bracket can be provided with a height and angle adjusting component, before the vehicle is operated, a user can adjust the height and/or the angle of the fixed bracket according to personal habits, and the fixed height and the fixed angle during the use process of the mobile terminal are determined, so that the relative position relationship between the mobile terminal and the vehicle is kept unchanged during the use process. The application does not limit the mechanical structure of the fixing part, and the fixing part can be determined according to the situation.

In practical application, before a user drives a vehicle, the user can use the identity card to be in communication connection with the card reading device, so that the card reading device reads login identity information of the user and performs authority verification on the user, namely whether the user has the operation authority of the vehicle or not, and after the identity verification is passed, the user is allowed to operate the vehicle. During the vehicle operation, the vehicle driving safety can be improved according to the vehicle control method described in the above embodiment. According to the requirement, various data generated in the driving process of the vehicle, such as login authentication records, operation duration, cargo transportation times/weight/route, collision avoidance early warning times/grade and the like, can be reported to the server for backup storage, so that subsequent inquiry can be called, management of drivers and vehicles and the like can be realized, and the implementation method of reporting the data sensed or obtained by each component in the system to the server is not limited and can be determined according to the situation.

It is to be understood that the hardware structure shown in fig. 7 does not limit the constituent structure of the vehicle control system proposed in the embodiment of the present application, and in practical applications, the vehicle control system may include more or less constituent components than those shown in fig. 7, and the present application is not described in detail herein.

Finally, it should be noted that, in the present specification, the embodiments are described in a progressive or parallel manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device and the system disclosed by the embodiment, the device corresponds to the method disclosed by the embodiment, and the system comprises the device, so that the description is simple, and the relevant points can be referred to the description of the method part.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized by comprising:

acquiring state information of a vehicle;

2. The method of claim 1, wherein the detecting that the status information satisfies a collision avoidance condition comprises:

3. The method of claim 1, wherein said controlling the vehicle into a first mode of operation comprises:

4. The method of claim 2, wherein the obtaining the status information of the vehicle comprises:

5. The method according to any one of claims 1 to 4, wherein the obtaining of the specific control signal comprises at least one of the following implementation manners:

6. The method of claim 5, wherein the status information includes position information of an acceleration component of the vehicle, the obtaining a particular control signal, further comprising:

7. The method of claim 6, further comprising:

8. A vehicle control apparatus, characterized in that the apparatus comprises:

9. A vehicle control system, characterized in that the system comprises:

an acceleration component;

a memory for storing a program for implementing the vehicle control method according to any one of claims 1 to 7;

an on-board controller for loading and executing a program stored in a memory to implement the steps of the vehicle control method according to any one of claims 1 to 7.

10. The system of claim 9, further comprising:

an alarm device;

an in-vehicle communication device;