Vehicle, method and device for controlling vehicle passage

Abstract

The application discloses a vehicle, a control vehicle passing method and equipment, and belongs to the technical field of vehicles. The distance measuring system in the vehicle comprises a control equipment, a first radar sensor and a second radar sensor. The first radar sensor determines a first time length used for emitting a first laser signal to receiving a first laser signal reflected by a first obstacle. The second radar sensor determines a second time length used for emitting a second laser signal to receiving a second laser signal reflected by a second obstacle. The control equipment determines position information of the first obstacle and the second obstacle based on the first time length and the second time length. The second distance is determined based on the position information of the two obstacles and the first distance. In the case that the vehicle body width is less than the second distance, the vehicle is controlled to pass. Compared with judging the distance between the obstacles on both sides by visual observation, the system can accurately determine the distance between the obstacles on both sides, so that the vehicle passing is more accurately controlled.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle, a method for controlling vehicle traffic, and a device. Background Technology

[0002] With the development of urban transportation, overpasses, pedestrian bridges, tunnels, and other traffic facilities are constantly increasing. To ensure traffic safety, some road sections will have obstacles such as concrete blocks and width-limiting posts installed on both sides of the road to restrict road width. If the width of a vehicle is less than the distance between the obstacles on both sides, the vehicle can pass; if the width of the vehicle is greater than that distance, it cannot pass. Therefore, when driving on a road with width restrictions, users need to first determine the distance between the obstacles on both sides, and then determine whether the vehicle can pass based on the relationship between that distance and the vehicle's width.

[0003] In related technologies, the distance between obstacles on both sides is mainly judged by the user's visual estimation, and then based on their own experience, they judge whether the distance is greater than the width of the vehicle, and thus determine whether the vehicle can pass. However, the user's visual estimation can only roughly judge the distance between obstacles on both sides, and the distance judged in this way has a large error with the actual distance, making it impossible to accurately determine whether the vehicle can pass. Summary of the Invention

[0004] This application provides a vehicle, a method for controlling vehicle passage, and a device that can accurately determine whether a vehicle can pass through a width-restricted road section. The technical solution is as follows:

[0005] On one hand, a vehicle is provided, the vehicle comprising: a body and a distance measuring system disposed on the body;

[0006] The distance measurement system includes: a control device, a first radar sensor, and a second radar sensor; both the first radar sensor and the second radar sensor are electrically connected to the control device.

[0007] The first radar sensor is configured to emit a first laser signal, receive a first laser signal reflected by a first obstacle, determine a first duration, and send the first duration to the control device; the first duration represents the time taken from emitting the first laser signal to receiving the reflected first laser signal.

[0008] The second radar sensor is configured to emit a second laser signal, receive a second laser signal reflected by a second obstacle, determine a second duration, and send the second duration to the control device; the second duration represents the time taken from emitting the second laser signal to receiving the reflected second laser signal.

[0009] The control device is configured to determine first location information of the first obstacle based on the first duration; determine second location information of the second obstacle based on the second duration; and determine a second distance based on the first location information, the second location information, and a first distance; wherein the first distance is the distance between the first radar sensor and the second radar sensor, and the second distance is the distance between the first obstacle and the second obstacle;

[0010] The control device is also used to control the passage of the vehicle when the vehicle width is less than the second distance.

[0011] In one possible implementation, the vehicle further includes an on-board terminal electrically connected to the control device;

[0012] The control device is configured to, if, when the vehicle width is less than the second distance, it is determined, based on the vehicle's current position, the first position information, and the second position information, that the vehicle cannot pass from its current position, generate a passage path; and send the passage path to the vehicle-mounted terminal.

[0013] The vehicle-mounted terminal is used for voice navigation according to the travel route.

[0014] In another possible implementation, the control device is configured to send a notification message to the vehicle terminal if it is determined that the vehicle can pass from the current location;

[0015] The vehicle-mounted terminal is configured to output a first voice message based on the notification message; the first voice message is used to prompt the vehicle to proceed at its current location.

[0016] In another possible implementation, the vehicle further includes an alarm device electrically connected to the control device;

[0017] The control device is further configured to send a first alarm signal to the alarm device when the vehicle width is not less than the second distance; the alarm device is configured to control the alarm light to flash and the buzzer to sound based on the first alarm signal; or...

[0018] The control device is further configured to send a second alarm signal to the vehicle terminal when the vehicle width is not less than the second distance; the vehicle terminal is configured to output a second voice message based on the second alarm signal; the second voice message is used to indicate that the vehicle cannot pass.

[0019] In another possible implementation, the first radar sensor includes: a timer, a signal transmitter, and a signal receiver;

[0020] The output terminals of the signal transmitter and the signal receiver are both electrically connected to the input terminal of the timer, and the output terminal of the timer is electrically connected to the control device.

[0021] The signal transmitter is used to transmit the first laser signal, and when transmitting the first laser signal, it sends a start timing command to the timer;

[0022] The signal receiver is configured to receive the reflected first laser signal, and upon receiving the reflected first laser signal, send a stop timing command to the timer.

[0023] The timer is used to determine the first duration based on the start timing command and the stop timing command.

[0024] In another possible implementation, the control device is configured to determine a third distance based on the first duration; the third distance represents the straight-line distance between the signal transmitter and the first obstacle.

[0025] The control device is configured to determine a fourth distance and a fifth distance based on the third distance; and to determine the first position information based on the fourth distance and the fifth distance; wherein the fourth distance represents the distance between the first obstacle and the signal transmitter in a first horizontal direction, and the fifth distance represents the distance between the first obstacle and the signal transmitter in a second horizontal direction, wherein the first horizontal direction is perpendicular to the second horizontal direction.

[0026] On the other hand, a method for controlling vehicle traffic is provided, the method comprising:

[0027] A first radar sensor emits a first laser signal and receives a first laser signal reflected by a first obstacle; it determines a first duration and sends the first duration to a control device; the first duration is used to represent the time taken from emitting the first laser signal to receiving the reflected first laser signal.

[0028] The second radar sensor emits a second laser signal and receives a second laser signal reflected by a second obstacle; it determines a second duration and sends the second duration to the control device; the second duration represents the time taken from emitting the second laser signal to receiving the reflected second laser signal.

[0029] The control device determines the first location information of the first obstacle based on the first duration; and determines the second location information of the second obstacle based on the second duration.

[0030] The control device determines a second distance based on the first location information, the second location information, and the first distance; wherein the first distance is the distance between the first radar sensor and the second radar sensor, and the second distance is the distance between the first obstacle and the second obstacle;

[0031] The control device controls the vehicle to pass when the vehicle width is less than the second distance.

[0032] In one possible implementation, the control device controls vehicle passage when the vehicle width is less than the second distance, including:

[0033] If, when the vehicle width is less than the second distance, the control device determines, based on the vehicle's current position, the first position information, and the second position information, that the vehicle cannot pass from its current position, it generates a passage path and sends the passage path to the vehicle terminal.

[0034] The vehicle-mounted terminal provides voice navigation according to the travel route.

[0035] In another possible implementation, the method further includes:

[0036] If the control device determines that the vehicle can pass from the current location, it sends a notification message to the vehicle terminal;

[0037] Based on the notification message, the vehicle terminal outputs a first voice message; the first voice message is used to prompt the vehicle to proceed at its current location.

[0038] In another possible implementation, the method further includes:

[0039] When the vehicle width is not less than the second distance, the control device sends a first alarm signal to the alarm device; based on the first alarm signal, the alarm device controls the alarm light to flash and the buzzer to sound; or...

[0040] If the vehicle width is not less than the second distance, the control device sends a second alarm signal to the vehicle terminal; the vehicle terminal outputs a second voice message based on the second alarm signal; the second voice message is used to indicate that the vehicle cannot pass.

[0041] In another possible implementation, the first radar sensor includes: a timer, a signal transmitter, and a signal receiver;

[0042] The first radar sensor determines the first duration, including:

[0043] The signal transmitter emits the first laser signal, and when emitting the first laser signal, sends a start timing command to the timer;

[0044] The signal receiver receives the reflected first laser signal, and upon receiving the reflected first laser signal, sends a stop timing command to the timer;

[0045] The timer is used to determine the first duration based on the start timing command and the stop timing command.

[0046] In another possible implementation, the control device determines the first location information of the first obstacle based on the first duration, including:

[0047] The control device determines a third distance based on the first duration; the third distance is used to represent the straight-line distance between the signal transmitter and the first obstacle.

[0048] The control device determines a fourth distance and a fifth distance based on the third distance; and determines the first position information based on the fourth distance and the fifth distance; wherein the fourth distance is used to represent the distance between the first obstacle and the signal transmitter in a first horizontal direction, and the fifth distance is used to represent the distance between the first obstacle and the signal transmitter in a second horizontal direction, wherein the first horizontal direction is perpendicular to the second horizontal direction.

[0049] On the other hand, a control device is provided, the control device including a processor and a memory, the memory storing at least one piece of program code, the at least one piece of program code being loaded and executed by the processor to implement the vehicle passage control method described in any of the above.

[0050] On the other hand, a computer-readable storage medium is provided, wherein at least one piece of program code is stored therein, the at least one piece of program code being loaded and executed by a processor to implement the vehicle passage control method described in any of the preceding claims.

[0051] On the other hand, a computer program product is provided, wherein at least one piece of program code is stored therein, the at least one piece of program code being loaded and executed by a processor to implement the vehicle passage control method described in any of the preceding claims.

[0052] This application provides a vehicle that emits laser signals to determine the position information of obstacles on both sides of a road. Based on the position information of the obstacles, the vehicle determines the distance between them. If the vehicle's width is less than this distance, the vehicle is controlled to pass. Compared to visually determining the distance between obstacles, this method can accurately determine the distance between them, thus controlling vehicle passage more precisely.

[0053] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this disclosure. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the structure of a distance measurement system provided in an embodiment of this application;

[0055] Figure 2 This is a schematic diagram illustrating a vehicle encountering a width-restricted road section during its journey, provided in an embodiment of this application.

[0056] Figure 3 This is a schematic diagram of a first radar sensor provided in an embodiment of this application;

[0057] Figure 4 This is a flowchart of a method for controlling vehicle passage provided in an embodiment of this application;

[0058] Figure 5 This is a schematic diagram of a control device for controlling vehicle passage provided in an embodiment of this application;

[0059] Figure 6 This is a structural block diagram of a control device provided in an embodiment of this application. Detailed Implementation

[0060] To make the technical solution and advantages of this application clearer, the embodiments of this application will be described in further detail below.

[0061] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0062] It should be noted that all information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this application have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the instructions, notification messages, alarm signals, etc. involved in this application were all obtained under full authorization.

[0063] This application provides a vehicle, which includes: a vehicle body and a distance measurement system disposed on the vehicle body;

[0064] See Figure 1 The distance measurement system includes: a control device 101, a first radar sensor 102, and a second radar sensor 103; both the first radar sensor 102 and the second radar sensor 103 are electrically connected to the control device 101.

[0065] The first radar sensor 102 is used to emit a first laser signal, receive a first laser signal reflected by a first obstacle, determine a first duration, and send the first duration to the control device 101; the first duration is used to represent the time taken from emitting the first laser signal to receiving the reflected first laser signal.

[0066] The second radar sensor 103 is used to emit a second laser signal, receive a second laser signal reflected by a second obstacle, determine a second duration, and send the second duration to the control device 101; the second duration is used to represent the time taken from emitting the second laser signal to receiving the reflected second laser signal.

[0067] The control device 101 determines the first position information of the first obstacle based on a first duration; determines the second position information of the second obstacle based on a second duration; and determines the second distance based on the first position information, the second position information, and the first distance; wherein the first distance is the distance between the first radar sensor 102 and the second radar sensor 103, and the second distance is the distance between the first obstacle and the second obstacle.

[0068] The control device 101 is also used to control vehicle passage when the vehicle width is less than the second distance.

[0069] In this embodiment, the first obstacle and the second obstacle are obstacles respectively installed on both sides of the same road segment to restrict the width of passing vehicles. See [link to relevant documentation]. Figure 2 When measuring the distance between the first obstacle and the second obstacle, the vehicle can be either stationary or in motion; there is no specific limitation on this.

[0070] In this embodiment, the vehicle further includes an on-board terminal 104, on which a target application is installed. The target application includes a distance measurement function, which can be enabled or disabled by triggering the corresponding distance measurement option. Therefore, before measuring the distance between the first obstacle and the second obstacle, the control device 101 first determines whether the distance measurement function is enabled. The control device 101 can determine the state of the distance measurement function using any of the following implementation methods.

[0071] In the first implementation, the control device 101 sends a status acquisition command to the vehicle terminal 104 to acquire the status of the distance measurement function. The vehicle terminal 104 determines the status of the distance measurement function based on the status acquisition command and returns a first notification message to the control device 101. The control device 101 then determines the status of the distance measurement function based on the first notification message.

[0072] In the second implementation, the vehicle terminal 104 monitors the status of the distance measurement function. When the distance measurement function is enabled, the vehicle terminal 104 sends a second notification message to the control device 101. The control device 101 determines that the distance measurement function is enabled based on the second notification message.

[0073] With the distance measurement function enabled, the control device 101 sends a first measurement command to the first radar sensor 102 and a second measurement command to the second radar sensor 103. Based on the first measurement command, the first radar sensor 102 emits a first laser signal and receives a first laser signal reflected from a first obstacle. Then, based on the time of emission and reception of the reflected first laser signal, it determines a first duration and sends the first duration to the control device 101. Based on the second measurement command, the second radar sensor 103 emits a second laser signal and receives a second laser signal reflected from a second obstacle. Then, based on the time of emission and reception of the reflected second laser signal, it determines a second duration and sends the second duration to the control device 101.

[0074] In this embodiment, the control device 101 can be a vehicle body control system. The first radar sensor 102 and the second radar sensor 103 can be existing components in the vehicle or newly added components; no specific limitation is made. The positions of the first radar sensor 102 and the second radar sensor 103 can be set and changed as needed. For example, the first radar sensor 102 and the second radar sensor 103 can be located on both sides of the front bumper of the vehicle, or at other locations where the distance between the first obstacle and the second obstacle can be measured; no specific limitation is made. Furthermore, the first radar sensor 102 and the second radar sensor 103 can emit laser signals or ultrasonic waves. In this embodiment, only the example of the first radar sensor 102 and the second radar sensor 103 emitting laser signals is used for explanation.

[0075] Furthermore, the electrical connection in the embodiments of this application can be a circuit connection or a wireless connection, and there is no specific limitation on the latter. If the electrical connection is a circuit connection, the connection method can be a cable connection; if the electrical connection is a wireless connection, the connection method can be an infrared connection, a wireless local area network, or a WiFi (Wireless Fidelity) network connection, and there is no specific limitation on the latter.

[0076] The process by which the first radar sensor 102 determines the first duration will be described next. In this embodiment, the first radar sensor 102 can determine the first duration through any of the following implementation methods.

[0077] In the first implementation, the first radar sensor 102 includes: a timer, a signal transmitter, and a signal receiver;

[0078] The output terminals of both the signal transmitter and the signal receiver are electrically connected to the input terminal of the timer, and the output terminal of the timer is electrically connected to the control device 101.

[0079] A signal transmitter is used to transmit a first laser signal and, when transmitting the first laser signal, sends a start timing command to a timer.

[0080] A signal receiver is used to receive the reflected first laser signal and, upon receiving the reflected first laser signal, to send a stop timing command to the timer.

[0081] A timer is used to determine the initial duration based on start and stop timing commands.

[0082] In this implementation, the signal transmitter includes a transmitting diode and a first optical lens, and the signal receiver includes a receiving diode and a second optical lens. The transmitting diode emits a first laser signal, which is emitted outward through the first optical lens. The first laser signal reflected back from the first obstacle first passes through the second optical lens and then enters the receiving diode.

[0083] Both the emitting diode and the receiving diode are electrically connected to the input terminal of the timer. Therefore, when the emitting diode emits the first laser signal, it sends a start-time command to the timer. When the receiving diode receives the reflected first laser signal, it sends a stop-time command to the timer. (See [link to relevant documentation]). Figure 3 .

[0084] The timer determines the time taken from the start of timing to the stop of timing based on the start and stop timing commands, thus obtaining the first duration. Alternatively, the timer can determine the start timing time based on the start timing command and the stop timing time based on the stop timing command; and send the start timing time and stop timing time to the control device 101 respectively. The control device 101 then determines the first duration based on the start timing time and the stop timing time.

[0085] For ease of distinction, the signal transmitter in the first implementation method is referred to as the first signal transmitter, and the signal receiver is referred to as the second signal receiver.

[0086] In the second implementation, the first radar sensor 102 includes: a signal processor, a second signal transmitter, and a second signal receiver;

[0087] The output terminals of the second signal transmitter and the second signal receiver are both electrically connected to the input terminal of the signal processor, and the output terminal of the signal processor is electrically connected to the control device 101.

[0088] The second signal transmitter is used to transmit the first laser signal, and when transmitting the first laser signal, it sends the first laser signal to the signal processor;

[0089] The second signal receiver is used to receive the reflected first laser signal, and when the reflected first laser signal is received, to send the reflected first laser signal to the signal processor.

[0090] A signal processor is used to determine a first duration based on a first laser signal and a reflected first laser signal.

[0091] In this implementation, the signal processor includes a signal gain controller and a single-threshold comparator; the output of the second signal receiver is electrically connected to the input of the signal gain controller, the output of the signal gain controller and the output of the second signal transmitter are both electrically connected to the input of the single-threshold comparator, and the output of the single-threshold comparator is electrically connected to the control device 101.

[0092] Correspondingly, the second signal transmitter sends a first laser signal to the single-threshold comparator, and the second signal receiver sends the reflected first laser signal to the signal gain controller. The signal gain controller adjusts the amplitude of the reflected first laser signal to obtain an adjusted first laser signal, which is then sent to the single-threshold comparator. The single-threshold comparator compares the first signal waveform of the first laser signal with the second signal waveform of the adjusted first laser signal to obtain a first duration.

[0093] In this embodiment, the second radar sensor 103 determines the second duration in the same way as the first lightning sensor determines the first duration, and will not be described again here.

[0094] Next, we will introduce the process by which the control device 101 determines the first position information based on the first duration.

[0095] In one possible implementation, the control device 101 is used to determine a third distance based on a first duration; the third distance is used to represent the straight-line distance between the signal transmitter and the first obstacle;

[0096] Control device 101 is used to determine a fourth distance and a fifth distance based on a third distance; and to determine first position information based on the fourth distance and the fifth distance; wherein the fourth distance is used to represent the distance between the first obstacle and the signal transmitter in a first horizontal direction, and the fifth distance is used to represent the distance between the first obstacle and the signal transmitter in a second horizontal direction, wherein the first horizontal direction is perpendicular to the second horizontal direction.

[0097] In this implementation, since the first duration is the time from emitting the first laser signal to receiving the reflected first laser signal, the time from emitting the first laser signal to encountering the first obstacle is half of the first duration, i.e., the third duration. The propagation speed of laser is generally 3 × 10⁻⁶. 8 m / s, therefore, the control device 101 uses the product of the third duration and the propagation speed as the third distance.

[0098] In this embodiment, the control device 101 can establish a Cartesian coordinate system centered on the location of the signal transmitter, with the first horizontal direction as the abscissa and the second horizontal direction as the ordinate. Based on this Cartesian coordinate system, the third distance is decomposed in the first and second horizontal directions to obtain a fourth and a fifth distance. The first position information of the first obstacle is then obtained based on the fourth and fifth distances. The first horizontal direction is the X-direction, and the second horizontal direction is the Y-direction.

[0099] In this embodiment, the method by which the control device 101 determines the second location information based on the second duration is the same as the method by which the control device 101 determines the first location information based on the first duration, and will not be described again here.

[0100] After determining the first position information and the second position information respectively, the control device 101 determines the second distance based on the first position information, the second position information, and the first distance. The first distance is the distance between the first radar sensor 102 and the second radar sensor 103; once the positions of the first radar sensor 102 and the second radar sensor 103 are determined, the first distance is a fixed value. The second distance is the distance between the first obstacle and the second obstacle.

[0101] In this implementation, the control device 101 determines the sum of the fourth distance, the sixth distance, and the first distance to obtain the second distance. The sixth distance is the distance between the second obstacle and the second radar sensor 103 in the first horizontal direction.

[0102] It should be noted that the first radar sensor 102 and the second radar sensor 103 are on a straight line, as are the first obstacle and the second obstacle, and both of these lines are parallel to the first horizontal direction.

[0103] In this embodiment of the application, after determining the second distance, the control device 101 compares the second distance with the vehicle width. If the vehicle width is less than the second distance, the control device 101 controls the vehicle to pass.

[0104] In one possible implementation, the control device 101 is used to generate a passage path if, based on the vehicle's current position, first position information, and second position information, it is determined that the vehicle cannot pass from its current position when the vehicle's width is less than the second distance; and to send the passage path to the vehicle terminal 104.

[0105] The vehicle-mounted terminal 104 is used for voice navigation according to the travel route.

[0106] In this implementation, the control device 101 first determines whether the vehicle should pass through the width-restricted road section based on the vehicle's current position, first position information, and second position information, while continuing to travel in the current position and direction.

[0107] The control device 101 can determine a first angle between the vehicle's current driving direction and a first horizontal direction, and a second angle between the straight line formed by the first radar sensor 102 and the first obstacle and the first horizontal direction. Both the first and second angles are less than 90°.

[0108] If the first angle is smaller than the second angle, it means that a collision will occur when the vehicle reaches the first and second obstacles, meaning that the vehicle cannot pass through the width-restricted section if it continues to travel in its current position and direction. If the first angle is larger than the second angle, it means that the vehicle can pass through the width-restricted section if it continues to travel in its current position and direction.

[0109] Alternatively, control device 101 determines a third angle between the straight line formed by the second radar sensor 103 and the second obstacle and the first horizontal direction, where the third angle is less than 90°. If the first angle is less than the third angle, it means that the vehicle cannot pass through the width-restricted section if it continues to travel in its current position and direction. If the first angle is greater than the third angle, it means that the vehicle can pass through the width-restricted section if it continues to travel in its current position and direction.

[0110] When the vehicle cannot proceed from its current location, the control device 101 uses the vehicle's current location, first location information, and second location information to perform route planning and obtain a passable path. This passable path is then sent to the vehicle-mounted terminal 104, which provides voice navigation based on the path, allowing the user to guide the vehicle through the road segment.

[0111] Alternatively, when the vehicle cannot proceed from its current location, the control device 101 uses the vehicle's current location, first location information, and second location information to perform route planning and obtain a passage path. The control device 101 can switch the current driving mode to automatic driving mode. In automatic driving mode, the control device 101 controls the vehicle to travel along the passage path, thereby passing through the road segment.

[0112] In another possible implementation, the control device 101 is used to send a notification message to the vehicle terminal 104 if it is determined that the vehicle can pass from its current location.

[0113] The vehicle terminal 104 is used to output a first voice message based on the notification message; the first voice message is used to prompt the vehicle to proceed at its current location.

[0114] In this implementation, if the control device 101 determines that the vehicle can pass from its current position, it can send a notification message to the vehicle terminal 104. Based on the notification message, the vehicle terminal 104 outputs a first voice message. After hearing the first voice message, the user can continue driving in the current direction without making any adjustments.

[0115] In this embodiment, when the vehicle width is less than the second distance, the control device 101 first determines whether the vehicle can pass through the width-restricted road section if it continues to travel in the current direction. If the vehicle can pass through the road section, the control device 101 can prompt the user through a voice message output by the vehicle terminal 104, allowing the user to continue traveling in the current direction without adjustment. If the vehicle cannot pass through the road section, the control device 101 can provide voice navigation for the user through the vehicle terminal 104, allowing the user to pass through the road section under the guidance of voice navigation.

[0116] It should be noted that the above description only illustrates the control device 101 controlling vehicle passage when the vehicle width is less than the second distance. In practical applications, to ensure safe vehicle passage and avoid collisions, the control device 101 can control vehicle passage when the vehicle width is less than the second distance and the difference between the vehicle width and the second distance is greater than a first threshold. The first threshold can be set and changed as needed; for example, it can be 10 centimeters or 20 centimeters. Furthermore, the vehicle width in this application refers to the maximum width of the vehicle body.

[0117] If the vehicle width is greater than or equal to the second distance, the vehicle cannot pass. In this case, the control device 101 can sound an alarm via an alarm device. Accordingly, the vehicle also includes an alarm device electrically connected to the control device 101;

[0118] Control device 101 is used to send a first alarm signal to an alarm device when the vehicle width is not less than the second distance; the alarm device is used to control the alarm light to flash and the buzzer to sound based on the first alarm signal; or,

[0119] The control device 101 is also used to send a second alarm signal to the vehicle terminal 104 when the vehicle width is not less than the second distance; the vehicle terminal 104 outputs a second voice message based on the second alarm signal; the second voice message is used to prompt that the vehicle cannot pass.

[0120] In this implementation, the control device 101 can issue an alarm via an alarm device, or it can output a second voice message via the vehicle terminal 104 to inform the user that the road section cannot be passed. For example, the second voice message is "The vehicle is too wide to pass; please take a detour."

[0121] Alternatively, the control device 101 can simultaneously send a first alarm signal to the alarm device and a second alarm signal to the vehicle terminal 104, thereby alerting the user that the road section cannot be passed through the alarm device and the vehicle terminal 104 can output a second voice message.

[0122] This application provides a vehicle that emits laser signals to determine the position information of obstacles on both sides of a road. Based on the position information of the obstacles, the vehicle determines the distance between them. If the vehicle's width is less than this distance, the vehicle is controlled to pass. Compared to visually determining the distance between obstacles, this method can accurately determine the distance between them, thus controlling vehicle passage more precisely.

[0123] Another point to note is that while related technologies may determine the distance between obstacles by capturing images and using image processing algorithms, this method suffers from significant errors in size and distance measurement due to limitations in image processing algorithms and the susceptibility of images to external conditions such as weather and lighting. In contrast, the method provided in this application determines the distance between obstacles on both sides using laser signals. Laser signals are less affected by external conditions; therefore, even under unfavorable external conditions, the distance between obstacles on both sides can be accurately determined, leading to more precise vehicle control.

[0124] Figure 4 This is a flowchart of a method for controlling vehicle passage provided in an embodiment of this application. See also... Figure 4 The method includes:

[0125] Step 401: The first radar sensor emits a first laser signal, receives the first laser signal reflected by the first obstacle, determines the first duration, and sends the first duration to the control device.

[0126] The first duration is used to represent the time taken from the emission of the first laser signal to the reception of the reflected first laser signal.

[0127] Step 402: The second radar sensor emits a second laser signal, receives the second laser signal reflected by the second obstacle, determines the second duration, and sends the second duration to the control device.

[0128] The second duration is used to indicate the time taken from the emission of the second laser signal to the receipt of the reflected second laser signal.

[0129] It should be noted that there is no specific order between steps 401 and 402. In practical applications, step 401 can be executed first, followed by step 402; or step 402 can be executed first, followed by step 401; or steps 401 and 402 can be executed simultaneously. No specific restrictions are imposed on this.

[0130] Step 403: The control device determines the first position information of the first obstacle based on the first duration; and determines the second position information of the second obstacle based on the second duration.

[0131] Step 404: The control device determines the second distance based on the first position information, the second position information, and the first distance.

[0132] Wherein, the first distance is the distance between the first radar sensor and the second radar sensor, and the second distance is the distance between the first obstacle and the second obstacle.

[0133] Step 405: The control device controls the vehicle to pass when the vehicle width is less than the second distance.

[0134] In one possible implementation, the control device controls vehicle passage when the vehicle width is less than the second distance, including:

[0135] If the control device determines that the vehicle cannot pass from its current location when the vehicle width is less than the second distance, based on the vehicle's current location, first location information, and second location information, it generates a passage path and sends the passage path to the vehicle terminal.

[0136] The vehicle-mounted terminal provides voice navigation according to the travel route.

[0137] In another possible implementation, the method also includes:

[0138] If the control equipment determines that the vehicle can pass from its current location, it sends a notification message to the vehicle terminal.

[0139] Based on the notification message, the vehicle terminal outputs a first voice message; the first voice message is used to prompt the vehicle to proceed at its current location.

[0140] In another possible implementation, the method also includes:

[0141] When the vehicle width is not less than the second distance, the control device sends a first alarm signal to the alarm device; based on the first alarm signal, the alarm device controls the alarm light to flash and the buzzer to sound; or...

[0142] When the vehicle width is not less than the second distance, the control device sends a second alarm signal to the vehicle terminal; the vehicle terminal outputs a second voice message based on the second alarm signal; the second voice message is used to indicate that the vehicle cannot pass.

[0143] In this embodiment, for the control device, the control device determines first location information based on a first duration; determines second location information based on a second duration; and determines a second distance based on the first location information, the second location information, and the first distance. If the vehicle width is less than the second distance, the device controls the vehicle to pass. If the vehicle width is not less than the second distance, the control device controls the alarm device to sound an alarm or the vehicle terminal to output a second voice message. See [link to relevant documentation]. Figure 5 .

[0144] In another possible implementation, the first radar sensor includes: a timer, a signal transmitter, and a signal receiver;

[0145] The first radar sensor determines the first duration, including:

[0146] The signal transmitter emits a first laser signal, and at the same time as emitting the first laser signal, sends a start timing command to the timer;

[0147] The signal receiver receives the reflected first laser signal and, upon receiving the reflected first laser signal, sends a stop timing command to the timer.

[0148] A timer is used to determine the initial duration based on start and stop timing commands.

[0149] In another possible implementation, the control device determines the first position information of the first obstacle based on a first duration, including:

[0150] The control device determines a third distance based on the first duration; the third distance is used to represent the straight-line distance between the signal transmitter and the first obstacle.

[0151] The control device determines a fourth and a fifth distance based on a third distance; and determines first position information based on the fourth and fifth distances; wherein the fourth distance is used to represent the distance between the first obstacle and the signal transmitter in a first horizontal direction, and the fifth distance is used to represent the distance between the first obstacle and the signal transmitter in a second horizontal direction, wherein the first horizontal direction is perpendicular to the second horizontal direction.

[0152] This application provides a method for controlling vehicle passage. The method involves emitting laser signals to determine the position information of obstacles on both sides of the road, then determining the distance between the obstacles based on their positions. If the vehicle width is less than this distance, the method controls vehicle passage. Compared to visually determining the distance between obstacles, this method can accurately determine the distance, thus controlling vehicle passage more precisely.

[0153] It should be noted that the vehicle passage control method provided in this application embodiment belongs to the same concept as the above-mentioned distance measurement system embodiment. For details of the specific process, please refer to the distance measurement system embodiment, which will not be repeated here.

[0154] The structural block diagram of the control equipment can be found in [reference]. Figure 6 The control device 600 can vary considerably depending on its configuration or performance. It may include a Central Processing Unit (CPU) 601 and a memory 602. The memory 602 stores at least one line of program code, which is loaded and executed by the processor 601 to implement the vehicle passage control method described in the above embodiments. Of course, the control device 600 may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The control device 600 may also include other components for implementing device functions, which will not be elaborated upon here.

[0155] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores at least one piece of program code that is loaded and executed by a processor to implement the vehicle passage control method described above.

[0156] In an exemplary embodiment, a computer program product is also provided, which stores at least one piece of program code that is loaded and executed by a processor to implement the vehicle passage control method described above.

[0157] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0158] The above description is only for the purpose of enabling those skilled in the art to understand the technical solution of this application, and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle, characterized in that, The vehicle includes: a body, a distance measurement system installed on the body, and an on-board terminal; the on-board terminal is equipped with a target application, and the target application includes a distance measurement function. The distance measurement system includes: a control device, a first radar sensor, and a second radar sensor; both the first radar sensor and the second radar sensor are electrically connected to the control device, and the first radar sensor and the second radar sensor are mounted on both sides of the front bumper of the vehicle; The first radar sensor includes: a timer, a signal transmitter, and a signal receiver; The output terminals of the signal transmitter and the signal receiver are both electrically connected to the input terminal of the timer, and the output terminal of the timer is electrically connected to the control device. The vehicle-mounted terminal is used to detect the status of the distance measurement function, and when it detects that the distance measurement function is in the enabled state, it sends a second notification message to the control device. The control device is configured to determine, based on the second notification message, that the distance measurement function is enabled. In this case, it sends a first measurement command to the signal transmitter and a second measurement command to the second radar sensor. The signal transmitter is configured to emit a first laser signal based on the first measurement command, and to send a start timing command to the timer when emitting the first laser signal; The signal receiver is configured to receive a first laser signal reflected by a first obstacle, and upon receiving the reflected first laser signal, send a stop timing command to the timer. The timer is used to determine a first duration according to the start timing command and the stop timing command, and to send the first duration to the control device; the first duration is used to represent the time taken from emitting the first laser signal to receiving the reflected first laser signal; The second radar sensor is configured to, based on the second measurement command, emit a second laser signal, receive a second laser signal reflected by a second obstacle, determine a second duration, and send the second duration to the control device; the second duration represents the time taken from emitting the second laser signal to receiving the reflected second laser signal. The control device is configured to determine a third distance based on the first duration, the third distance representing the straight-line distance between the signal transmitter and the first obstacle; establish a Cartesian coordinate system centered on the position of the signal transmitter, with the first horizontal direction as the x-axis and the second horizontal direction as the y-axis, the first horizontal direction being the X-direction and the second horizontal direction being the Y-direction, the first horizontal direction being perpendicular to the second horizontal direction; based on the Cartesian coordinate system, decompose the third distance in the first horizontal direction and the second horizontal direction to obtain a fourth distance, the fourth distance representing the distance between the first obstacle and the signal transmitter in the first horizontal direction; The control device is further configured to determine a sixth distance based on the second duration, the sixth distance being the distance between the second obstacle and the second radar sensor in the first horizontal direction; and to determine the sum of the fourth distance, the sixth distance, and the first distance to obtain a second distance, the first distance being the distance between the first radar sensor and the second radar sensor, the second distance being the distance between the first obstacle and the second obstacle, wherein the first radar sensor and the second radar sensor are on a straight line, the first obstacle and the second obstacle are also on a straight line, and both straight lines are parallel to the first horizontal direction; The control device is further configured to, when the vehicle width is less than the second distance, determine a first angle between the vehicle's current driving direction and the first horizontal direction, and a second angle between the straight line formed by the first radar sensor and the first obstacle and the first horizontal direction, wherein both the first angle and the second angle are less than 90°; if the first angle is less than the second angle, it is determined that the vehicle cannot pass at its current position and driving direction. In this case, route planning is performed using the current position, the first position information of the first obstacle, and the second position information of the second obstacle to obtain a passable path; the current driving mode is switched to an automatic driving mode, and in the automatic driving mode, the vehicle is controlled to drive according to the passable path; if the first angle is greater than the second angle, it is determined that the vehicle can pass at its current position and driving direction. In this case, a notification message is sent to the vehicle terminal. The vehicle-mounted terminal is further configured to output a first voice message based on the notification message; the first voice message is used to prompt the vehicle to proceed at its current location.

2. The vehicle according to claim 1, characterized in that, The control device is also used to send the travel path to the vehicle terminal; The vehicle-mounted terminal is also used for voice navigation according to the travel route.

3. The vehicle according to claim 2, characterized in that, The vehicle also includes an alarm device electrically connected to the control device; The control device is further configured to send a first alarm signal to the alarm device when the vehicle width is not less than the second distance; the alarm device is configured to control the alarm light to flash and the buzzer to sound based on the first alarm signal; or... The control device is further configured to send a second alarm signal to the vehicle terminal when the vehicle width is not less than the second distance; the vehicle terminal is configured to output a second voice message based on the second alarm signal; the second voice message is used to indicate that the vehicle cannot pass.

4. A method for controlling vehicle traffic, characterized in that, The method includes: The vehicle terminal detects the status of the distance measurement function, and when it detects that the distance measurement function is enabled, it sends a second notification message to the control device. According to the second notification message, the control device determines that the distance measurement function is enabled. In this case, it sends a first measurement command to the signal transmitter in the first radar sensor and a second measurement command to the second radar sensor. The signal transmitter emits a first laser signal based on a first measurement command, and sends a start timing command to the timer when emitting the first laser signal; The signal receiver receives a first laser signal reflected by a first obstacle, and upon receiving the reflected first laser signal, sends a stop timing command to the timer. The first radar sensor includes the signal transmitter, the timer, and the signal receiver. The timer determines a first duration based on the start timing command and the stop timing command, and sends the first duration to the control device; the first duration is used to represent the time taken from emitting the first laser signal to receiving the reflected first laser signal; Based on the second measurement command, the second radar sensor emits a second laser signal and receives a second laser signal reflected by a second obstacle; it determines a second duration and sends the second duration to the control device; the second duration is used to represent the time taken from emitting the second laser signal to receiving the reflected second laser signal, and the first radar sensor and the second radar sensor are installed on both sides of the front bumper of the vehicle; The control device determines a third distance based on the first duration, the third distance representing the straight-line distance between the signal transmitter and the first obstacle; a Cartesian coordinate system is established with the position of the signal transmitter as the center, the first horizontal direction as the x-axis, and the second horizontal direction as the y-axis, the first horizontal direction being the X-direction and the second horizontal direction being the Y-direction, the first horizontal direction being perpendicular to the second horizontal direction; based on the Cartesian coordinate system, the third distance is decomposed in the first and second horizontal directions to obtain a fourth distance, the fourth distance representing the distance between the first obstacle and the signal transmitter in the first horizontal direction; The control device determines a sixth distance based on the second duration, the sixth distance being the distance between the second obstacle and the second radar sensor in the first horizontal direction; it then determines the sum of the fourth distance, the sixth distance, and the first distance to obtain a second distance, the first distance being the distance between the first radar sensor and the second radar sensor, and the second distance being the distance between the first obstacle and the second obstacle, wherein the first radar sensor and the second radar sensor are on a straight line, the first obstacle and the second obstacle are also on a straight line, and both straight lines are parallel to the first horizontal direction; When the vehicle width is less than the second distance, the control device determines a first angle between the vehicle's current driving direction and the first horizontal direction, and a second angle between the straight line formed by the first radar sensor and the first obstacle and the first horizontal direction, where both the first and second angles are less than 90°. If the first angle is less than the second angle, it is determined that the vehicle cannot pass at its current position and driving direction. In this case, route planning is performed using the current position, the first position information of the first obstacle, and the second position information of the second obstacle to obtain a passable path. The current driving mode is switched to automatic driving mode, and the vehicle is controlled to drive according to the passable path in automatic driving mode. If the first angle is greater than the second angle, it is determined that the vehicle can pass at its current position and driving direction. In this case, a notification message is sent to the vehicle terminal. Based on the notification message, the vehicle terminal outputs a first voice message; the first voice message is used to prompt the vehicle to proceed at its current location.

5. A control device, characterized in that, The control device includes a processor and a memory, the memory storing at least one piece of program code, which is loaded and executed by the processor to implement the vehicle passage control method as described in claim 4.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to implement the vehicle passage control method as described in claim 4.

7. A computer program product, characterized in that, The computer program product stores at least one piece of program code, which is loaded and executed by a processor to implement the vehicle passage control method as described in claim 4.

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