CN116101278A

CN116101278A - Driving training vehicle control method and device, electronic equipment and storage medium

Info

Publication number: CN116101278A
Application number: CN202211648847.1A
Authority: CN
Inventors: 周浩; 郭志勇; 王晓龙
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-12-21
Filing date: 2022-12-21
Publication date: 2023-05-12

Abstract

The disclosure provides a driving training vehicle control method, a driving training vehicle control device, electronic equipment and a storage medium, and relates to the technical field of vehicle control. The implementation scheme is as follows: determining a driving state of the driving training vehicle in response to the preset condition being met; determining a perception mode for perceiving the obstacle according to the driving state; obtaining obstacle perception information in a perception mode; and controlling the driving training vehicle to brake according to the obstacle sensing information. Therefore, the safety of driving the training vehicle by the driver can be ensured, and the safety perception efficiency is improved while the cost required by the safety perception is reduced.

Description

Driving training vehicle control method and device, electronic equipment and storage medium

Technical Field

The disclosure relates to the technical field of vehicle control, and in particular relates to a driving training vehicle control method, a driving training vehicle control device, electronic equipment and a storage medium.

Background

With the continuous development of social economy, the popularity of automobiles is higher and higher, and driving training and assessment are required for drivers to ensure driving safety.

In the related art, driving training and/or assessment of a driver is generally performed in a designated area. However, due to the fact that the driver is often not skilled enough in the vehicle, it is important to ensure the driving safety of the driver in the driving training and/or checking process.

Disclosure of Invention

The disclosure provides a driving training vehicle control method, a driving training vehicle control device, electronic equipment and a storage medium, so that safety of driving training vehicles by drivers is guaranteed, and safety perception efficiency is improved while cost required by safety perception is reduced.

According to an aspect of the present disclosure, there is provided a driving training vehicle control method including: determining a driving state of the driving training vehicle in response to the preset condition being met; determining a perception mode for perceiving the obstacle according to the driving state; obtaining obstacle perception information in a perception mode; and controlling the driving training vehicle to brake according to the obstacle sensing information.

By implementing the embodiment of the disclosure, the running state of the driving training vehicle is determined in response to the satisfaction of the preset condition; determining a perception mode for perceiving the obstacle according to the driving state; obtaining obstacle perception information in a perception mode; and controlling the driving training vehicle to brake according to the obstacle sensing information. Therefore, the safety of driving the training vehicle by the driver can be ensured, and the safety perception efficiency is improved while the cost required by the safety perception is reduced.

According to a second aspect of the present disclosure, there is provided a driving training vehicle control apparatus including: a running state acquisition unit for determining a running state of the driving training vehicle in response to satisfaction of a preset condition; a perception mode determining unit for determining a perception mode of perceiving the obstacle according to the driving state; the sensing information acquisition unit is used for acquiring obstacle sensing information in a sensing mode; and the brake control unit is used for controlling the driving training vehicle to brake according to the obstacle sensing information.

According to a third aspect of the present disclosure, there is provided an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the first aspects.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the method of any one of the first aspects.

According to a fifth aspect of the present disclosure, a computer program product is presented, which when executed by an instruction processor in the computer program product implements the method according to any of the first aspects described above.

According to a sixth aspect of the present disclosure, there is provided a ride-on vehicle comprising an apparatus as described in any one of the above second aspects.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a schematic diagram according to a first embodiment of the present disclosure;

FIG. 2 is a schematic diagram according to a second embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a different area sensing device provided in accordance with an embodiment of the present disclosure;

fig. 4 is a schematic diagram of a millimeter wave radar setup provided in accordance with an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a laser ranging module arrangement provided in accordance with an embodiment of the present disclosure;

fig. 6 is a schematic view of a structure of a laser ranging module provided according to an embodiment of the present disclosure;

FIG. 7 is a flowchart of a method of controlling a ride-on vehicle according to an embodiment of the present disclosure;

FIG. 8 is a schematic diagram according to a third embodiment of the present disclosure;

fig. 9 is a schematic diagram of a perception information acquiring unit in a third embodiment according to the present disclosure;

fig. 10 is a schematic diagram of another perceived information acquisition unit according to a third embodiment of the present disclosure;

fig. 11 is a schematic diagram of a running state acquisition unit according to a third embodiment of the present disclosure;

FIG. 12 is a schematic illustration of another ride-on vehicle control device according to a third embodiment of the present disclosure;

FIG. 13 is a schematic view of yet another ride-on vehicle control apparatus according to a third embodiment of the present disclosure;

fig. 14 is a block diagram of an electronic device used to implement the ride-on vehicle control method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The present disclosure provides a driving training vehicle control method, and fig. 1 is a schematic diagram according to a first embodiment of the present disclosure.

As shown in fig. 1, the method includes:

s1: and determining the running state of the driving training vehicle in response to the preset condition being met.

It should be noted that, the driving training vehicle control method of the embodiment of the present disclosure may be executed by the driving training vehicle control apparatus of the embodiment of the present disclosure, and the driving training vehicle control apparatus may be implemented by software and/or hardware.

The driving training vehicle control device may be an electronic device, or may be a chip, a chip system, a processor, or the like configured in the electronic device to support the electronic device to implement the driving training vehicle control method.

In the embodiment of the disclosure, the running state of the driving training vehicle is determined under the condition that the preset condition is met.

The preset conditions can be that the driving training vehicle is used for driving training or examination, personnel driving the driving training vehicle can be students unfamiliar with the driving training vehicle, the driving training vehicle can be started to get on the road, the driving training vehicle can be driven in a preset area, and the like.

For example, in a case where a driver who drives the ride-on vehicle is a learner and the ride-on vehicle is in a start-up state, the running state of the ride-on vehicle is determined.

For example, the driving state of the driving training vehicle is determined in the case where the driving training vehicle is driven in the training base area or the examination area.

For example, in the case where a driver who drives the driving training vehicle is a learner and travels in the training base area or the examination area, the traveling state of the driving training vehicle is determined.

In some embodiments, the preset conditions include at least one of:

The driving training vehicle is positioned in a specific area;

the ride-on vehicle is in a non-coaching driving mode.

In the embodiment of the disclosure, under the condition that the driving training vehicle is located in a specific area, the driving state of the driving training vehicle is determined, so that the perception information of the obstacle is acquired according to the driving state of the driving training vehicle in the subsequent process, the braking and braking of the driving training vehicle are controlled, and the safety of a driver of the driving training vehicle is ensured.

In the embodiment of the disclosure, under the condition that the driving training vehicle is in a non-training driving mode, the driving state of the driving training vehicle is determined, so that the perception information of the obstacle is acquired according to the driving state of the driving training vehicle in the subsequent process, the braking and braking of the driving training vehicle are controlled, and the safety of a driver of the driving training vehicle is ensured.

In the embodiment of the disclosure, under the condition that the driving training vehicle is located in a specific area and is in a non-training driving mode, the driving state of the driving training vehicle is determined, so that the perception information of the obstacle is acquired according to the driving state of the driving training vehicle in the subsequent process, the braking and braking of the driving training vehicle are controlled, and the safety of a driver of the driving training vehicle is ensured.

Wherein the specific area may be at least one of a driving training area, a driving assessment area, an area allowing a learner to drive a driving training vehicle, and the like.

It can be understood that, when the specific area is at least one of a driving training area, a driving assessment area, an area allowing a learner to drive the driving training vehicle, and the like, generally, the situations where the learner drives the driving training vehicle are relatively many, and therefore, in the case where the driving training vehicle is located in the specific area, the safety of the learner needs to be ensured, and based on this, in the embodiment of the present disclosure, the driving state of the driving training vehicle is determined in the case where the driving training vehicle is located in the specific area.

In some embodiments, position data of a driving training vehicle is acquired, and region information is acquired; based on the location data and the zone information, it is determined whether the vehicle is located in a particular zone.

In the embodiment of the disclosure, the position data of the driving training vehicle is acquired, and the position data of the driving training vehicle can be acquired through the positioning module. And acquiring area information, wherein the area information comprises a specific area and can also comprise areas except the specific area.

Based on this, in the case of acquiring the position data of the driving training vehicle, and the area information, it is possible to determine whether the vehicle is located in a specific area based on the position data and the area information. The method and the device can be used for identifying whether the driving training vehicle is located in a specific area.

Wherein the non-coaching driving mode can include: student driving mode, training mode, examination simulation mode, and so forth.

In the embodiment of the disclosure, the driving mode may be set for the driving training vehicle, where the driving mode may be selected in the case of driving by a coach, the driving mode may be selected in the case of driving by a learner, the examination mode may be selected in the case of driving the training vehicle for examination, the training mode may be selected in the case of driving the training vehicle for training by a learner, the examination simulation mode may be selected in the case of driving the training vehicle for examination simulation, and so on.

Of course, the driving mode may also include other modes than the above examples, which are not particularly limited by the embodiments of the present disclosure.

It can be understood that when the driving mode is a learner driving mode, a training mode, an examination mode or an examination simulation mode, a driver driving the driving training vehicle is a learner, and the learner is not skilled in controlling the vehicle, so that the safety of the learner needs to be ensured.

In some embodiments, a driving mode of the ride-on vehicle is determined; according to the driving mode, whether the driving training vehicle is in a non-training driving mode is determined.

In the embodiment of the disclosure, the driving mode of the driving training vehicle can be determined, and whether the driving training vehicle is in the non-training driving mode is further determined according to the driving mode. The method and the device can be used for identifying whether the driving training vehicle is in a non-coach driving mode.

In an embodiment of the present disclosure, a driving state of a driving training vehicle is determined.

Wherein, the driving track, the gear, the position, the wheel rotation direction and the like of the driving training vehicle can be realized, to determine the driving status of the ride vehicle.

The driving state may include a forward driving state, a reverse driving state, a stationary state, a forward left-turning state, a forward right-turning state, a reverse left-turning state, a reverse right-turning state, and the like.

S2: and determining a perception mode of perceiving the obstacle according to the driving state.

In the embodiment of the disclosure, in the case of determining the driving state of the driving training vehicle, the perception mode of perceiving the obstacle may be determined according to the driving state.

In some embodiments, in response to the driving state being a forward driving state, determining that the perceived mode is a first perceived mode; in response to the driving state being a reverse state, the sensing mode is determined to be a second sensing mode.

In the embodiment of the disclosure, when the driving state is the forward driving state, it is determined that the sensing mode is the first sensing mode.

In the embodiment of the disclosure, when the driving state is the reverse state, it is determined that the sensing mode is the second sensing mode.

In the embodiment of the disclosure, different perception modes can be determined according to different driving modes of the driving training vehicle so as to respectively carry out safety perception according to the different perception modes, and a proper safety perception scheme can be matched according to the driving mode, so that the cost of safety perception can be saved.

It can be appreciated that, the safety perception can select to perceive the obstacle information of the surrounding environment of the driving training vehicle in real time, but in the embodiment of the disclosure, different perception modes can be determined according to the running state of the driving training vehicle, different perception modes can perceive the obstacle information of the specific area around the driving training vehicle, the opened perception device can be reduced, the cost of safety perception can be saved, and the obstacle perception information required to be analyzed can be reduced due to the reduction of the opened perception device, so that the efficiency of safety perception can be improved.

S3: and obtaining obstacle perception information in a perception mode.

In the embodiment of the disclosure, in the case of determining the sensing mode for sensing the obstacle, the obstacle sensing information in the determined sensing mode may be acquired.

It will be appreciated that the acquired obstacle awareness information may be the same or different for different awareness modes. If the different sensing modes are used, different obstacle sensing information can be acquired by the different sensing modes under the condition of different areas around the sensed driving training vehicle.

According to the embodiment of the disclosure, under the condition that the sensing mode is determined, only the obstacle sensing information in the sensing mode is required to be acquired, so that the cost of safety sensing can be reduced, and the obstacle sensing information required to be analyzed is reduced due to the reduction of the opened sensing device, so that the efficiency of safety sensing can be improved.

S4: and controlling the driving training vehicle to brake according to the obstacle sensing information.

In the embodiment of the disclosure, after the obstacle sensing information is acquired, the obstacle sensing information can be analyzed to control the driving training vehicle to brake.

It should be noted that, in the embodiments of the present disclosure, one or more sensing devices may be used to obtain the obstacle sensing information.

Illustratively, the sensing device may be an ultrasonic radar, a millimeter wave radar, a lidar, a laser ranging module, or the like.

In the embodiment of the disclosure, the obstacle sensing information can be acquired through a plurality of sensing devices, one or a plurality of sensing devices can be used for each sensing device.

It can be understood that in the judging process of controlling the driving training vehicle to brake according to the obstacle sensing information of the plurality of sensing devices, the obstacle sensing information of the sensing devices possibly exists, the driving training vehicle is determined to be required to be controlled to brake, and the obstacle sensing information of the sensing devices is determined to be not required to be controlled to brake.

In the embodiment of the disclosure, under the condition that the driving training vehicle is required to be controlled to brake according to the obstacle sensing information of any sensing device, namely, the driving training vehicle is controlled to brake, so that the safety of driving the training vehicle by a driver is ensured, and the safety sensing efficiency is improved while the cost required by safety sensing is reduced.

Fig. 2 is a schematic diagram of a second embodiment of the present disclosure.

As shown in fig. 2, the driving training vehicle control method provided in the embodiment of the present disclosure includes:

s10: in response to meeting the driver training vehicle being located in a particular area and/or in a non-coaching driving mode, gear information and/or position information of the driver training vehicle is determined.

In the embodiments of the present disclosure, the description of the driving training vehicle being located in a specific area and/or in a non-coaching driving mode may be referred to the description of the embodiments above, which is not repeated herein.

And determining gear information and/or position information of the driving training vehicle under the condition that the driving training vehicle is located in a specific area and/or in a non-training driving mode.

In the embodiment of the disclosure, the gear information of the driving training vehicle, such as a forward gear, a reverse gear, a neutral gear, and the like, may be acquired through the CAN bus.

In the embodiment of the disclosure, the position information of the driving training vehicle may be acquired through the positioning device, where the position information under the world coordinate system may be acquired, or the position information under the coordinate system taking any reference object as a standard may also be acquired, and so on.

S20: and determining the driving state of the driving training vehicle according to the gear information and/or the position information.

In the embodiment of the disclosure, after the gear information and/or the position information are acquired, the running state of the driving training vehicle may be determined according to the gear information and/or the position information.

The driving state of the driving training vehicle is determined according to the gear information, the driving state of the driving training vehicle can be determined to be the forward state when the gear information is the forward gear, the driving state of the driving training vehicle can be determined to be the backward state when the gear information is the reverse gear, and the driving state of the driving training vehicle can be determined to be the stationary state when the gear information is the neutral gear.

The driving state of the driving training vehicle is determined according to the position information, when the position information reflects that the driving training vehicle moves towards the direction of the head, the driving state of the driving training vehicle can be determined to be a forward state, when the position information reflects that the driving training vehicle moves towards the direction of the tail, the driving state of the driving training vehicle can be determined to be a backward state, and when the position information reflects that the driving training vehicle does not move, the driving state of the driving training vehicle can be determined to be a static state.

In the embodiment of the disclosure, under the condition that the driving training vehicle is located in a specific area and/or is in a non-coach driving mode, gear information and/or position information of the driving training vehicle are determined, and the driving state of the driving training vehicle is determined according to the gear information and/or the position information, so that the perception information of an obstacle is acquired according to the driving state of the driving training vehicle in a subsequent process, braking and braking of the driving training vehicle are controlled, and safety of a driver of the driving training vehicle is guaranteed.

S30: and determining a perception mode of perceiving the obstacle according to the driving state.

The description of S30 may be referred to the description of the foregoing embodiments, and will not be repeated here.

S40: and obtaining obstacle perception information in a perception mode.

In some embodiments, in response to the sensing mode being the first sensing mode, the millimeter wave radar is controlled to move to a first position to obtain obstacle information in front of the ride vehicle, and the ultrasonic radar and the laser ranging module located within a first preset area of the ride vehicle are controlled to be turned on.

In the embodiment of the disclosure, under the condition that the driving state is the forward driving state, the sensing mode is determined to be the first sensing mode, and under the condition that the sensing mode is the first sensing mode, the millimeter wave radar is controlled to move to the first position to acquire the obstacle information in front of the driving training vehicle, and the ultrasonic radar and the laser ranging module positioned in the first preset area of the driving training vehicle are controlled to be started.

It will be appreciated that the millimeter wave radar is moved to a first location, which may be the front of the ride vehicle, for example, where obstacle information in front of the ride vehicle can be acquired: a vehicle head, a region of the roof forward, a front windshield region, etc.

In the embodiment of the disclosure, the ultrasonic radar and the laser ranging module located in a first preset area of the driving training vehicle are controlled to be started, wherein the first preset area can be a front area of the vehicle.

Illustratively, as shown in fig. 3, the ultrasonic radar and laser ranging module in the first preset area.

It should be noted that, the example of fig. 3 is only illustrative, and the first preset area may be another area, or may further include another area, for example, an area including two corners of a tail lamp behind a vehicle, so as to be capable of acquiring information of obstacles at two corners of the tail lamp of the vehicle, so as to avoid collision with the obstacles.

Of course, the number and the setting positions of the ultrasonic radar and the laser ranging module illustrated in fig. 3 are merely illustrative, the number of the ultrasonic radar and the laser ranging module may be other numbers, the setting positions may be other positions, and the setting may be performed as needed, which is not particularly limited in the embodiment of the present disclosure.

In some embodiments, in response to the sensing mode being the second sensing mode, the millimeter wave radar is controlled to move to a second position to obtain obstacle information behind the ride vehicle, and the ultrasonic radar and the laser ranging module located within a second preset area of the ride vehicle are controlled to be turned on.

In the embodiment of the disclosure, when the driving state is the backward state, the sensing mode is determined to be the second sensing mode, and when the sensing mode is the second sensing mode, the millimeter wave radar is controlled to move to the second position to acquire the obstacle information behind the driving training vehicle, and the ultrasonic radar and the laser ranging module located in the second preset area of the driving training vehicle are controlled to be started.

It will be appreciated that the millimeter wave radar is moved to a second location where obstacle information behind the ride vehicle can be acquired, the second location may be the rear of the ride vehicle, for example: tail, rear roof area, rear windshield area, etc.

In the embodiment of the disclosure, the ultrasonic radar and the laser ranging module located in a second preset area of the driving training vehicle are controlled to be started, wherein the second preset area can be a rear area of the vehicle.

Illustratively, as shown in fig. 3, the ultrasonic radar and laser ranging module in the second preset area.

It should be noted that, the example of fig. 3 is only illustrative, and the second preset area may be other areas, or may further include other areas, for example, an area including two corners of a front headlight of the vehicle, so as to be capable of acquiring information of obstacles at two corners of the front headlight of the vehicle, so as to avoid collision with the obstacles.

In some embodiments, 10 ultrasonic radars are adopted to sense a near obstacle, 1 millimeter wave radar is adopted to sense a far obstacle, and laser ranging modules respectively arranged front and back are adopted to detect safety redundant obstacles.

In the embodiment of the disclosure, under the condition that different sensing modes are determined, by moving the millimeter wave radar and starting the ultrasonic radar and the laser ranging module in different areas, a plurality of millimeter wave radars are not required to be arranged, and all the ultrasonic radars and the laser ranging modules are not required to be started, so that the cost required by safety sensing can be reduced and the safety sensing efficiency can be improved.

In some embodiments, the first obstacle awareness information is obtained by millimeter wave radar; acquiring second obstacle sensing information through an ultrasonic radar; and acquiring third obstacle perception information through a laser ranging module.

In the embodiment of the disclosure, the first obstacle sensing information can be acquired through a millimeter wave radar; acquiring second obstacle sensing information through an ultrasonic radar; and acquiring third obstacle perception information through a laser ranging module. Therefore, different obstacle sensing information can be acquired by using various sensing devices, and the safety of driving of the driver on the training vehicle can be effectively ensured.

S50: and controlling the driving training vehicle to brake according to the obstacle sensing information.

In some embodiments, the driving training vehicle is controlled to perform braking in response to determining that an obstacle is present within a first preset distance range from the driving training vehicle according to the first obstacle awareness information, and the collision time is less than a first threshold.

In some embodiments, the driving training vehicle is controlled to perform braking in response to determining that an obstacle is present within a second preset distance range from the driving training vehicle according to the second obstacle awareness information, and the collision time is less than a second threshold.

In some embodiments, in response to determining that an obstacle exists within a third preset distance range from the driving training vehicle according to the third obstacle sensing information, and determining that the distance change between the driving training vehicle and the obstacle meets a specified condition, the driving training vehicle is controlled to perform braking.

In the embodiment of the disclosure, when it is determined that an obstacle exists in a first preset distance range from a driving training vehicle according to first obstacle sensing information, and the collision time is smaller than a first threshold value, the driving training vehicle is controlled to brake.

It can be understood that the millimeter wave radar mainly measures the obstacle at a distance, calculates the Time-To-Collision (TTC) according To the distance and the vehicle speed, and avoids the Collision between the obstacle and the obstacle due To the longer braking distance of the vehicle during the driving of the vehicle. Because the speed of a motor vehicle is lower in the use process of a student, the use scene is not complicated, and only the front obstacle needs to be detected when the driving and training vehicle advances, so that the movable millimeter wave radar placed on the roof and the mobile equipment thereof are used for detecting the front obstacle and the rear obstacle, when the driving and training vehicle advances in a forward gear, the millimeter wave radar moves to the front to detect the obstacle, when the driving and training vehicle is in a reverse gear, the millimeter wave radar moves to the rear to detect the obstacle, and according to the forward and reverse gear information, different coordinate conversion frames are fused to realize the obstacle perception of the millimeter wave.

The first preset distance range may be a distance range within 3m from the driving training vehicle, or may also be a distance range within 5m from the driving training vehicle, or may also be a distance range within 8m from the driving training vehicle, or may also be a distance range within 10m from the driving training vehicle, or may also be a distance range within 15m from the driving training vehicle, or may also be the like.

Wherein the first threshold may be 8.68s. The first threshold is set to ensure that the driving training vehicle stops within 0.5m from the obstacle.

It should be noted that, the first preset distance range and the first threshold value may be any other value, and may be set arbitrarily according to the needs, which is not limited in the embodiment of the present disclosure.

In some embodiments, millimeter wave radar movement is controlled by a transfer steering module disposed on the roof of the ride vehicle; wherein, millimeter wave radar is one.

In the embodiment of the disclosure, the millimeter wave radar is one, and is controlled to move through a transmission steering module arranged on the roof of the driving training vehicle, and is controlled to move to the first position when the sensing mode is the first sensing mode, and is controlled to move to the second position when the sensing mode is the second sensing mode.

In some embodiments, the transfer steer module has two ends that are respectively adjacent the front windshield and the rear windshield of the ride vehicle, the first position being an end of the transfer steer module that is adjacent the front windshield of the ride vehicle, and the second position being an end of the transfer steer module that is adjacent the rear windshield of the ride vehicle.

Illustratively, as shown in FIG. 4, 1-1 is a millimeter wave radar, 1-2 is a transmission steering module, and 1-3 is a roof of a ride-on vehicle.

The millimeter wave radar is controlled to move through a transmission steering module arranged on the roof of the driving training vehicle, the millimeter wave radar is controlled to move to a first position under the condition that the sensing mode is a first sensing mode, and the millimeter wave radar is controlled to move to a second position under the condition that the sensing mode is a second sensing mode.

Of course, the millimeter wave radar and the transmission steering module shown in fig. 4 are only used as illustrations, the transmission steering module may be disposed above a vehicle roof, or may be disposed in a vehicle roof structure, and the structure may be arbitrarily set as required, which is not particularly limited in the embodiments of the present disclosure.

In the embodiment of the disclosure, the millimeter wave module is realized by adopting the movable device based on the transmission steering module, and can realize front-back conversion according to gear information to detect the obstacle, so that the millimeter wave module is very suitable for application scenes of driving schools, and the cost of safety perception is reduced.

The millimeter wave radar placement scheme roof filters obstacles at the front cover through a filtering algorithm, so that the front obstacles are perceived, the perceived angle is increased compared with that of the vehicle head, and the large-angle perception is realized.

In the embodiment of the disclosure, when it is determined that an obstacle exists in a second preset distance range from the driving training vehicle according to the second obstacle sensing information, and the collision time is smaller than a second threshold value, the driving training vehicle is controlled to perform braking.

It will be appreciated that ultrasonic sensing is primarily to detect nearby obstacles, and also to calculate TTC values, and that the ride vehicle will stop when an obstacle with too low a vehicle speed is within 0.5m of the ride vehicle. The sensing starting method is similar to a starting scheme of millimeter wave radars, and when the vehicle advances, the front 6 ultrasonic radars are started to detect obstacles, and when the vehicle retreats, the rear four ultrasonic radars are started to detect rear obstacles.

The second preset distance range may be a distance range within 2m from the driving training vehicle, or may also be a distance range within 1.5m from the driving training vehicle, or may also be a distance range within 1m from the driving training vehicle, or the like.

Wherein the second threshold may be 8.68s. The first threshold is set to ensure that the driving training vehicle stops within 0.5m from the obstacle.

It should be noted that, the second preset distance range and the second threshold value may be any other value, and may be set arbitrarily according to the need, which is not particularly limited in the embodiment of the present disclosure.

In the embodiment of the disclosure, when an obstacle exists in a third preset distance range from the driving training vehicle according to third obstacle sensing information, and the distance change between the driving training vehicle and the obstacle is judged to meet a specified condition, the driving training vehicle is controlled to brake.

It can be understood that since the trainees are a group of novice drivers, the safety is particularly important, and therefore, a set of safety redundant obstacle detection system is added under the condition of adopting two perception schemes of millimeter wave radar and ultrasonic radar.

In the embodiment of the disclosure, the safety redundant obstacle detection system acquires third obstacle sensing information by using the laser ranging module, and controls the driving and training vehicle to brake under the condition that the obstacle exists in a third preset distance range from the driving and training vehicle according to the third obstacle sensing information and the distance change between the driving and training vehicle and the obstacle is judged to meet the specified condition.

The third preset distance range may be a distance range of 0.3m from the driving training vehicle, or may also be a distance range of 0.5m from the driving training vehicle, or may also be a distance range of 0.8m from the driving training vehicle, or may also be a distance range of 1m from the driving training vehicle, and so on.

The distance change between the driving training vehicle and the obstacle is judged to meet the specified condition, namely the obstacle is close to the vehicle and enters a redundant brake emergency brake judgment logic when the distance value between the driving training vehicle and the obstacle is judged to be smaller than H and continuously reduced, and whether the distance value of laser ranging is reduced is continuously judged in the emergency brake logic, so that emergency brake is carried out according to the attenuation value, and emergency brake caused by false touch is avoided.

As shown in fig. 5, in the embodiment of the disclosure, two laser ranging modules are respectively placed on two sides of a front bumper of a driving training vehicle, and form an angle with a head, and the angle value is set as a.

The laser ranging module detects whether an obstacle smaller than a distance value exists in front of the vehicle, judges that the obstacle is close to the vehicle and enters a redundant brake emergency brake judgment logic when the distance value is smaller than H and the distance value is reduced, and continuously judges whether the distance value of laser ranging is reduced in the emergency brake logic, so that emergency brake is carried out according to the attenuation value, and emergency brake caused by false touch is avoided. The angle value a, the distance value H and the like can be determined according to actual requirement values, the range of the laser ranging module detected and converted into the front is the furthest value L, the nearest value is b, the front obtuse solid line in the figure is a redundant brake cable, the last defense line is achieved, and the aim of reducing safety accidents is fulfilled.

In the embodiment of the disclosure, in a laser ranging judgment algorithm, whether the emergency braking judgment logic is entered is judged by utilizing the measured distance of the laser ranging module, and in the emergency braking logic, whether the distance value of the laser ranging is decreasing is continuously judged, so that emergency braking is carried out according to the attenuation value, and emergency braking caused by false touch is avoided.

In some embodiments, in response to determining that an obstacle exists within a third preset distance range from the driving training vehicle according to the third obstacle awareness information, and determining that the distance change between the driving training vehicle and the obstacle meets a specified condition, the driving training vehicle is controlled to brake by a controller with an independent power supply.

Each laser ranging module is mainly composed of a power supply, a laser ranging module, a wireless transparent transmission module, an MCU and a CAN bus, wherein the power supply is responsible for supplying power to each module, the laser ranging module detects the distance between obstacles and transmits data to the MCU through an IO port, the MCU processes the data, receives state information (speed and acceleration) of a host vehicle (driving training vehicle) through the CAN bus, transmits data to the wireless transparent transmission module through a uart serial port after the data is processed, and the wireless transparent transmission module transmits the data to a brake control unit through 2.4G for emergency brake control.

In the embodiment of the disclosure, when it is determined that an obstacle exists in a third preset distance range from the driving training vehicle according to third obstacle sensing information and it is determined that the distance change between the driving training vehicle and the obstacle meets a specified condition, the driving training vehicle is controlled to brake by a controller with an independent power supply. Can avoid driving the vehicle main control system of banks up unusual, lead to laser ranging module anticollision control unusual, can avoid crashproof inefficacy, can further ensure navigating mate's safety.

The laser ranging module is independent of the system, plays a role in safety redundancy emergency braking, and can also realize braking to ensure the safety of students when the system is prevented from being failed.

In some embodiments, the first preset distance range includes and is greater than the second preset distance range, and the first preset distance range and/or the second preset distance range includes and is greater than the third preset distance range.

In some embodiments, controlling the ride vehicle to perform a braking operation in response to determining that there is an obstacle a preset distance from the ride vehicle based on the first obstacle awareness information; and controlling the driving training vehicle to brake in response to the fact that the obstacle with the preset distance from the driving training vehicle is determined according to the second obstacle sensing information.

In the embodiment of the disclosure, under the condition that the existence of the obstacle with the preset distance from the driving training vehicle is determined according to the first obstacle sensing information, the driving training vehicle is controlled to perform braking.

In the embodiment of the disclosure, the driving training vehicle is controlled to perform braking under the condition that the second obstacle sensing information indicates that an obstacle with a preset distance from the driving training vehicle exists.

Wherein the preset distance may be 0.5m, or may also be 0.3m, or may also be 0.8m, etc.

It should be noted that, the value of the preset distance may be set according to the need, which is not particularly limited in the embodiment of the present disclosure.

In the embodiment of the disclosure, under the condition that the obstacle with the preset distance from the driving training vehicle is determined to exist according to the first obstacle perception information or the second obstacle perception information, the driving training vehicle is controlled to brake, and collision between the driving training vehicle and the obstacle can be avoided.

By implementing the embodiment of the disclosure, gear information and/or position information of the driving training vehicle is determined in response to meeting the requirement of being in a specific area and/or in a non-coaching driving mode; determining the running state of the driving training vehicle according to the gear information and/or the position information; determining a perception mode for perceiving the obstacle according to the driving state; obtaining obstacle perception information in a perception mode; and controlling the driving training vehicle to brake according to the obstacle sensing information. Therefore, the safety of driving the training vehicle by the driver can be ensured, and the safety perception efficiency is improved while the cost required by the safety perception is reduced.

For ease of understanding, the disclosed embodiments provide an exemplary embodiment, as shown in fig. 7.

It can be appreciated that in the intelligent driving school project, the perception of the driving training vehicle of the intelligent driving school is very important, wherein the detection of the obstacle is realized mainly by using the ultrasonic millimeter wave sensor, and the perceived obstacle is extracted by using the computing unit, so that the driving training vehicle is braked in dangerous situations.

The embodiment of the disclosure can be applied to intelligent training vehicles for subject two driving training in intelligent driving school projects, and provides a novel perception scheme and a safety redundancy control method, and the purposes are as follows: 1. the problem that other factors such as a system problem with small probability, a sensing omission problem and the like sometimes cause failure of braking due to failure of detection of an obstacle is solved, double protection is increased, and safety of students is guaranteed; 2. the cost required by the sensing device is reduced, and the sensing efficiency is improved.

In order to adapt to the application scene of the driving training vehicle, the sensing scheme comprises three parts, namely a near obstacle sensing part of 10 ultrasonic radars, a far obstacle sensing component of 1 millimeter wave radar and a safety redundant obstacle detection system, wherein the sensing sensor distribution is shown in figure 3.

The millimeter wave sensing part mainly detects the obstacle at a distance, calculates ttc value according to the distance and the vehicle speed, and avoids the collision of the obstacle with a longer braking distance of a main vehicle (driving and training vehicle, the same applies below) with too high vehicle speed. The speed of the vehicle is low in the use process of a learner, the use scene is not complex, and only the front obstacle is required to be detected when the main vehicle advances, so that the front obstacle and the rear obstacle are detected by using a movable millimeter wave radar arranged on the roof of the vehicle and mobile equipment thereof, when the main vehicle advances in a forward gear, the millimeter wave radar moves to the front to detect the obstacle, when the main vehicle advances in a reverse gear, the millimeter wave radar moves to the rear to detect the obstacle, and according to the forward and reverse gear information, different coordinate conversion frames are fused to realize the obstacle sensing of the millimeter wave;

the ultrasonic sensing mainly detects obstacles within 1.5m, and simultaneously calculates ttc value, and when the speed of the vehicle is too low and the obstacles are close to the main vehicle within 0.5m, the main vehicle stops. The sensing starting method is similar to a starting scheme of millimeter wave radars, and when the vehicle advances, the front 6 ultrasonic radars are started to detect obstacles, and when the vehicle retreats, the rear four ultrasonic radars are started to detect rear obstacles. Control logic flow diagram.

The movable millimeter wave radar and the movable equipment thereof are shown in fig. 4, steering and movement of the millimeter wave radar can be realized through an internal transmission structure, in the figure, 1-1 is the millimeter wave radar, 1-2 is the transmission and steering structure, and 1-3 is the roof of a host vehicle.

The system comprises a control unit and a calculation unit, wherein the control unit is mainly used for acquiring OBD information of a vehicle body, acquiring, fusing and forwarding an ultrasonic sensor, communicating with the calculation unit, receiving ODB information of the vehicle body and parameters of the ultrasonic radar, combining coordinates of the vehicle body and the millimeter wave radar to perform sensor fusion processing, judging whether braking is needed according to the sensor fusion parameters, and interacting with an upper computer.

Since the trainee is a new driver, the safety is particularly important, a set of safety redundant obstacle detection system is added under the condition of the two sensing schemes, as shown in fig. 5, the system mainly comprises two laser ranging modules which are respectively arranged at two sides of a front bumper of a main vehicle, a certain angle is formed at the front of the main vehicle, the angle value is set as a, when the front two obstacle detection systems fail or fail to detect, the laser ranging modules detect whether the front of the main vehicle is smaller than the distance value, and when the distance value is smaller than H and the distance value is reduced, the obstacle is close to the vehicle and enters into redundant emergency brake judgment logic, in the emergency brake logic, whether the distance value of the laser ranging is being reduced is continuously judged, so that emergency brake is carried out according to the attenuation value, and the emergency brake caused by false touch is avoided. The angle value a, the distance value H and the like can be determined according to actual requirement values, the range of the laser ranging module detected and converted to the front is the furthest value L, the nearest value is b, the green line in the figure represents the redundant brake cable, the last defense line is achieved, and the aim of reducing safety accidents is fulfilled.

Each laser ranging module is composed of an independent power supply, a laser ranging module, a wireless transparent transmission module, an MCU and a CAN bus, wherein the power supply is responsible for supplying power to each module, the laser ranging module detects the distance between obstacles and transmits data to the MCU through an IO port, the MCU performs data processing, receives state information (speed and acceleration) of a host vehicle through the CAN line, transmits data to the wireless transparent transmission module through a uart serial port after the data processing, and the wireless transparent transmission module transmits the data to a brake control unit through 2.4G for emergency brake control.

In the embodiment of the disclosure, when a vehicle enters a special area or a coaching mode, obstacle sensing is not effective, millimeter waves sense far obstacles, safety of a learner when the speed of the vehicle is high is guaranteed, safety of the vehicle under the condition of low speed is guaranteed by sensing near obstacles through ultrasonic waves, and the redundant braking system is double-protection, so that safety is further guaranteed. The relevant details have already been mentioned above, but are not repeated.

The embodiment of the disclosure can realize the safety perception of the obstacle in the intelligent driving school, adopts triple protection, greatly ensures the safety of training students, and has the following significance:

1. The triple protection is realized by utilizing one millimeter wave radar, 10 ultrasonic radars and 2 laser ranging modules, the problem of missed detection of a single sensor is avoided by utilizing different obstacle detection means, and the safety of students is ensured;

2. the 2 laser ranging modules are independent of the system, a safety redundant emergency braking function is achieved, and when the system is prevented from being failed, the safety of a braking guarantee student can be achieved.

3. In the laser ranging judgment algorithm, whether the emergency braking judgment logic is entered is judged by utilizing the measured distance of the laser ranging module, and whether the distance value of the laser ranging is decreasing is continuously judged in the emergency braking logic, so that emergency braking is carried out according to the attenuation value, and the emergency braking caused by false touch is avoided.

3. The millimeter wave module is realized by adopting a movable device, can realize front-back conversion according to gear information to detect obstacles, is very suitable for application scenes of driving schools, and reduces cost.

4. According to the millimeter wave radar placement scheme, the roof filters obstacles at the front cover through a filtering algorithm, so that the front obstacles are perceived, the perceived angle is increased compared with that of the front cover, and the large-angle perception is realized.

Fig. 8 is a schematic diagram of a third embodiment of the present disclosure.

As shown in fig. 8, the third embodiment of the present disclosure further provides a driving training vehicle control apparatus 1, wherein the driving training vehicle control apparatus 1 includes: a running state acquisition unit 11, a perception mode determination unit 12, a perception information acquisition unit 13, and a brake control unit 14.

A running state acquisition unit 11 for determining a running state of the driving training vehicle in response to satisfaction of a preset condition.

A perception mode determining unit 12 for determining a perception mode of perceiving the obstacle according to the driving state.

And a perception information acquiring unit 13 for acquiring obstacle perception information in a perception mode.

And the brake control unit 14 is used for controlling the driving training vehicle to perform brake according to the obstacle sensing information.

As shown in fig. 9, in some embodiments, the perception information acquiring unit 13 includes: a first perceived information acquisition module 131 and a second perceived information acquisition module 132.

The first sensing information obtaining module 131 is configured to control the millimeter wave radar to move to a first position to obtain obstacle information in front of the driving training vehicle in response to the sensing mode being the first sensing mode, and control the ultrasonic radar and the laser ranging module located in a first preset area of the driving training vehicle to be turned on;

The second sensing information obtaining module 132 is configured to control the millimeter wave radar to move to a second position to obtain obstacle information behind the driving training vehicle in response to the sensing mode being the second sensing mode, and control the ultrasonic radar and the laser ranging module located in a second preset area of the driving training vehicle to be turned on.

As shown in fig. 10, in some embodiments, the perception information acquiring unit 13 further includes: millimeter wave sensing module 133, ultrasonic sensing module 134, and laser ranging module 135.

The millimeter wave sensing module 133 is configured to obtain the first obstacle sensing information through the millimeter wave radar.

The ultrasonic sensing module 134 is configured to acquire second obstacle sensing information through an ultrasonic radar.

The laser ranging module 135 is configured to obtain third obstacle sensing information through the laser ranging module.

In some embodiments, the brake control unit 14 is specifically configured to:

responding to the fact that the obstacle exists in a first preset distance range from the driving training vehicle according to the first obstacle sensing information, and the collision time is smaller than a first threshold value, and controlling the driving training vehicle to brake;

responding to the fact that the obstacle exists in a second preset distance range from the driving training vehicle according to the second obstacle sensing information, and controlling the driving training vehicle to brake when the collision time is smaller than a second threshold value;

And responding to the fact that the obstacle exists in a third preset distance range from the driving training vehicle according to the third obstacle sensing information, and judging that the distance change between the driving training vehicle and the obstacle meets a specified condition, and controlling the driving training vehicle to brake.

In some embodiments, the brake control unit 14 is further configured to:

controlling the driving training vehicle to brake in response to the fact that the obstacle with the preset distance from the driving training vehicle is determined according to the first obstacle sensing information;

and controlling the driving training vehicle to brake in response to the fact that the obstacle with the preset distance from the driving training vehicle is determined according to the second obstacle sensing information.

In some embodiments, the brake control unit 14 is specifically configured to, in response to determining that an obstacle exists within a third preset distance range from the driving training vehicle according to the third obstacle sensing information, determine that a change in distance between the driving training vehicle and the obstacle meets a specified condition, and control the driving training vehicle to perform braking by using a controller with an independent power supply.

In some embodiments, the sensing mode determining unit 12 is specifically configured to:

determining the sensing mode as a first sensing mode in response to the driving state being a forward driving state;

In response to the driving state being a reverse state, the sensing mode is determined to be a second sensing mode.

As shown in fig. 11, in some embodiments, the running state acquisition unit 11 includes: an information determination module 111 and a status determination module 112.

The information determining module 111 is configured to determine gear information and/or position information of the driving training vehicle.

The state determining module 112 is configured to determine a driving state of the driving training vehicle according to the gear information and/or the position information.

In some embodiments, the preset conditions include at least one of:

the driving training vehicle is positioned in a specific area;

the ride-on vehicle is in a non-coaching driving mode.

As shown in fig. 12, in some embodiments, the driving training vehicle control apparatus 1 further includes: a position acquisition unit 15 and a region determination unit 16.

And a position acquisition unit 15 for acquiring position data of the driving training vehicle, and the area information.

The area determination unit 16 is configured to determine whether the vehicle is located in a specific area based on the position data and the area information.

As shown in fig. 13, in some embodiments, the driving training vehicle control apparatus 1 further includes: a mode acquisition unit 17 and a mode determination unit 18.

A mode acquisition unit 17 for determining a driving mode of the ride-on vehicle.

A mode determination unit 18 for determining whether the ride vehicle is in a non-coaching driving mode based on the driving mode.

In some embodiments, the first perceptual information acquisition module 131 or the second perceptual information acquisition module 132 is further configured to: the millimeter wave radar is controlled to move through a transmission steering module arranged on the roof of the driving training vehicle; wherein, millimeter wave radar is one.

It should be noted that the foregoing explanation of the driving training vehicle control method is also applicable to the driving training vehicle control device of the present embodiment, and will not be repeated here.

The beneficial effects obtained by the driving training vehicle control device provided in the embodiment of the present disclosure are the same as those obtained by the driving training vehicle control method provided in the above embodiment, and are not described here again.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, a computer program product, and a ride-on vehicle.

Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 14, the apparatus 500 includes a computing unit 501 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The computing unit 501, ROM 502, and RAM 503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

Various components in the device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, etc.; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508 such as a magnetic disk, an optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The computing unit 501 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the respective methods and processes described above, for example, a driving training vehicle control method.

For example, in some embodiments, the ride-on vehicle control method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 500 via the ROM502 and/or the communication unit 509. When the computer program is loaded into RAM503 and executed by computing unit 501, one or more steps of the ride-on vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the ride vehicle control method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the ride-on vehicle control methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), the internet, and blockchain networks.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service ("Virtual Private Server" or simply "VPS") are overcome. The server may also be a server of a distributed system or a server that incorporates a blockchain.

Throughout the specification and claims, the term "comprising" is to be construed in an open, inclusive sense, i.e. "including, but not limited to, unless the context requires otherwise. In the description of the present specification, the terms "some embodiments," "exemplary embodiments," "examples," and the like are intended to indicate that a particular feature, structure, material, or characteristic associated with the embodiment or example is included in at least one embodiment or example of the present disclosure. The schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

Unless otherwise indicated, the meaning of "a plurality" is two or more. 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 defining "a first" or "a second" may explicitly or implicitly include one or more such feature.

The use of "for" herein is meant to be open and inclusive and does not exclude apparatuses adapted or configured to perform additional tasks or steps.

In addition, the use of "based on" is intended to be open and inclusive in that a process, step, calculation, or other action "based on" one or more of the stated conditions or values may be based on additional conditions or beyond the stated values in practice.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present application may be performed in parallel or sequentially or in a different order, provided that the desired results of the disclosed embodiments are achieved, and are not limited herein.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A ride-on vehicle control method comprising:

determining a driving state of the driving training vehicle in response to the preset condition being met;

determining a perception mode for perceiving the obstacle according to the driving state;

obtaining obstacle perception information in the perception mode;

and controlling the driving training vehicle to brake according to the obstacle sensing information.

2. The method of claim 1, wherein the acquiring obstacle awareness information in the awareness mode comprises:

responding to the sensing mode as a first sensing mode, controlling a millimeter wave radar to move to a first position to acquire obstacle information in front of the driving training vehicle, and controlling an ultrasonic radar and a laser ranging module positioned in a first preset area of the driving training vehicle to be started;

And responding to the sensing mode being a second sensing mode, controlling the millimeter wave radar to move to a second position to acquire obstacle information behind the driving training vehicle, and controlling the ultrasonic radar and the laser ranging module positioned in a second preset area of the driving training vehicle to be started.

3. The method of claim 2, wherein the method further comprises:

acquiring first obstacle perception information through the millimeter wave radar;

acquiring second obstacle perception information through the ultrasonic radar;

and acquiring third obstacle perception information through the laser ranging module.

4. The method of claim 3, wherein the controlling the ride vehicle to perform braking based on the obstacle awareness information comprises:

responding to the fact that obstacles exist in a first preset distance range from the driving training vehicle according to the first obstacle perception information, and the collision time is smaller than a first threshold value, and controlling the driving training vehicle to brake;

responding to the fact that obstacles exist in a second preset distance range from the driving training vehicle according to the second obstacle perception information, and the collision time is smaller than a second threshold value, and controlling the driving training vehicle to brake;

5. The method of claim 4, wherein the method further comprises:

responding to the first obstacle sensing information to determine that an obstacle with a preset distance from the driving training vehicle exists, and controlling the driving training vehicle to brake;

6. The method of claim 4, wherein the controlling the ride vehicle to perform the braking in response to determining that an obstacle exists within a third preset distance range from the ride vehicle according to the third obstacle awareness information, and determining that a change in distance between the ride vehicle and the obstacle satisfies a specified condition comprises:

and responding to the fact that the obstacle exists in a third preset distance range from the driving training vehicle according to the third obstacle sensing information, judging that the distance change between the driving training vehicle and the obstacle meets a specified condition, and controlling the driving training vehicle to brake through a controller with an independent power supply.

7. The method according to any one of claims 1 to 6, wherein the determining a perceived mode of obstacle perception from the driving state comprises:

determining that the sensing mode is a first sensing mode in response to the driving state being a forward driving state;

and determining that the sensing mode is a second sensing mode in response to the driving state being a reverse state.

8. The method of claim 1, wherein the determining the driving status of the ride vehicle comprises:

determining gear information and/or position information of the driving training vehicle;

and determining the driving state of the driving training vehicle according to the gear information and/or the position information.

9. The method of claim 1, wherein the preset conditions include at least one of:

the driving training vehicle is located in a specific area;

the ride-on vehicle is in a non-coaching driving mode.

10. The method of claim 9, wherein the method further comprises:

acquiring position data and area information of the driving training vehicle;

and determining whether the vehicle is positioned in the specific area according to the position data and the area information.

11. The method of claim 9, wherein the method further comprises:

Determining a driving mode of the driving training vehicle;

and determining whether the driving training vehicle is in a non-training driving mode according to the driving mode.

12. The method of claim 2, wherein the method further comprises:

controlling the millimeter wave radar to move through a transmission steering module arranged on the roof of the driving training vehicle; wherein the millimeter wave radar is one.

13. The method of claim 12, wherein the transfer steer module is present proximate both ends of the front windshield and the rear windshield of the ride vehicle, respectively, the first position being an end of the transfer steer module proximate the front windshield of the ride vehicle and the second position being an end of the transfer steer module proximate the rear windshield of the ride vehicle.

14. A ride-on vehicle control device comprising:

a running state acquisition unit for determining a running state of the driving training vehicle in response to satisfaction of a preset condition;

a sensing mode determining unit for determining a sensing mode of sensing the obstacle according to the driving state;

the sensing information acquisition unit is used for acquiring obstacle sensing information in the sensing mode;

And the brake control unit is used for controlling the driving training vehicle to brake according to the obstacle sensing information.

15. The apparatus of claim 14, wherein the perception information acquiring unit comprises:

the first sensing information acquisition module is used for responding to the sensing mode being a first sensing mode, controlling the millimeter wave radar to move to a first position to acquire barrier information in front of the driving training vehicle, and controlling the ultrasonic radar and the laser ranging module which are positioned in a first preset area of the driving training vehicle to be started;

and the second perception information acquisition module is used for responding to the perception mode being a second perception mode, controlling the millimeter wave radar to move to a second position to acquire the barrier information behind the driving and training vehicle, and controlling the ultrasonic radar and the laser ranging module positioned in a second preset area of the driving and training vehicle to be started.

16. The apparatus of claim 15, wherein the perception information acquiring unit further comprises:

the millimeter wave sensing module is used for acquiring first obstacle sensing information through the millimeter wave radar;

the ultrasonic sensing module is used for acquiring second obstacle sensing information through the ultrasonic radar;

And the laser ranging module is used for acquiring third obstacle perception information through the laser ranging module.

17. The method according to claim 16, wherein the brake control unit is specifically configured to:

18. The method of claim 17, wherein the brake control unit is further configured to:

19. The device according to claim 17, wherein the brake control unit is in particular adapted to

20. The apparatus according to any one of claims 14 to 19, wherein the perceptual pattern determining unit is specifically configured to:

21. The apparatus according to claim 14, wherein the running state acquisition unit includes:

the information determining module is used for determining gear information and/or position information of the driving training vehicle;

and the state determining module is used for determining the running state of the driving training vehicle according to the gear information and/or the position information.

22. The apparatus of claim 14, wherein the preset conditions comprise at least one of:

the driving training vehicle is located in a specific area;

the ride-on vehicle is in a non-coaching driving mode.

23. The apparatus of claim 22, wherein the apparatus further comprises:

the position acquisition unit is used for acquiring the position data of the driving training vehicle and the area information;

and the area judging unit is used for judging whether the vehicle is positioned in the specific area according to the position data and the area information.

24. The apparatus of claim 22, wherein the apparatus further comprises:

a mode acquisition unit for determining a driving mode of the driving training vehicle;

and the mode determining unit is used for determining whether the driving training vehicle is in a non-training driving mode according to the driving mode.

25. The apparatus of claim 15, wherein the first or second perceptual information acquisition module is further to:

26. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 13.

27. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1 to 13.

28. A computer program product, wherein the method according to any of claims 1 to 13 is implemented when executed by an instruction processor in the computer program product.

29. A ride-on vehicle comprising the apparatus of any one of claims 14 to 25.