CN109334591A - Control method, device and the storage medium of intelligent automobile - Google Patents
Control method, device and the storage medium of intelligent automobile Download PDFInfo
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- CN109334591A CN109334591A CN201811469589.4A CN201811469589A CN109334591A CN 109334591 A CN109334591 A CN 109334591A CN 201811469589 A CN201811469589 A CN 201811469589A CN 109334591 A CN109334591 A CN 109334591A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
- B60R16/0234—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions related to maintenance or repairing of vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
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- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of control method of intelligent automobile, device and storage mediums, belong to intelligent automobile technical field.This method comprises: reminding driver's adapter tube intelligent automobile of intelligent automobile, and control intelligent automobile and be reduced to the first speed threshold value in the speed being presently in lane when detecting that automated driving system breaks down in intelligent automobile；When intelligent automobile is not taken over by the driver of intelligent automobile in the adapter tube duration threshold value after automated driving system failure, control intelligent automobile sends rescue information to automobile rescue platform；When detecting that rescue automobile reaches, control intelligent automobile parking.The present invention is in driver's not adapter tube intelligent automobile, intelligent automobile is controlled to slow down and send rescue information to automobile rescue platform, to when rescuing automobile arrival, control intelligent automobile parking, it avoids that intelligent automobile is out of control and intelligent automobile causes traffic violation because directly stopping, improves the drive safety of intelligent automobile.
Description
Technical field
The present invention relates to intelligent automobile technical field, in particular to a kind of control method of intelligent automobile, device and storage
Medium.
Background technique
With the development of technology, the intelligentized degree of intelligent automobile is higher and higher.Intelligent automobile bring it is convenient and
While driving experience, the problem of vehicle safety more aobvious protrusion.
Wherein, intelligent automobile may include automatic driving mode and manual drive mode, in intelligent automobile automatic Pilot
In the process, if Function for Automatic Pilot breaks down, driver's adapter tube intelligent automobile in time is needed.If driver could not and
When adapter tube intelligent automobile, intelligent automobile will directly be parked in and be currently located in lane.
Due to intelligent automobile be directly parked under driver fails timely adapter tube state be currently located in lane when, the lane
Other interior automobiles are likely to have little time to avoid and bump against the intelligent automobile, so as to cause traffic accident, reduce
The drive safety of intelligent automobile.
Summary of the invention
The embodiment of the invention provides a kind of control method of intelligent automobile, device and storage mediums, for solving correlation
The low problem of intelligent automobile drive safety in technology.The technical solution is as follows:
On the one hand, a kind of control method of intelligent automobile is provided, which comprises
When detecting that automated driving system breaks down in intelligent automobile, the driver of the intelligent automobile is reminded to take over
The intelligent automobile, and control the intelligent automobile and be reduced to the first speed threshold value in the speed being presently in lane；
Not by the intelligent vapour in adapter tube duration threshold value after the intelligent automobile is in the automated driving system failure
When driver's adapter tube of vehicle, the intelligent automobile is controlled to automobile rescue platform and sends rescue information；
When detecting that rescue automobile reaches, the intelligent automobile parking is controlled.
Optionally, the control intelligent automobile is reduced to the first speed threshold in the speed being presently in lane
Value, comprising:
Obtain the current speed of the intelligent automobile；
Based on the current speed of the intelligent automobile, the first speed threshold value and deceleration duration threshold value, the intelligence is determined
The deceleration of energy automobile；
Speed is reduced to described in the deceleration duration threshold value based on intelligent automobile described in the deceleration-based controller
One speed threshold value.
Optionally, the driver for reminding the intelligent automobile takes over before the intelligent automobile, further includes:
Control the control system of the intelligent automobile switched in switching duration threshold value by the automated driving system it is standby
Part control control loop.
Optionally, the control intelligent automobile parking, comprising:
The intelligent automobile speed is controlled according to deceleration threshold and is reduced to 0, and opens the dangerous report of the intelligent automobile
Alert flash lamp.
Second aspect, provides a kind of control device of intelligent automobile, and described device includes:
Reminding module, for when detecting that automated driving system breaks down in intelligent automobile, reminding the intelligent vapour
The driver of vehicle takes over the intelligent automobile, and controls the intelligent automobile and be reduced to first in the speed being presently in lane
Speed threshold value；
First control module, for the adapter tube duration threshold value after intelligent automobile is in the automated driving system failure
When not taken over by the driver of the intelligent automobile inside, the intelligent automobile is controlled to automobile rescue platform and sends rescue information；
Second control module, for when detecting that rescue automobile reaches, controlling the intelligent automobile parking.
Optionally, first control module includes:
Acquisition submodule, for obtaining the current speed of the intelligent automobile；
Submodule is determined, for based on the current speed of the intelligent automobile, the first speed threshold value and deceleration duration
Threshold value determines the deceleration of the intelligent automobile；
Control submodule, for being based on intelligent automobile described in the deceleration-based controller in the deceleration duration threshold value for vehicle
Prompt drop is down to the first speed threshold value.
Optionally, described device further include:
Third control submodule, for control the control system of the intelligent automobile in switching duration threshold value by it is described from
Dynamic control loop switches to Standby control control loop.
Optionally, second control module is used for:
The intelligent automobile speed is controlled according to deceleration threshold and is reduced to 0, and opens the dangerous report of the intelligent automobile
Alert flash lamp.
The third aspect provides a kind of computer readable storage medium, is stored with computer program in the storage medium,
The computer program realizes any method in above-mentioned first aspect when being executed by processor.
Technical solution bring beneficial effect provided in an embodiment of the present invention includes at least:
In embodiments of the present invention, driver can be reminded in the automated driving system failure for detecting intelligent automobile
Adapter tube intelligent automobile, and control intelligent automobile and be reduced to the first speed threshold value in the speed being presently in lane, work as driver
Not in adapter tube duration threshold value inner connecting tube intelligent automobile, rescue information is sent to automobile rescue platform, and work as and detect rescue vapour
When vehicle reaches, control intelligent automobile parking, to avoid intelligent automobile out of control and intelligent automobile causes to disobey because directly stopping
Anti- traffic law improves the drive safety of intelligent automobile.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of control system configuration diagram of intelligent automobile provided in an embodiment of the present invention；
Fig. 2 is a kind of control method flow chart of intelligent automobile provided in an embodiment of the present invention；
Fig. 3 is the control method flow chart of another intelligent automobile provided in an embodiment of the present invention；
Fig. 4 is a kind of controling device structure diagram of intelligent automobile provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of first control module provided in an embodiment of the present invention；
Fig. 6 is the controling device structure diagram of another intelligent automobile provided in an embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of intelligent automobile provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Before carrying out detailed explanation to the embodiment of the present invention, the first application to being related in the embodiment of the present invention
Scene and system architecture are explained respectively.
Firstly, to the present embodiments relate to application scenarios be introduced.
With the development of technology, the intelligentized degree of intelligent automobile is higher and higher, and intelligent automobile may include automatic Pilot
Mode and manual drive mode may sometimes may require that during intelligent automobile automatic Pilot from automatic driving mode
It is switched to manual drive mode, for example, then needing driver when supporting the automated driving system of automatic driving mode to break down
Timely adapter tube intelligent automobile.If driver when automated driving system breaks down, could not adapter tube intelligent automobile in time, intelligence
Automobile will directly be parked in and be currently located in lane.But since intelligent automobile is straight in the case where driver fails timely adapter tube state
It connecing and is parked in when being currently located in lane, other automobiles in the lane are likely to have little time to avoid and bump against the intelligent automobile,
So as to cause traffic accident, the drive safety of intelligent automobile is reduced.
Based on such scene, the embodiment of the invention provides a kind of intelligence that can be improved intelligent automobile drive safety
The control method of automobile.
Next, to the present embodiments relate to system architecture be introduced.
Fig. 1 is a kind of control system architecture schematic diagram of intelligent automobile provided in an embodiment of the present invention, and referring to Fig. 1, this is
System includes intelligent automobile 1 and automobile rescue platform 2, and intelligent automobile can pass through wireless network connection with automobile rescue platform.Its
In, intelligent automobile 1 is used to remind driver's adapter tube intelligent automobile, and driving when detecting that automated driving system breaks down
The person of sailing not adapter tube intelligent automobile 1 when, speed be reduced to the first speed threshold value and put down to automobile rescue being presently in lane
Platform 2 sends rescue information.Automobile rescue platform 2 is used for when receiving the rescue information of intelligent automobile transmission, to intelligent automobile 1
Send rescue automobile with charge free in position.Intelligent automobile 1 can the parking when detecting that rescue automobile reaches.
It, next will be in conjunction with attached drawing to this in the application scenarios to the embodiment of the present invention and after system architecture is introduced
The control method for the intelligent automobile that inventive embodiments provide describes in detail.
Fig. 2 is a kind of flow chart of the control method of intelligent automobile provided in an embodiment of the present invention, referring to fig. 2, this method
Applied in intelligent automobile, include the following steps.
Step 201: when detecting that automated driving system breaks down in intelligent automobile, reminding the driving of the intelligent automobile
Member takes over the intelligent automobile, and controls the intelligent automobile and be reduced to the first speed threshold value in the speed being presently in lane.
Step 202: not by the intelligence in the adapter tube duration threshold value after intelligent automobile is in the automated driving system failure
When driver's adapter tube of automobile, the intelligent automobile is controlled to automobile rescue platform and sends rescue information.
Step 203: when detecting that rescue automobile reaches, controlling intelligent automobile parking.
In embodiments of the present invention, driver can be reminded in the automated driving system failure for detecting intelligent automobile
Adapter tube intelligent automobile, and control intelligent automobile and be reduced to the first speed threshold value in the speed being presently in lane, work as driver
Not in adapter tube duration threshold value inner connecting tube intelligent automobile, rescue information is sent to automobile rescue platform, and work as and detect rescue vapour
When vehicle reaches, control intelligent automobile parking, to avoid intelligent automobile out of control and intelligent automobile causes to disobey because directly stopping
Anti- traffic law improves the drive safety of intelligent automobile.
Optionally, it controls the intelligent automobile and is reduced to the first speed threshold value in the speed being presently in lane, comprising:
Obtain the current speed of the intelligent automobile；
Based on the current speed of the intelligent automobile, the first speed threshold value and deceleration duration threshold value, the intelligent automobile is determined
Deceleration；
Speed is reduced to the first speed threshold in the deceleration duration threshold value based on the deceleration-based controller intelligent automobile
Value.
Optionally, the driver of the intelligent automobile is reminded to take over before the intelligent automobile, further includes:
The control system for controlling the intelligent automobile switches to backup control by the automated driving system in switching duration threshold value
Control loop processed.
Optionally, intelligent automobile parking is controlled, comprising:
The intelligent automobile speed is controlled according to deceleration threshold and is reduced to 0, and the danger warning for opening the intelligent automobile dodges
Light lamp.
All the above alternatives, can form alternative embodiment of the invention according to any combination, and the present invention is real
It applies example and this is no longer repeated one by one.
Fig. 3 is a kind of flow chart of the control method of intelligent automobile provided in an embodiment of the present invention, referring to Fig. 3, this method
Include the following steps.
Step 301: the state of intelligent automobile detection automated driving system.
In the process of moving due to intelligent automobile, the automated driving system in intelligent automobile is likely to break down, when
When automated driving system breaks down, the Function for Automatic Pilot of intelligent automobile is likely to go wrong, so as to cause intelligent vapour
The risk that traffic accident occurs for vehicle increases.Therefore, intelligent automobile needs to detect the state of automated driving system, in order to it is subsequent
Automated driving system takes timely measure when breaking down.
Wherein, the state of intelligent automobile real-time detection automated driving system in the process of moving.
In addition, the probability that traffic accident occurs for intelligent automobile is larger due to when the increasing of the speed of intelligent automobile, therefore,
Intelligent automobile can also detect the state of automated driving system when travel speed is greater than the second speed threshold value.Second speed
Threshold value can be arranged in advance, for example, the second speed threshold value can be 40,000 ms/h, 60,000 ms/h etc..
Step 302: when detecting that automated driving system breaks down in intelligent automobile, intelligent automobile reminds driver to connect
Pipe intelligent automobile, and control speed of the intelligent automobile in current lane and be reduced to the first speed threshold values.
Due to when intelligent automobile detects that automated driving system breaks down, in order to avoid intelligent automobile is because of automatic Pilot
Function is impacted and traffic accident occurs, and intelligent automobile can remind driver's adapter tube intelligent automobile.
Wherein, intelligent automobile can play voice messaging, to remind the driver of intelligent automobile to take over by voice messaging
Intelligent automobile.It is of course also possible to be reminded by other means.For example, the modes such as vibration seat, tightening safety belt.
Since intelligent automobile is under automatic driving mode when automatic Pilot, although driver can not have to manual drive,
It is not meant to that driver can lose vigilance, unexpected in order to avoid occurring, driver also needs to watch intelligent vehicle running direction attentively,
Therefore, driver can remind driving by way of playing voice messaging at this time likely in attention collected state
Member.
It should be noted that the content of the voice messaging can be arranged in advance, for example, the content of the voice messaging can be
" automated driving system is out of order, and please switch to manual drive " etc..
In addition, in order to avoid leading to traffic accident because of excessive velocities during reminding driver's adapter tube intelligent automobile
Occur, intelligent automobile can not only remind driver to take over intelligent vapour when detecting that automated driving system breaks down
Intelligent automobile speed can also be reduced to the first speed threshold value by vehicle.The first speed threshold value can be arranged in advance, for example, should
First speed threshold value can be 60,000 ms/h, 40,000 ms/h etc..
When further, due to intelligent automobile automated driving system failure, driver may have little time adapter tube vehicle, intelligence
Automobile is likely to be at runaway condition at this time, to increase the risk that traffic accident occurs for intelligent automobile.Therefore, in order to reduce intelligence
The risk of traffic accident occurs for energy automobile, and intelligent automobile can control intelligent automobile by other control system.
Wherein, control system can be switched to backup control by automated driving system in switching duration threshold value by intelligent automobile
Control loop processed.
Since intelligent automobile is once out of control, the risk that traffic accident occurs will be improved, and therefore, it is necessary to intelligent automobiles short
Control system is switched into Standby control control loop in temporarily, the automatic Pilot under the control of Standby control control loop.
It should be noted that the switching duration threshold value can be arranged in advance, for example, the switching duration threshold value can be 10 millis
Second, 50 milliseconds, 100 milliseconds etc..
Wherein, intelligent automobile can control intelligent automobile by standby system and be reduced in the speed being presently in lane
First speed threshold value, and intelligent automobile is controlled by back-up system and is reduced to the first speed threshold in the speed being presently in lane
The operation of value can be with are as follows: obtains the current speed of intelligent automobile；Based on the current speed of intelligent automobile, the first speed threshold value and connect
Pipe duration threshold value, determines the deceleration of intelligent automobile；Based on deceleration-based controller intelligent automobile by speed in adapter tube duration threshold value
It is reduced to the first speed threshold value.
Since the Standby control control loop of intelligent automobile has a single function, speed is too fast to be likely to result in intelligent automobile hair
Raw collision, therefore, intelligent automobile needs regulation speed to be reduced to the first speed threshold value.In order to reduce accident occurrence risk, intelligence
Speed can be reduced to the first speed threshold value in adapter tube duration threshold value by automobile.Therefore, intelligent automobile is needed based on intelligent vapour
The current speed of vehicle, the first speed threshold value and adapter tube duration threshold value, the deceleration of intelligent automobile is determined by following formula (1).
A=(V1-V2)/T(1)
It should be noted that a is deceleration, V in above-mentioned formula (1)1For the current speed of intelligent automobile, V2It is first
Speed threshold value, T are adapter tube duration threshold value.The first speed threshold value can be arranged in advance, for example, the first speed threshold value can be
40000 ms/h, 60,000 ms/h etc..The adapter tube duration threshold value can be equally arranged in advance, for example, the adapter tube duration threshold
Value can be 10 seconds, 15 seconds etc..
Further, since intelligent automobile is after being reminded, driver may adapter tube intelligent automobile, it is also possible to will not
Adapter tube intelligent automobile, therefore, intelligent automobile can be after reminding driver to take over the intelligent automobile, and whether detection driver connects
Pipe intelligent automobile.
Wherein, intelligent automobile can detecte the brake pedal of intelligent automobile and/or whether steering wheel is taken over by the driver,
And whether detection pattern switching switch by automatic driving mode is switched to manual drive mode；When detect brake pedal and/
Or steering wheel is taken over and/or when mode selector switch is switched to manual drive mode by automatic driving mode, determined by driver
The intelligent automobile is taken over by driver.Otherwise, it determines driver's not adapter tube intelligent automobile.When determining the intelligent automobile by driver
After adapter tube, back-up system exits the control to intelligent automobile.
Step 303: not by intelligent automobile in adapter tube duration threshold value after intelligent automobile is in automated driving system failure
When driver takes over, control intelligent automobile sends rescue information to automobile rescue platform.
Since intelligent automobile can remind driver's adapter tube intelligent automobile by modes such as voice messagings, still, due to driving
The person of sailing is likely to absent minded, causes not notice voice messaging, at this point, driver will not adapter tube intelligent automobile,
Intelligent automobile is caused to there is the risk that traffic accident occurs.Therefore, in order to avoid traffic accident, intelligent automobile occur for intelligent automobile
When detecting driver's not adapter tube intelligent automobile in adapter tube duration threshold value, control intelligent automobile is sent to automobile rescue platform
Rescue information, and during sending rescue information to automobile rescue platform, continued at the uniform velocity with the speed of the first speed threshold values
Traveling.
It should be noted that may include that intelligent automobile is presently in location information, license plate number, failure and disappears in the rescue information
The message such as breath.
Since intelligent automobile is mobile, the position of intelligent automobile changes at any time, and therefore, intelligent automobile can be real
When or every time interval send location information to automobile rescue platform, which is sent to rescue by automobile rescue platform
Automobile.
Further, intelligent automobile can also remind intelligent vapour while sending rescue information to automobile rescue platform
Other vehicles pay attention to avoiding intelligent automobile around vehicle.
Wherein, intelligent automobile can control outer car light light or rule flashing, and/or to outside vehicle other vehicles play warning
Information, there are security risks for the current intelligent automobile of other vehicles for prompting around intelligent automobile for the warning message.
It should be noted that the content of the warning message can be arranged in advance, for example, the content of the warning message can be
" vehicle failure pays attention to evacuation " etc..
Step 304: when intelligent automobile detects that rescue automobile reaches, control intelligent automobile parking.
It, can be in place to intelligent automobile institute since automobile rescue platform is when receiving the rescue information of intelligent automobile transmission
It sets and sends rescue automobile with charge free, and the presence for rescuing automobile can reduce the injury that driver is subject to.Therefore, when intelligent automobile detects
When rescuing automobile arrival, intelligent automobile parking can control.
Wherein, intelligent automobile can control intelligent automobile speed according to deceleration threshold and be reduced to 0, to stop, and
Open the hazard warning lamp of intelligent automobile.
It should be noted that the deceleration threshold can be arranged in advance, for example, the deceleration threshold can often put down for 2 meters
Fang Miao, 3 meters of every square of seconds etc..
It should be noted that rescue automobile can be sent to intelligent automobile when rescuing automobile intelligent automobile present position
Cutoff command confirmly detects rescue automobile and reaches when intelligent automobile receives the cutoff command.
Since rescue automobile is distant apart from intelligent automobile, before rescue automobile reaches, driver may have been taken over
Intelligent automobile, optionally, intelligent automobile can be sent to automobile rescue center cancels rescue information, or is by driver's selection
Rescue information is cancelled in no transmission.
In embodiments of the present invention, intelligent automobile can be mentioned in the automated driving system failure for detecting intelligent automobile
Awake driver's adapter tube intelligent automobile, and control intelligent automobile and be reduced to the first speed threshold value in the speed being presently in lane,
When driver is not in adapter tube duration threshold value inner connecting tube intelligent automobile, to automobile rescue platform transmission rescue information, and when detection
To rescue automobile reach when, control intelligent automobile parking, thus avoid intelligent automobile out of control and intelligent automobile because directly stop
And traffic violation is caused, improve the drive safety of intelligent automobile.
After the control method to intelligent automobile provided in an embodiment of the present invention is explained, next, to this
The control device for the intelligent automobile that inventive embodiments provide is introduced.
Fig. 4 is a kind of block diagram of the control device for intelligent automobile that the embodiment of the present disclosure provides, and referring to fig. 4, which can
With being implemented in combination with by software, hardware or both.The device includes: reminding module 401, the first control module 402 and second
Control module 403.
Reminding module 401, for reminding the intelligence when detecting that automated driving system breaks down in intelligent automobile
The driver of automobile takes over the intelligent automobile, and controls the intelligent automobile and be reduced to the in the speed being presently in lane
One speed threshold value；
First control module 402, for the adapter tube duration after intelligent automobile is in the automated driving system failure
When not taken over by the driver of the intelligent automobile in threshold value, the intelligent automobile is controlled to automobile rescue platform and sends rescue letter
Breath；
Second control module 403, for when detecting that rescue automobile reaches, controlling the intelligent automobile parking.
Optionally, referring to Fig. 5, first control module 402 includes:
Acquisition submodule 4021, for obtaining the current speed of the intelligent automobile；
Submodule 4022 is determined, for based on the current speed of the intelligent automobile, the first speed threshold value and deceleration
Duration threshold value determines the deceleration of the intelligent automobile；
Control submodule 4023, for being based on intelligent automobile described in the deceleration-based controller in the deceleration duration threshold value
Speed is reduced to the first speed threshold value.
Optionally, referring to Fig. 6, described device further include:
Third control submodule 404, the control system for controlling the intelligent automobile are switching in duration threshold value by institute
It states automated driving system and switches to Standby control control loop.
Optionally, second control module 403 is used for:
The intelligent automobile speed is controlled according to deceleration threshold and is reduced to 0, and opens the dangerous report of the intelligent automobile
Alert flash lamp.
In conclusion in embodiments of the present invention, intelligent automobile can be in the automated driving system for detecting intelligent automobile
When failure, driver's adapter tube intelligent automobile is reminded, and control intelligent automobile and be reduced to first in the speed being presently in lane
Speed threshold value sends rescue information to automobile rescue platform when driver is not in adapter tube duration threshold value inner connecting tube intelligent automobile,
And when detect rescue automobile reach when, control intelligent automobile parking, thus avoid intelligent automobile out of control and intelligent automobile because
It directly stops and causes traffic violation, improve the drive safety of intelligent automobile.
It should be understood that the control device of intelligent automobile provided by the above embodiment is when controlling intelligent automobile, only with
The division progress of above-mentioned each functional module can according to need and for example, in practical application by above-mentioned function distribution by not
Same functional module is completed, i.e., the internal structure of device is divided into different functional modules, to complete whole described above
Or partial function.In addition, the control device of intelligent automobile provided by the above embodiment and the control method of intelligent automobile are implemented
Example belongs to same design, and specific implementation process is detailed in embodiment of the method, and which is not described herein again.
Fig. 7 shows the structural block diagram of the intelligent automobile 700 of an illustrative embodiment of the invention offer.
In general, intelligent automobile 700 includes: processor 701 and memory 702.
Processor 701 may include one or more processing cores, such as 4 core processors, 8 core processors etc..Place
Reason device 701 can use DSP (Digital Signal Processing, Digital Signal Processing), FPGA (Field-
Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, may be programmed
Logic array) at least one of example, in hardware realize.Processor 701 also may include primary processor and coprocessor, master
Processor is the processor for being handled data in the awake state, also referred to as CPU (Central Processing
Unit, central processing unit)；Coprocessor is the low power processor for being handled data in the standby state.?
In some embodiments, processor 701 can be integrated with GPU (Graphics Processing Unit, image processor),
GPU is used to be responsible for the rendering and drafting of content to be shown needed for display screen.In some embodiments, processor 701 can also be wrapped
AI (Artificial Intelligence, artificial intelligence) processor is included, the AI processor is for handling related machine learning
Calculating operation.
Memory 702 may include one or more computer readable storage mediums, which can
To be non-transient.Memory 702 may also include high-speed random access memory and nonvolatile memory, such as one
Or multiple disk storage equipments, flash memory device.In some embodiments, the non-transient computer in memory 702 can
Storage medium is read for storing at least one instruction, at least one instruction performed by processor 701 for realizing this Shen
Please in embodiment of the method provide intelligent automobile control method.
In some embodiments, intelligent automobile 700 is also optional includes: peripheral device interface 703 and at least one periphery
Equipment.It can be connected by bus or signal wire between processor 701, memory 702 and peripheral device interface 703.It is each outer
Peripheral equipment can be connected by bus, signal wire or circuit board with peripheral device interface 703.Specifically, peripheral equipment includes: to penetrate
At least one in frequency circuit 704, touch display screen 705, camera 706, voicefrequency circuit 707, positioning component 708 and power supply 709
Kind.
Peripheral device interface 703 can be used for I/O (Input/Output, input/output) is relevant outside at least one
Peripheral equipment is connected to processor 701 and memory 702.In some embodiments, processor 701, memory 702 and peripheral equipment
Interface 703 is integrated on same chip or circuit board；In some other embodiments, processor 701, memory 702 and outer
Any one or two in peripheral equipment interface 703 can realize on individual chip or circuit board, the present embodiment to this not
It is limited.
Radio circuit 704 is for receiving and emitting RF (Radio Frequency, radio frequency) signal, also referred to as electromagnetic signal.It penetrates
Frequency circuit 704 is communicated by electromagnetic signal with communication network and other communication equipments.Radio circuit 704 turns electric signal
It is changed to electromagnetic signal to be sent, alternatively, the electromagnetic signal received is converted to electric signal.Optionally, radio circuit 704 wraps
It includes: antenna system, RF transceiver, one or more amplifiers, tuner, oscillator, digital signal processor, codec chip
Group, user identity module card etc..Radio circuit 704 can be carried out by least one wireless communication protocol with other terminals
Communication.The wireless communication protocol includes but is not limited to: Metropolitan Area Network (MAN), each third generation mobile communication network (2G, 3G, 4G and 5G), wireless office
Domain net and/or WiFi (Wireless Fidelity, Wireless Fidelity) network.In some embodiments, radio circuit 704 may be used also
To include the related circuit of NFC (Near Field Communication, wireless near field communication), the application is not subject to this
It limits.
Display screen 705 is for showing UI (User Interface, user interface).The UI may include figure, text, figure
Mark, video and its their any combination.When display screen 705 is touch display screen, display screen 705 also there is acquisition to show
The ability of the touch signal on the surface or surface of screen 705.The touch signal can be used as control signal and be input to processor
701 are handled.At this point, display screen 705 can be also used for providing virtual push button and/or dummy keyboard, also referred to as soft button and/or
Soft keyboard.In some embodiments, display screen 705 can be one, and the front panel of intelligent automobile 700 is arranged；In other realities
It applies in example, display screen 705 can be at least two, be separately positioned on the different surfaces of intelligent automobile 700 or in foldover design；?
In still other embodiments, display screen 705 can be flexible display screen, is arranged on the curved surface of intelligent automobile 700 or folds
On face.Even, display screen 705 can also be arranged to non-rectangle irregular figure, namely abnormity screen.Display screen 705 can be adopted
With LCD (Liquid Crystal Display, liquid crystal display), (Organic Light-Emitting Diode, has OLED
Machine light emitting diode) etc. materials preparation.
CCD camera assembly 706 is for acquiring image or video.Optionally, CCD camera assembly 706 include front camera and
Rear camera.In general, the front panel of terminal is arranged in front camera, the back side of terminal is arranged in rear camera.One
In a little embodiments, rear camera at least two is main camera, depth of field camera, wide-angle camera, focal length camera shooting respectively
Any one in head, to realize that main camera and the fusion of depth of field camera realize background blurring function, main camera and wide-angle
Camera fusion realizes that pan-shot and VR (Virtual Reality, virtual reality) shooting function or other fusions are clapped
Camera shooting function.
Voicefrequency circuit 707 may include microphone and loudspeaker.Microphone is used to acquire the sound wave of user and environment, and will
Sound wave, which is converted to electric signal and is input to processor 701, to be handled, or is input to radio circuit 704 to realize voice communication.
For stereo acquisition or the purpose of noise reduction, microphone can be separately positioned on the different parts of intelligent automobile 700 to be multiple.
Microphone can also be array microphone or omnidirectional's acquisition type microphone.Loudspeaker is then used to that processor 701 or radio frequency will to be come from
The electric signal of circuit 704 is converted to sound wave.Loudspeaker can be traditional wafer speaker, be also possible to piezoelectric ceramics loudspeaking
Device.When loudspeaker is piezoelectric ceramic loudspeaker, the audible sound wave of the mankind can be not only converted electrical signals to, can also be incited somebody to action
Electric signal is converted to the sound wave that the mankind do not hear to carry out the purposes such as ranging.In some embodiments, voicefrequency circuit 707 can be with
Including earphone jack.
Positioning component 708 is used for the current geographic position of positioning intelligent automobile 700, to realize navigation or LBS (Location
Based Service, location based service).Positioning component 708 can be the GPS (Global based on the U.S.
Positioning System, global positioning system), the dipper system of China, Russia Gray receive this system or European Union
The positioning component of Galileo system.
Power supply 709 is used to be powered for the various components in intelligent automobile 700.Power supply 709 can be alternating current, direct current
Electricity, disposable battery or rechargeable battery.When power supply 709 includes rechargeable battery, which can support wired
Charging or wireless charging.The rechargeable battery can be also used for supporting fast charge technology.
In some embodiments, intelligent automobile 700 further includes having one or more sensors 710.The one or more passes
Sensor 710 includes but is not limited to: acceleration transducer 711.
Acceleration transducer 711 can detecte the acceleration in three reference axis of the coordinate system established with intelligent automobile 700
Spend size.For example, acceleration transducer 711 can be used for detecting component of the acceleration of gravity in three reference axis.Processor
The 701 acceleration of gravity signals that can be acquired according to acceleration transducer 711, control touch display screen 705 with transverse views or
Longitudinal view carries out the display of user interface.Acceleration transducer 711 can be also used for game or the exercise data of user
Acquisition.
It that is to say, the embodiment of the present invention provides not only a kind of intelligent automobile, including processor and is used for storage processor
The memory of executable instruction, wherein processor is configured as executing the method in Fig. 2 and embodiment shown in Fig. 3, moreover,
The embodiment of the invention also provides a kind of computer readable storage medium, it is stored with computer program in the storage medium, the meter
The control method of Fig. 2 and the intelligent automobile in embodiment shown in Fig. 3 may be implemented in calculation machine program when being executed by processor.
It will be understood by those skilled in the art that structure shown in Fig. 7 does not constitute the restriction to intelligent automobile 700, it can
To include perhaps combining certain components than illustrating more or fewer components or being arranged using different components.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of control method of intelligent automobile, which is characterized in that the described method includes:
When detecting that automated driving system breaks down in intelligent automobile, remind described in driver's adapter tube of the intelligent automobile
Intelligent automobile, and control the intelligent automobile and be reduced to the first speed threshold value in the speed being presently in lane；
Not by the intelligent automobile in adapter tube duration threshold value after the intelligent automobile is in the automated driving system failure
When driver takes over, the intelligent automobile is controlled to automobile rescue platform and sends rescue information；
When detecting that rescue automobile reaches, the intelligent automobile parking is controlled.
2. the method as described in claim 1, which is characterized in that the control intelligent automobile is being presently in lane
Speed be reduced to the first speed threshold value, comprising:
Obtain the current speed of the intelligent automobile；
Based on the current speed of the intelligent automobile, the first speed threshold value and deceleration duration threshold value, the intelligent vapour is determined
The deceleration of vehicle；
Speed is reduced to first vehicle in the deceleration duration threshold value based on intelligent automobile described in the deceleration-based controller
Fast threshold value.
3. the method as described in claim 1, which is characterized in that the driver for reminding the intelligent automobile takes over the intelligence
Before energy automobile, further includes:
The control system for controlling the intelligent automobile switches to backup control by the automated driving system in switching duration threshold value
Control loop processed.
4. the method as described in claim 1, which is characterized in that the control intelligent automobile parking, comprising:
The intelligent automobile speed is controlled according to deceleration threshold and is reduced to 0, and the danger warning for opening the intelligent automobile dodges
Light lamp.
5. a kind of control device of intelligent automobile, which is characterized in that described device includes:
Reminding module, for reminding the intelligent automobile when detecting that automated driving system breaks down in intelligent automobile
Driver takes over the intelligent automobile, and controls the intelligent automobile and be reduced to the first speed in the speed being presently in lane
Threshold value；
First control module, in the adapter tube duration threshold value after intelligent automobile is in the automated driving system failure not
When being taken over by the driver of the intelligent automobile, the intelligent automobile is controlled to automobile rescue platform and sends rescue information；
Second control module, for when detecting that rescue automobile reaches, controlling the intelligent automobile parking.
6. device as claimed in claim 5, which is characterized in that first control module includes:
Acquisition submodule, for obtaining the current speed of the intelligent automobile；
Determine submodule, for based on the current speed of the intelligent automobile, the first speed threshold value and deceleration duration threshold value,
Determine the deceleration of the intelligent automobile；
Control submodule, for being dropped speed in the deceleration duration threshold value based on intelligent automobile described in the deceleration-based controller
Down to the first speed threshold value.
7. device as claimed in claim 5, which is characterized in that described device further include:
Third control submodule, the control system for controlling the intelligent automobile are driven in switching duration threshold value by described automatically
The system of sailing switches to Standby control control loop.
8. device as claimed in claim 5, which is characterized in that second control module is used for:
The intelligent automobile speed is controlled according to deceleration threshold and is reduced to 0, and the danger warning for opening the intelligent automobile dodges
Light lamp.
9. a kind of computer readable storage medium, which is characterized in that be stored with computer program, the meter in the storage medium
Any method in claim 1-4 is realized when calculation machine program is executed by processor.
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| CN201811469589.4A CN109334591A (en) | 2018-11-28 | 2018-11-28 | Control method, device and the storage medium of intelligent automobile |
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| CN201811469589.4A CN109334591A (en) | 2018-11-28 | 2018-11-28 | Control method, device and the storage medium of intelligent automobile |
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Application publication date: 20190215 |