A method, a control device and a storage medium for controlling a lifting bridge

Abstract

The present invention provides a control method, control device and storage medium for a vehicle lifting bridge, the method comprising: when the current weather is rainy and the current state of the lifting bridge of the vehicle is lowered, obtaining the positioning and heading angle of the remote vehicles around the vehicle; judging whether the driving directions of the two vehicles are in the same direction according to whether the heading angle deviation value △θ between the heading angle of the remote vehicle and the heading angle of the vehicle is within a predetermined deviation range; if so, when it is determined according to the positioning of the two vehicles that the distance between the two vehicles in the driving direction of the vehicle is less than a preset first distance and the two vehicles are located in adjacent lanes, controlling the lifting bridge to lift off the ground. Through the above technical solution, the problem of water mist splashing when trucks are driving in rainy days can be effectively reduced, and traffic safety can be improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile control technology, and in particular to a control method, a control device and a storage medium for a lifting bridge. Background Art

[0002] At present, with the development of chassis technology for vehicles such as trucks, some high-end trucks have lifting axles, which are also called suspended axles. They are axles that can be raised and lowered freely. After the axle is lifted or lifted, the tires of some axles can leave the ground. When the axle is overloaded, it can be lowered to bear the weight and improve the vibration of the vehicle. However, when the lifting axle is lowered on the road in rainy days, it will increase the splash of water mist, which is easy to block the sight of surrounding vehicles, especially small vehicles, and cause traffic safety hazards. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a control method, a control device and a storage medium for a lifting bridge, so as to alleviate the water mist splashing when driving on rainy roads by controlling the vehicle lifting bridge, thereby improving traffic safety.

[0004] In order to achieve the above object, on the one hand, a control method for a lifting bridge is provided, the method comprising the following steps:

[0005] S1, when the current weather is rainy and the current state of the lifting bridge of the vehicle is down, obtain the positioning and heading angles of the distant vehicles around the vehicle;

[0006] S2, judging whether the two vehicles are traveling in the same direction according to whether the heading angle deviation value △θ between the heading angle of the remote vehicle and the heading angle of the own vehicle is within a predetermined deviation range; if so, executing step S3;

[0007] S3, when it is determined according to the positioning of the two vehicles that the distance between the two vehicles in the driving direction of the vehicle is less than a preset first distance and the two vehicles are located in adjacent lanes, the lifting axle is controlled to be raised.

[0008] Preferably, in the control method of the lifting bridge, after step S3, when the distance between the two vehicles in the driving direction of the vehicle is greater than or equal to the first distance or the two vehicles are no longer located in adjacent lanes, the lifting bridge is controlled to be lowered.

[0009] Preferably, the control method of the lifting bridge satisfies one or more of the following:

[0010] In the step S1, the current weather is determined by using a rain sensor or vehicle networking information;

[0011] In step S2, the predetermined deviation range is [-20°, 20°];

[0012] In step S3, the first distance is 50 meters;

[0013] The vehicle is a truck.

[0014] Preferably, in the control method of the lifting bridge, the host vehicle obtains the positioning and heading angle of the remote vehicle through V2X communication equipment equipped on the remote vehicle and the host vehicle.

[0015] Preferably, in the control method of the lifting bridge, step S3 comprises:

[0016] Determining a distance d between the two vehicles according to the positioning of the two vehicles;

[0017] A rectangular coordinate system XOY is constructed with the driving direction of the vehicle as the positive direction of the Y axis, the positioning coordinate point corresponding to the positioning of the vehicle as the origin 0, and the straight line passing through the origin 0 and perpendicular to the Y axis as the X axis, and the component dy of the distance d on the Y axis is determined, and the absolute value of dy is the distance between the two vehicles in the driving direction of the vehicle;

[0018] Determine a component dx of the distance d on the X-axis, wherein the absolute value of dx is the distance between the two vehicles in the X-axis direction;

[0019] When the distance between the two vehicles in the X-axis direction is within a preset distance range, it is determined that the two vehicles are located in adjacent lanes, and the preset distance range is greater than 1.5 meters and less than 4.5 meters.

[0020] Preferably, the control method of the lifting bridge, in the step S3, before determining according to the positioning of the two vehicles that the distance between the two vehicles in the driving direction of the vehicle is less than a preset first distance and the two vehicles are located in adjacent lanes, further includes: when the distance between the two vehicles in the driving direction of the vehicle is greater than or equal to a preset second distance, ending the process; wherein the second distance is greater than the first distance.

[0021] Preferably, in the control method of the lifting bridge, the second distance is 200 meters.

[0022] On the other hand, a device for controlling a lifting axle is provided, comprising a memory and a processor, wherein the memory stores at least one program, and the at least one program is executed by the processor to implement any of the above-described control methods for a vehicle lifting axle.

[0023] On the other hand, a computer-readable storage medium is provided, wherein the storage medium stores at least one program, and the at least one program is executed by a processor to implement any of the vehicle lifting axle control methods described above.

[0024] The above technical solution has the following technical effects:

[0025] The technical solution of the embodiment of the present invention obtains and utilizes the positioning and heading angle information of distant vehicles around the vehicle to determine whether there are other vehicles approaching the vehicle on both sides on rainy days. If so, the lifting bridge is raised to reduce the water mist generated when the two vehicles approach each other, thereby providing certain protection for the driving safety of surrounding vehicles and alleviating the traffic safety hazard caused by water mist splashing on rainy days.

[0026] In a further embodiment, by constructing a rectangular coordinate system XOY with the driving direction of the vehicle as the positive direction of the Y-axis, the positioning coordinate point corresponding to the positioning of the vehicle as the origin O, and the straight line passing through the origin O and perpendicular to the Y-axis as the X-axis, it is possible to effectively and conveniently determine information such as the driving distance of the vehicle in the driving direction and whether the two vehicles are adjacent.

[0027] In a further embodiment, vehicles obtain information about remote vehicles through pre-equipped V2X communication equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a flow chart of a method for controlling a vehicle lifting axle according to an embodiment of the present invention;

[0029] Figure 2 It is a schematic diagram of a control method for a vehicle lifting bridge according to an embodiment of the present invention implemented in a specific application scenario;

[0030] Figure 3 It is a schematic structural diagram of a control device for a vehicle lifting axle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0032] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0033] Embodiment 1:

[0034] Figure 1 FIG. 1 is a flow chart of a method for controlling a vehicle lifting bridge according to an embodiment of the present invention. Figure 1 The control method of the vehicle lifting bridge of this embodiment includes the following steps:

[0035] S1, when the current weather is rainy and the current state of the lifting bridge of the vehicle is down, obtain the positioning and heading angles of the distant vehicles around the vehicle;

[0036] S2, judging whether the two vehicles are traveling in the same direction according to whether the heading angle deviation value △θ between the heading angle of the remote vehicle and the heading angle of the own vehicle is within a predetermined deviation range; if so, executing step S3;

[0037] S3, when it is determined according to the positioning of the two vehicles that the distance between the two vehicles in the driving direction of the vehicle is less than a preset first distance and the two vehicles are located in adjacent lanes, the lifting axle is controlled to be raised.

[0038] Further, when it is determined based on the positioning of the two vehicles that the distance between the two vehicles in the driving direction of the vehicle is greater than or equal to the first distance or the two vehicles are no longer located in adjacent lanes, the lifting axle is controlled to be lowered and can be reused.

[0039] The heading angle of the vehicle is the angular difference between the vehicle's driving direction and due north.

[0040] This embodiment controls the temporary lifting of the lifting bridge of a vehicle such as a truck so that the lifting bridge is off the ground, which can effectively reduce the splashing of water mist generated when two vehicles are driving close to each other.

[0041] Embodiment 2:

[0042] Figure 2 The figure is a schematic diagram of a control method for a vehicle lifting bridge according to an embodiment of the present invention implemented in a specific application scenario. In this embodiment, a truck is used as an example for explanation, and in this example, both the vehicle and the remote vehicle are equipped with V2X communication equipment, and the vehicle can obtain its own status information, such as positioning and heading angle information, through the V2X communication equipment, and the two vehicles can communicate through the V2X communication equipment. In other implementations, the two vehicles can also communicate through other communication methods.

[0043] like Figure 2 As shown in the figure, a truck HV (Heavy Vehicle) equipped with V2X communication equipment and a remote vehicle RV (Remote Vehicle) are driving normally in their respective lanes. Both HV and RV have the ability of V2X vehicle-to-vehicle direct wireless communication. RV uses V2X equipment to transmit positioning (X 1 ,Y 1 ), heading angle θ 1 The vehicle status information including the information is sent to the HV. After receiving the status information sent by the RV, the HV determines whether to proceed to the next operation according to whether the current weather is rainy and whether the lifting bridge is in the lowered state. In a specific implementation, the vehicle can determine whether the current weather is rainy through a rain sensor or vehicle network information.

[0044] When the weather is rainy and the lifting bridge of the vehicle is in the down position, the HV obtains its own positioning information at the current moment from the V2X communication device, such as the positioning coordinates (X 2 ,Y 2 ) and its own heading angle θ 2 The information is used to determine whether the two vehicles are traveling in the same direction by determining whether the heading angle deviation value △θ between the heading angle of the remote vehicle and the heading angle of the own vehicle is within a predetermined deviation range, where △θ = θ 2 -θ 1 In a specific implementation, the predetermined deviation range is [-20°, 20°], that is, if △θ∈[-20°, 20°], then the target vehicle and the host vehicle have the same heading, that is, the two vehicles are traveling in the same direction. In other implementations, the heading angle deviation range for determining the same-direction driving can be adjusted according to actual application requirements.

[0045] When the two vehicles are traveling in the same direction, when it is determined based on the positioning of the two vehicles that the distance between the two vehicles in the direction of travel of the vehicle is less than a preset first distance and the two vehicles are located in adjacent lanes, the lifting bridge of the vehicle is controlled to be lifted so that the lifting bridge is off the ground; then, when the distance between the two vehicles in the direction of travel of the vehicle is greater than or equal to the above-mentioned first distance, the lifting bridge is lowered and reused. Preferably, the above-mentioned first distance is 50 meters. In other implementations, the first distance can be set to other values ​​according to various factors such as the environment.

[0046] In a specific implementation, the distance d between the two vehicles is determined according to the positioning of the two vehicles, such as the positioning coordinates. 2 ,Y 2 ) is the origin O, and the straight line passing through the origin O and perpendicular to the Y axis is the X axis to construct a rectangular coordinate system XOY. In this example, the positive direction of the X axis is the right direction. Determine the component dy of the distance d on the Y axis, and the absolute value of dy is the distance between the two vehicles in the driving direction of the vehicle.

[0047] like Figure 2 ,θ 3 is the angle between the distance d and the positive direction of the Y axis, and the component of the distance d on the X axis is determined to be dx. The absolute value of dx is the distance between the two vehicles in the X axis direction, where:

[0048] d = sqrt((X 2 -X 1 ) 2 +(Y 2 -Y 1 ) 2 ),

[0049] θ 3 =|θ 2 -arctan((X 2-X 1 ) / (Y 2 -Y 1 ))∣,

[0050] dx=d*sinθ 3 ,

[0051] dy=d*cosθ 3 .

[0052] In this embodiment, the above distance in the X-axis direction is used to determine whether the two vehicles are traveling in adjacent lanes; specifically, it is determined whether the above distance in the X-axis direction is within a pre-set distance range; if so, it is determined that the two vehicles are in adjacent lanes; otherwise, it is determined that the two vehicles are not in adjacent lanes; if the two vehicles are not in adjacent lanes, there is no problem of splashing water mist, and the vehicle does not need to lift the lifting bridge, and the process can be ended. In a specific implementation, preferably, the above pre-set distance range is greater than 1.5 meters and less than 4.5 meters. In other implementations, other distance ranges for determining whether the two vehicles are traveling in adjacent lanes can be pre-set according to actual scenarios.

[0053] Furthermore, in an embodiment, a second distance may be preset, wherein the second distance is greater than the first distance. Before judging whether the distance between the two vehicles in the driving direction of the vehicle is less than the preset first distance and whether the two vehicles are driving in adjacent lanes, the relationship between the distance between the two vehicles in the driving direction of the vehicle and the second distance is first judged to determine whether the above-mentioned first distance and adjacent lane judgment is to be performed; if the distance between the two vehicles in the driving direction of the vehicle is less than the second distance, the above-mentioned first distance judgment and adjacent lane judgment are started; otherwise, since the distance between the two vehicles is too far, there will be no safety problem of water mist splashing, and there is no need to continue the above-mentioned first distance judgment and adjacent lane judgment, and the process can be terminated. Preferably, the second distance is 200 meters; in other implementations, the second distance can be set to other values ​​according to specific application scenarios.

[0054] Embodiment three:

[0055] The present invention also provides a control device for a vehicle lifting bridge, such as Figure 3 As shown, the control device includes a processor 301, a memory 302, a bus 303, and a computer program stored in the memory 302 and executable on the processor 301. The processor 301 includes one or more processing cores. The memory 302 is connected to the processor 301 via the bus 303. The memory 302 is used to store program instructions. When the processor executes the computer program, the steps in the above method embodiment of the first embodiment of the present invention are implemented.

[0056] Further, as an executable solution, the control device of the vehicle lifting bridge can be a computer unit, and the computer unit can be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The computer unit may include, but is not limited to, a processor and a memory. Those skilled in the art will understand that the composition structure of the above-mentioned computer unit is only an example of a computer unit and does not constitute a limitation on the computer unit, and may include more or less components than the above, or a combination of certain components, or different components. For example, the computer unit may also include input and output devices, network access devices, buses, etc., which are not limited in the embodiments of the present invention.

[0057] Further, as an executable solution, the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the computer unit, and various interfaces and lines are used to connect the various parts of the entire computer unit.

[0058] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the computer unit by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0059] Embodiment 4:

[0060] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method in the embodiment of the present invention are implemented.

[0061] If the module / unit integrated in the computer unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory) and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0062] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A method for controlling a vehicle lifting bridge, characterized in that: The following steps are involved: S1, when the current weather is rainy and the current state of the lifting bridge of the vehicle is down, obtain the positioning and heading angles of the distant vehicles around the vehicle; S2, judging whether the two vehicles are traveling in the same direction according to whether the heading angle deviation value △θ between the heading angle of the remote vehicle and the heading angle of the own vehicle is within a predetermined deviation range; if so, executing step S3; S3, when it is determined according to the positioning of the two vehicles that the distance between the two vehicles in the driving direction of the vehicle is less than a preset first distance and the two vehicles are located in adjacent lanes, the lifting bridge is controlled to be raised.

2. The control method according to claim 1, characterized in that: After step S3, when the distance between the two vehicles in the driving direction of the vehicle is greater than or equal to the first distance or the two vehicles are no longer located in adjacent lanes, the lifting axle is controlled to be lowered.

3. The control method according to claim 1, characterized in that: Satisfy one or more of the following: In the step S1, the current weather is determined by using a rain sensor or vehicle networking information; In step S2, the predetermined deviation range is [-20°, 20°]; In step S3, the first distance is 50 meters; The vehicle is a truck.

4. The control method according to claim 1, characterized in that: The host vehicle obtains the positioning and heading angle of the remote vehicle through V2X communication devices equipped on the remote vehicle and the host vehicle.

5. The control method according to claim 1, characterized in that: The step S3 comprises: Determining a distance d between the two vehicles according to the positioning of the two vehicles; A rectangular coordinate system XOY is constructed with the driving direction of the vehicle as the positive direction of the Y axis, the positioning coordinate point corresponding to the positioning of the vehicle as the origin O, and the straight line passing through the origin O and perpendicular to the Y axis as the X axis, and the component dy of the distance d on the Y axis is determined, and the absolute value of dy is the distance between the two vehicles in the driving direction of the vehicle.

6. The control method according to claim 5, characterized in that: The step S3 further comprises: Determine a component dx of the distance d on the X-axis, wherein the absolute value of dx is the distance between the two vehicles in the X-axis direction; When the distance between the two vehicles in the X-axis direction is within a preset distance range, it is determined that the two vehicles are located in adjacent lanes.

7. The control method according to claim 6, characterized in that: The preset distance range is greater than 1.5 meters and less than 4.5 meters.

8. The control method according to claim 1, characterized in that: In the step S3, before determining based on the positioning of the two vehicles that the distance between the two vehicles in the driving direction of the vehicle is less than a preset first distance and the two vehicles are located in adjacent lanes, it also includes: when the distance between the two vehicles in the driving direction of the vehicle is greater than or equal to a preset second distance, ending the process; wherein the second distance is greater than the first distance.

9. A control device for a vehicle lifting bridge, characterized in that: The method comprises a memory and a processor, wherein the memory stores at least one program, and the at least one program is executed by the processor to implement the vehicle lifting axle control method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one program, and the at least one program is executed by a processor to implement the vehicle lifting axle control method according to any one of claims 1 to 8.

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