Vehicle, driving control method and device thereof and computer program product

Abstract

The invention provides a vehicle, a driving control method and device thereof and a computer program product, the vehicle is provided with a single-line distance measuring device and a display device, and the method comprises the following steps: obtaining a plurality of mark boxes emitted by the display device; determining the ground distance between the single-line distance measuring equipment and the obstacle; according to the method, the vehicle is controlled to run according to the ground distance and the plurality of mark frames, and through the combination of the single-line distance measuring equipment and the display equipment, visual assistance can be provided for a driver at lower cost, so that the vehicle is accurately controlled to run.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle and a driving control method, device and computer program product thereof. Background Art

[0002] The existing vehicle assisted driving equipment uses sensors to detect obstacles, processes the obstacles with algorithms, and controls the vehicle's travel based on the processed data. However, the sensors themselves are relatively expensive, the obstacle processing algorithms are complex, and there is a lack of visual assistance measures for the driver, or visualization can be achieved but with poor accuracy. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] To this end, an object of the present invention is to provide a vehicle driving control method, which can provide visual assistance to the driver at a relatively low cost in the form of a combination of a single-line distance measuring device and a display device, thereby accurately controlling the vehicle driving.

[0005] To this end, a second object of the present invention is to provide a vehicle driving control device.

[0006] To this end, a third object of the present invention is to provide a vehicle.

[0007] To this end, a fourth object of the present invention is to provide a computer-readable storage medium.

[0008] To this end, a fifth object of the present invention is to provide a computer program product.

[0009] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a vehicle driving control method, wherein the vehicle is provided with a single-line ranging device and a display device, and the method comprises: acquiring a plurality of marking frames emitted by the display device; determining the ground distance between the single-line ranging device and an obstacle; and controlling the vehicle driving according to the ground distance and the plurality of marking frames.

[0010] According to the vehicle driving control method of the embodiment of the present invention, multiple marking frames emitted by utilizing the visibility of light and the ground distance between the single-line distance measuring device and the obstacle are obtained, and it is determined whether the ground distance and the multiple marking frames coincide with each other. If the ground distance is within the multiple marking frames, the safe distance between the obstacle and the vehicle is determined based on the coincidence of the ground distance and the multiple marking frames. The vehicle is controlled to execute different driving modes according to different safety distances. Through the combination of the single-line distance measuring device and the display device, visual assistance can be provided to the driver at a relatively low cost, thereby accurately controlling the vehicle driving.

[0011] In some embodiments, obtaining multiple marking frames emitted by the display device includes: determining multiple measurement distance thresholds of the display device; controlling the display device to project light beams with the multiple measurement distance thresholds to obtain multiple marking frames, wherein the colors of the multiple marking frames are different.

[0012] In some embodiments, obtaining multiple marking frames emitted by the display device includes: determining multiple preset distance thresholds of the vehicle and the pitch angle between the vehicle and the single-line ranging device; determining multiple measurement distance thresholds of the display device according to the multiple preset distance thresholds and the pitch angle; controlling the display device to project light beams with the multiple measurement distance thresholds to obtain multiple marking frames, wherein the colors of the multiple marking frames are different.

[0013] In some embodiments, determining the pitch angle between the vehicle and the single-line ranging device includes: obtaining the included angle between the vehicle and the single-line ranging device, and the rotation angle of the single-line ranging device; determining the included angle as the pitch angle, or determining the angle and value of the included angle and the rotation angle as the pitch angle.

[0014] In some embodiments, determining the ground distance between the single-line ranging device and the obstacle includes: determining the measured distance between the single-line ranging device and the obstacle, and the pitch angle between the vehicle and the single-line ranging device; and determining the ground distance based on the measured distance and the pitch angle.

[0015] In some embodiments, controlling the vehicle travel according to the ground distance and the multiple marking boxes includes: if the ground distance is within the multiple marking boxes, determining the position of the obstacle according to the ground distance; and controlling the vehicle travel according to the position of the obstacle.

[0016] In some embodiments, controlling the vehicle travel according to the position of the obstacle includes: outputting the position of the obstacle to a vehicle screen and / or issuing an alarm message; and controlling the vehicle travel according to the position of the obstacle and a vehicle control algorithm.

[0017] In some embodiments, after controlling the vehicle to travel according to the position of the obstacle and a vehicle control algorithm, the method further includes: controlling the vehicle to park according to the position of the obstacle and a parking algorithm.

[0018] In some embodiments, after determining the ground distance according to the measured distance and the pitch angle, it also includes: determining the ground clearance of the vehicle according to the measured distance and the pitch angle; determining the height difference between the ground clearance and the standard height; determining the tilt angle of the vehicle according to the height difference; inputting the tilt angle into the suspension of the vehicle to adjust the posture of the suspension.

[0019] In some embodiments, before acquiring the multiple marking boxes emitted by the display device, it also includes: determining whether the vehicle is in a fault state; if the vehicle is in a fault state, acquiring a fault code corresponding to the fault state.

[0020] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a vehicle driving control device, which includes: an acquisition module, used to acquire multiple marking frames emitted by the display device; a determination module, used to determine the ground distance between the single-line ranging device and the obstacle; and a control module, used to control the vehicle driving according to the ground distance and the multiple marking frames.

[0021] According to the vehicle driving control device of the embodiment of the present invention, multiple marking frames emitted by utilizing the visibility of light and the ground distance between the single-line distance measuring device and the obstacle are obtained, and it is determined whether the ground distance and the multiple marking frames coincide with each other. If the ground distance is within the multiple marking frames, the safe distance between the obstacle and the vehicle is determined based on the coincidence of the ground distance and the multiple marking frames. The vehicle is controlled to execute different driving modes according to different safety distances. Through the combination of the single-line distance measuring device and the display device, visual assistance can be provided to the driver at a relatively low cost, thereby accurately controlling the driving of the vehicle.

[0022] In order to achieve the above objectives, embodiments of three aspects of the present invention provide a vehicle, wherein the vehicle includes the vehicle driving control device described in the above embodiments.

[0023] According to the vehicle of the embodiment of the present invention, multiple marking frames emitted by utilizing the visibility of light and the ground distance between the single-line ranging device and the obstacle are obtained, and it is determined whether the ground distance and the multiple marking frames coincide with each other. If the ground distance is within the multiple marking frames, the safe distance between the obstacle and the vehicle is determined based on the coincidence of the ground distance and the multiple marking frames. The vehicle is controlled to execute different driving modes according to different safe distances. Through the combination of the single-line ranging device and the display device, visual assistance can be provided to the driver at a relatively low cost, thereby accurately controlling the driving of the vehicle.

[0024] In order to achieve the above objectives, the embodiments of the four aspects of the present invention propose a computer-readable storage medium, on which a vehicle driving control program is stored. When the vehicle driving control program is executed by a processor, the vehicle driving control method described in the above embodiments is implemented.

[0025] In order to achieve the above objectives, embodiments of the five aspects of the present invention provide a computer program product, which includes a computer program. When the computer program is executed by a processor, the vehicle driving control method described in the above embodiments is implemented.

[0026] According to the computer program product of the embodiment of the present invention, multiple marking frames emitted by utilizing the visibility of light and the ground distance between the single-line ranging device and the obstacle are obtained, and it is determined whether the ground distance and the multiple marking frames coincide with each other. If the ground distance is within the multiple marking frames, the safe distance between the obstacle and the vehicle is determined based on the coincidence of the ground distance and the multiple marking frames. The vehicle is controlled to execute different driving modes according to different safety distances. Through the combination of the single-line ranging device and the display device, visual assistance can be provided to the driver at a relatively low cost, thereby accurately controlling the driving of the vehicle.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a schematic structural diagram of a vehicle driving assistance device according to an embodiment of the present invention; Figure 2 is a schematic diagram of the arrangement position of a vehicle auxiliary driving device according to an embodiment of the present invention; Figure 3 is a circuit connection diagram of a vehicle driving assistance device according to an embodiment of the present invention; Figure 4 is a flow chart of a vehicle driving control method according to an embodiment of the present invention; Figure 5 is a schematic diagram of a plurality of marking boxes according to an embodiment of the present invention; Figure 6 is a schematic diagram of the principle of a vehicle driving control method according to an embodiment of the present invention; Figure 7 is a schematic diagram of a parking scene according to an embodiment of the present invention; Figure 8is a flow chart of a vehicle driving control method according to a specific embodiment of the present invention; Fig. 9 is a structural block diagram of a vehicle driving control device according to an embodiment of the present invention; Fig.10 is a block diagram of a vehicle according to one embodiment of the present invention.

[0029] Reference numerals: Vehicle driving control device 2; Acquisition module 21; determination module 22; control module 23; Vehicle 3. DETAILED DESCRIPTION

[0030] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0031] Current vehicle assisted driving equipment generally uses lidar, high-definition cameras, ultrasonic radar, millimeter-wave radar, etc. as sensors. After algorithmic processing of the data, it uses messages to control the Electric Power Steering system (EPS), engine, shift mechanism and other actuators to achieve intelligent driving behaviors such as lane changing, cruising, parking, etc. However, existing sensors are expensive and of many types. The controller for data processing has high floating-point computing capabilities and needs to run multiple algorithms such as neural network algorithms for image processing and Kalman filter algorithms for data fusion. In general, existing technologies are expensive, and intelligent driving behaviors are mainly based on high-computing power intelligent driving controller decisions. The visual assistance measures provided to drivers are limited and inaccurate. Low-cost ones such as ultrasonic radars have limited obstacle recognition effects and lack visualization methods.

[0032] Let's combine Figure 1-Figure 3 The vehicle driving assistance device according to the embodiment of the present invention is described by way of example.

[0033] like Figure 1 As shown, the vehicle auxiliary driving device of the embodiment of the present invention includes a single-line distance measuring device and a display device, wherein: The display device can project light at different angles, and the single-line ranging device can measure the distance from the laser projection point to the obstacle. It can be understood that the number of LED lights in the display device and the number of single-line ranging devices should be adjustable. The display device includes a light source and a light path control path. The light source can be fixedly emitted from multiple emission points, or a rotating mechanism can be added to achieve the effect of multiple display devices or single-line ranging devices. The brightness and color of the emitted light of the display device are adjustable, which will not affect the driver's observation of the external environment, nor will it affect the traffic participants in the external environment. The single-line ranging device only includes a single-line laser, and the cost is controllable. The sensor function can be realized at a lower cost using a combination of a single-line ranging device and a display device.

[0034] Among them, the display device uses the visibility of light, which is different from the invisible ultrasonic radar or millimeter wave radar, so that people inside the vehicle can judge the approximate distance of obstacles around the vehicle from the vehicle body based on light beams of different colors, thereby increasing the driver's ability to judge obstacles at the distance of the vehicle body; it can also make surrounding traffic participants pay attention to the distance between themselves and the vehicle, enhancing the interaction between the vehicle and surrounding people. The projected pattern can be a simple linear pattern or a variety of other patterns, such as a flashing ripple effect. The pattern on the ground around the vehicle body can increase the attention of traffic participants to the vehicle.

[0035] Vehicle assisted driving equipment is different from pixel projector lights. The projection is not directed to the front of the vehicle, nor does it require high-power light-emitting equipment. It also has a ranging function during projection. By using an adjustable XY-axis projection solution, it can measure obstacles at different distances and use a display device to project different safety distances.

[0036] The layout angle of the single-line ranging equipment is different from that of the traditional laser radar. It uses the angle of projection to the ground, which can detect protruding obstacles around the vehicle body. It only collects and calculates the laser detection distance, and the amount of data is small. Based on the relevant knowledge of trigonometric functions, the vehicle body posture information such as height from the ground and tilt angle can be obtained.

[0037] like Figure 2 As shown, the arrangement position of the vehicle auxiliary driving device in the embodiment of the present invention should take into account the range of obstacle detection and not affect the driver's line of sight, conform to ergonomics, and most of them are arranged at the highest point or near the top of the vehicle body, and at the four edge corners, so as to Figure 2 For example, in Figure 2Points A, B, C, D, E, and F can be arranged at the same time or selected as key points. Among them, points B and C are on the edge corners of the vehicle body, and the vehicle auxiliary driving equipment can be designed into an L shape to wrap the edge corners, reduce the number of nodes of the vehicle auxiliary driving equipment, increase the detection range of a single vehicle auxiliary driving equipment, and facilitate the processing of corner obstacle detection accuracy; points E, A, and F are the highest points of the vehicle body, which can increase the measurement range, thereby detecting protruding obstacles such as trees, tricycles, and protruding building structures, so as to avoid protruding obstacles scratching the vehicle body.

[0038] like Figure 3 As shown in the figure, the measured distance transmitted by each single-line ranging device is transmitted in a variable-rate controller area network (CAN FD) data with a flexible data rate. Other wireless communication methods can also be selected according to actual needs. The controller is responsible for collecting the data collected by each single-line ranging device at the same time, and then calculates the obstacle situation around the vehicle based on the information.

[0039] Based on the hardware structure of the above vehicle auxiliary driving equipment, Figure 4-Figure 8 The vehicle driving control method according to the embodiment of the present invention is described with examples.

[0040] like Figure 4 As shown, the vehicle driving control method of the embodiment of the present invention at least includes steps S1 to S3.

[0041] Step S1, obtaining multiple marking frames emitted by a display device.

[0042] Among them, the multiple marking frames are different frames formed by the projection light beams emitted by the display device, which can display different safety distances of the vehicle. By obtaining the multiple marking frames, the obstacle detection status within the preset range of the vehicle can be determined.

[0043] In an embodiment, when the user has a need to detect obstacles, multiple marking boxes pre-set in the actual vehicle stage are obtained, or multiple marking boxes modified by the user are obtained in the operation stage, wherein the corresponding marking boxes are determined according to multiple samples of the display device in the actual vehicle stage, and after the multiple marking boxes are set, they remain unchanged during the subsequent obstacle detection; in the operation stage, the marking boxes are adjusted in real time according to the user's detection needs for surrounding obstacles, and after the multiple marking boxes are set, they can be modified arbitrarily, and different safety distances of the vehicle are determined by obtaining multiple marking boxes.

[0044] Step S2, determining the ground distance between the single-line distance measuring device and the obstacle.

[0045] In an embodiment, when a vehicle detects an obstacle, a vertical ground point of a single-line distance measuring device is first determined, and the distance between the vertical ground point and the obstacle is determined as the ground distance, thereby determining the distance between the obstacle and the vehicle.

[0046] Step S3, controlling the vehicle to travel according to the ground distance and the multiple marking boxes.

[0047] In an embodiment, after obtaining the ground distance and multiple marking boxes, it is determined whether the ground distance and the multiple marking boxes overlap. If the ground distance is within the multiple marking boxes, it is considered that there is an obstacle within a preset range of the vehicle body, which may have an adverse effect on the driving of the vehicle. Then, according to the different overlaps between the ground distance and the multiple marking boxes, the vehicle is controlled to execute different driving modes to avoid collision between the vehicle and the obstacle.

[0048] According to the vehicle driving control method of the embodiment of the present invention, multiple marking frames emitted by utilizing the visibility of light and the ground distance between the single-line distance measuring device and the obstacle are obtained, and it is determined whether the ground distance and the multiple marking frames coincide with each other. If the ground distance is within the multiple marking frames, the safe distance between the obstacle and the vehicle is determined based on the coincidence of the ground distance and the multiple marking frames. The vehicle is controlled to execute different driving modes according to different safety distances. Through the combination of the single-line distance measuring device and the display device, visual assistance can be provided to the driver at a relatively low cost, thereby accurately controlling the vehicle driving.

[0049] In some embodiments, obtaining multiple marking frames emitted by a display device includes: determining multiple measurement distance thresholds of the display device; controlling the display device to project light beams at the multiple measurement distance thresholds to obtain multiple marking frames, wherein the colors of the multiple marking frames are different.

[0050] In an embodiment, multiple marking boxes can be pre-set in the actual vehicle stage to determine multiple measurement distance thresholds L of the display device, wherein the multiple measurement distance thresholds can be determined based on multiple samples of the display device, and the display device can be controlled to project light beams of different colors at multiple measurement distance thresholds to obtain multiple marking boxes.

[0051] by Figure 5 As an example, a first measurement distance threshold and a second measurement distance threshold of a display device are determined, and the display device is controlled to project a light beam at the first measurement distance threshold, and the projection light beam is red, and a first marking frame ( Figure 4 ); controlling the display device to project a light beam at a second measurement distance threshold, wherein the projection light beam is yellow, and obtaining a second marking frame ( Figure 4 Indicated by dotted lines in the figure), multiple marking frames are obtained to form multiple light circles of different colors around the vehicle body to determine different safety distances of the vehicle.

[0052] In some embodiments, obtaining multiple marking frames emitted by a display device includes: determining multiple preset distance thresholds of the vehicle and a pitch angle between the vehicle and a single-line ranging device; determining multiple measurement distance thresholds of the display device according to the multiple preset distance thresholds and the pitch angle; and controlling the display device to project light beams with multiple measurement distance thresholds to obtain multiple marking frames, wherein the colors of the multiple marking frames are different.

[0053] In an embodiment, multiple marking frames can also be obtained in real time according to user needs, and multiple preset distance thresholds D of the vehicle and the pitch angle θ between the vehicle and the single-line ranging device can be determined, wherein the multiple preset distance thresholds D can be determined according to the user's detection needs for surrounding obstacles, and multiple measurement distance thresholds L of the display device are determined according to the multiple preset distance thresholds D and the pitch angle θ, and the display device is controlled to project light beams of different colors with the multiple measurement distance thresholds L to obtain multiple marking frames, and different safety distances of the vehicle are determined by forming multiple apertures of different colors around the vehicle body.

[0054] like Figure 6 As shown, the standard height of the vehicle is preset as H1, and the first preset distance threshold and the second preset distance threshold of the vehicle are determined. For example, if the user thinks that the obstacle is very dangerous when it is 20 cm away from the vehicle body, the first preset distance threshold is determined to be 20 cm, and the obstacle is more dangerous when it is 40 cm away from the vehicle body, so the second preset distance threshold is determined to be 40 cm; the pitch angle θ will change with the preset distance threshold, and the pitch angle θ is determined according to the formula tanθ=D / H1, so as to determine the measurement distance threshold L according to the formula L=D / sinθ, that is, the first measurement distance threshold is determined according to the first preset distance threshold and the pitch angle θ, and the second measurement distance threshold is determined according to the second preset distance threshold and the pitch angle θ. Similarly, Figure 4 Multiple marker boxes shown.

[0055] In some embodiments, determining the pitch angle between the vehicle and the single-line ranging device includes: obtaining the included angle between the vehicle and the single-line ranging device, and the rotation angle of the single-line ranging device; determining the included angle as the pitch angle, or determining the angle and value of the included angle and the rotation angle as the pitch angle.

[0056] In an embodiment, the angle between the projection angle of the vehicle auxiliary driving device and the vehicle body can be fixed. At this time, the included angle is determined as the pitch angle. For the vehicle auxiliary driving device with a fixed angle, it can be integrated into the interior of the headlight, which is more beautiful.

[0057] The vehicle assisted driving equipment can also add motors and rotating mechanisms to control the laser of the single-line ranging equipment and the LED light of the display equipment to adjust a certain angle on the X and Y axes. The vehicle's forward direction is set to the front, which is the positive direction of the Y axis, and the driver's right side is the positive direction of the X axis, so as to achieve the effect of freely setting the projection direction.

[0058] In some embodiments, determining the ground distance between the single-line ranging device and the obstacle includes: determining the measured distance between the single-line ranging device and the obstacle, and the pitch angle between the vehicle and the single-line ranging device; and determining the ground distance according to the measured distance and the pitch angle.

[0059] In the embodiment, the measured distance L between the single-line ranging device from the roof launch port to the obstacle and the pitch angle between the vehicle and the single-line ranging device are determined, and the ground distance D from the obstacle to the vehicle body can be determined based on trigonometric functions. If a motor or a rotating mechanism is added, the single-line ranging device is not vertically injected into the ground, and the relevant data needs to be calibrated, and the ground distance D is determined in combination with the rotation angle of the single-line ranging device and the angle with the vehicle body.

[0060] In some embodiments, controlling vehicle travel according to ground distance and multiple marking boxes includes: if the ground distance is within the multiple marking boxes, determining the position of the obstacle according to the ground distance; and controlling vehicle travel according to the position of the obstacle.

[0061] In an embodiment, if the ground distance is within a plurality of marking frames, for example, a red light beam covers an obstacle, the position of the obstacle is determined according to the ground distance so that the driver can control the vehicle driving in time according to the position of the obstacle.

[0062] In some embodiments, controlling vehicle travel according to the location of an obstacle includes: outputting the location of the obstacle to a vehicle screen and / or issuing an alarm message; and controlling vehicle travel according to the location of the obstacle and a vehicle control algorithm.

[0063] In an embodiment, after determining the position of the obstacle, for vehicles with screens, the obstacle situation can be rendered on the screen through an algorithm according to the position of the obstacle, and the position of the obstacle can be indicated on the model picture of the vehicle to warn the driver; for vehicles without screens, an alarm sound can be used, and the alarm speakers can be arranged at four positions in the cabin. According to the direction of the obstacle, the speakers in the corresponding directions are controlled to issue alarm information to remind the driver to pay attention to the obstacles in the corresponding direction. The driver operates the vehicle according to the above prompt information, or the actuator automatically controls the vehicle driving according to the position of the obstacle and the set vehicle control algorithm.

[0064] In some embodiments, after controlling the vehicle to travel according to the location of the obstacle and the vehicle control algorithm, it also includes: controlling the vehicle to park according to the location of the obstacle and the parking algorithm.

[0065] In an embodiment, Figure 7As shown, for parking scenarios, the position of the rearview mirror icon can be automatically adjusted. The driver can better judge the distance between the vehicle body and the obstacle based on the projected light and operate the vehicle according to the position of the obstacle, or the actuator can assist the driver in automatic parking based on the position of the obstacle and the set parking algorithm, thereby assisting the vehicle to achieve more functions.

[0066] In some embodiments, after determining the ground distance based on the measured distance and the pitch angle, it also includes: determining the vehicle's ground clearance based on the measured distance and the pitch angle; determining the height difference between the ground clearance and the standard height; determining the vehicle's tilt angle based on the height difference; inputting the tilt angle into the vehicle's suspension and adjusting the suspension's posture.

[0067] In an embodiment, after determining the measuring distance L and the pitch angle θ, the vehicle's ground clearance H can be calculated according to the formula tanθ=D / H. In conjunction with the standard height H1 on both sides and front and rear of the vehicle, the current vehicle body posture can be obtained, and the height difference between the ground clearance H and the standard height H1 is calculated to determine the tilt angle corresponding to the current vehicle posture. The tilt angle is input into the vehicle's suspension, and the suspension controls the suspension lift in real time according to the tilt angle, adjusts the suspension height, and improves the vehicle's driving comfort. Similarly, in wading and off-road scenarios, the vehicle's wading depth and wheel depression depth can be determined according to the height difference between the ground clearance H and the standard height, which is used to judge vehicle accidents, etc.

[0068] In some embodiments, before obtaining the multiple marking boxes emitted by the display device, it also includes: determining whether the vehicle is in a fault state; if the vehicle is in a fault state, obtaining a fault code corresponding to the fault state.

[0069] In an embodiment, after the vehicle is started, a self-check is first performed. If the vehicle is in a fault state, a reminder message is issued to prompt the driver, and the fault code corresponding to the current fault state is recorded. If the fault state of the vehicle cannot be relieved, the operation is terminated and waits for the next restart; if the vehicle is not in a fault state, multiple mark boxes emitted by the display device are obtained until the vehicle is shut down and the operation is terminated.

[0070] Reference below Figure 8 The vehicle driving control method according to the embodiment of the present invention is described with examples.

[0071] like Figure 8 As shown, the vehicle driving control method according to the embodiment of the present invention at least includes steps S11 to S20.

[0072] Step S11, determine whether the vehicle is in a fault state, if so, execute step S12; otherwise, execute step S20.

[0073] Step S12, determining multiple measurement distance thresholds of the display device; controlling the display device to project light beams at the multiple measurement distance thresholds to obtain multiple marking frames, wherein the multiple marking frames have different colors.

[0074] Step S13, obtaining the included angle between the vehicle and the single-line distance measuring device, and the rotation angle of the single-line distance measuring device; determining the included angle as the pitch angle, or determining the angle and value of the included angle and the rotation angle as the pitch angle.

[0075] Step S14, determining multiple preset distance thresholds of the vehicle and the pitch angle between the vehicle and the single-line distance measuring device; determining multiple measurement distance thresholds of the display device according to the multiple preset distance thresholds and the pitch angle; controlling the display device to project light beams with multiple measurement distance thresholds to obtain multiple marking boxes, wherein the colors of the multiple marking boxes are different.

[0076] Step S15, determining the measured distance between the single-line distance measuring device and the obstacle, and the pitch angle between the vehicle and the single-line distance measuring device; and determining the ground distance according to the measured distance and the pitch angle.

[0077] Step S16: If the ground distance is within the marked frame, determine the position of the obstacle according to the ground distance.

[0078] Step S17, outputting the position of the obstacle to the vehicle screen and / or issuing an alarm message; controlling the vehicle driving according to the position of the obstacle and the vehicle control algorithm.

[0079] Step S18, controlling the vehicle to park according to the location of the obstacle and the parking algorithm.

[0080] Step S19, determining the vehicle's ground clearance based on the measured distance and the pitch angle; determining the height difference between the ground clearance and the standard height; determining the vehicle's tilt angle based on the height difference; inputting the tilt angle into the vehicle's suspension and adjusting the suspension's posture.

[0081] Step S20, obtaining a fault code corresponding to the fault state.

[0082] According to the vehicle driving control method of the embodiment of the present invention, multiple marking frames emitted by utilizing the visibility of light and the ground distance between the single-line distance measuring device and the obstacle are obtained, and it is determined whether the ground distance and the multiple marking frames coincide with each other. If the ground distance is within the multiple marking frames, the safe distance between the obstacle and the vehicle is determined based on the coincidence of the ground distance and the multiple marking frames. The vehicle is controlled to execute different driving modes according to different safety distances. Through the combination of the single-line distance measuring device and the display device, visual assistance can be provided to the driver at a relatively low cost, thereby accurately controlling the vehicle driving.

[0083] Reference below Fig. 9A vehicle travel control device 2 according to an embodiment of the present invention will be described.

[0084] like Fig. 9 As shown, the vehicle driving control device 2 of the embodiment of the present invention includes: an acquisition module 21, a determination module 22 and a control module 23, wherein: The acquisition module 21 is used to acquire multiple marking frames emitted by the display device; the determination module 22 is used to determine the ground distance between the single-line distance measuring device and the obstacle; and the control module 23 is used to control the vehicle driving according to the ground distance and the multiple marking frames.

[0085] In an embodiment, when the user has a need to detect obstacles, the acquisition module 21 acquires multiple mark boxes pre-set in the actual vehicle stage, or acquires multiple mark boxes modified by the user in the operation stage, wherein the corresponding mark box is determined according to multiple samples of the display device in the actual vehicle stage, and after the multiple mark boxes are set, they remain unchanged during the subsequent obstacle detection; in the operation stage, the mark box is adjusted in real time according to the user's detection needs for surrounding obstacles, and after the multiple mark boxes are set, they can be modified arbitrarily, and different safety distances of the vehicle are determined by acquiring multiple mark boxes, wherein the multiple mark boxes are different frames formed by the display device emitting projection light beams, which can display different safety distances of the vehicle, and the obstacle detection status within the preset range of the vehicle is determined by acquiring multiple mark boxes.

[0086] When the vehicle detects an obstacle, the determination module 22 first determines the vertical ground point of the single-line distance measuring device, determines the distance between the vertical ground point and the obstacle as the ground distance, and thereby determines the distance between the obstacle and the vehicle.

[0087] After the control module 23 obtains the ground distance and multiple marking boxes, it determines whether the ground distance and the multiple marking boxes overlap. If the ground distance is within the multiple marking boxes, it is considered that there is an obstacle within the preset range of the vehicle body, which may have an adverse effect on the driving of the vehicle. Then, according to the different overlaps between the ground distance and the multiple marking boxes, the vehicle is controlled to execute different driving modes to avoid collision between the vehicle and the obstacle.

[0088] According to the vehicle driving control device 2 of the embodiment of the present invention, multiple marking frames emitted by utilizing the visibility of light and the ground distance between the single-line distance measuring device and the obstacle are obtained, and it is determined whether the ground distance and the multiple marking frames coincide with each other. If the ground distance is within the multiple marking frames, the safe distance between the obstacle and the vehicle is determined based on the coincidence of the ground distance and the multiple marking frames. The vehicle is controlled to execute different driving modes according to different safe distances. Through the combination of the single-line distance measuring device and the display device, visual assistance can be provided to the driver at a relatively low cost, thereby accurately controlling the driving of the vehicle.

[0089] Reference below Fig.10A vehicle 3 according to an embodiment of the present invention will be described.

[0090] like Fig.10 As shown, the vehicle 3 according to the embodiment of the present invention includes the vehicle travel control device 2 according to the above embodiment.

[0091] According to the vehicle 3 of the embodiment of the present invention, multiple marking frames emitted by utilizing the visibility of light and the ground distance between the single-line ranging device and the obstacle are obtained, and it is determined whether the ground distance and the multiple marking frames coincide with each other. If the ground distance is within the multiple marking frames, the safe distance between the obstacle and the vehicle is determined based on the coincidence of the ground distance and the multiple marking frames. The vehicle is controlled to execute different driving modes according to different safe distances. Through the combination of the single-line ranging device and the display device, visual assistance can be provided to the driver at a relatively low cost, thereby accurately controlling the driving of the vehicle.

[0092] The following describes a computer-readable storage medium according to an embodiment of the present invention.

[0093] A vehicle driving control program is stored on a computer-readable storage medium in an embodiment of the present invention. When the vehicle driving control program is executed by a processor, the vehicle driving control method of the above embodiment is implemented.

[0094] The following describes a computer program product according to an embodiment of the present invention.

[0095] The computer program product of the embodiment of the present invention includes a computer program, and when the computer program is executed by a processor, the vehicle driving control method of the above embodiment is implemented.

[0096] According to the computer program product of the embodiment of the present invention, multiple marking frames emitted by utilizing the visibility of light and the ground distance between the single-line ranging device and the obstacle are obtained, and it is determined whether the ground distance and the multiple marking frames coincide with each other. If the ground distance is within the multiple marking frames, the safe distance between the obstacle and the vehicle is determined based on the coincidence of the ground distance and the multiple marking frames. The vehicle is controlled to execute different driving modes according to different safety distances. Through the combination of the single-line ranging device and the display device, visual assistance can be provided to the driver at a relatively low cost, thereby accurately controlling the driving of the vehicle.

[0097] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0098] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle driving control method, wherein the vehicle is provided with a single-line distance measuring device and a display device, characterized in that: The method comprises: Acquire multiple marking frames emitted by the display device; determining a ground distance between the single-line distance measuring device and an obstacle; The vehicle is controlled to travel according to the ground distance and the plurality of marking frames.

2. The vehicle driving control method according to claim 1, characterized in that: Acquiring multiple marking frames emitted by the display device, including: determining a plurality of measurement distance thresholds of the display device; The display device is controlled to project light beams at multiple measurement distance thresholds to obtain multiple marking frames, wherein the multiple marking frames have different colors.

3. The vehicle driving control method according to claim 1, characterized in that: Acquiring multiple marking frames emitted by the display device, including: determining a plurality of preset distance thresholds of the vehicle, and a pitch angle between the vehicle and the single-line distance measuring device; Determine a plurality of measurement distance thresholds of the display device according to the plurality of preset distance thresholds and the pitch angle; The display device is controlled to project light beams at multiple measurement distance thresholds to obtain multiple marking frames, wherein the multiple marking frames have different colors.

4. The vehicle driving control method according to claim 3, characterized in that: Determining a pitch angle between the vehicle and the single-line ranging device includes: Acquire the angle between the vehicle and the single-line distance measuring device, and the rotation angle of the single-line distance measuring device; The included angle is determined as the pitch angle, or the angle and value of the included angle and the rotation angle are determined as the pitch angle.

5. The vehicle driving control method according to claim 1, characterized in that: Determining the ground distance between the single-line distance measuring device and the obstacle includes: Determine a measured distance between the single-line distance measuring device and an obstacle, and a pitch angle between the vehicle and the single-line distance measuring device; The ground distance is determined according to the measured distance and the pitch angle.

6. The vehicle driving control method according to claim 1, characterized in that: Controlling the vehicle to travel according to the ground distance and the plurality of marking frames includes: If the ground distance is within the plurality of marking frames, determining the position of the obstacle according to the ground distance; The vehicle is controlled to travel according to the position of the obstacle.

7. The vehicle driving control method according to claim 6, characterized in that: Controlling the vehicle to travel according to the position of the obstacle includes: Outputting the position of the obstacle to a vehicle screen and / or issuing an alarm message; The vehicle is controlled to travel according to the position of the obstacle and a vehicle control algorithm.

8. The vehicle driving control method according to claim 7, characterized in that: After controlling the vehicle to travel according to the position of the obstacle and the vehicle control algorithm, the method further includes: The vehicle is controlled to park according to the position of the obstacle and a parking algorithm.

9. The vehicle driving control method according to claim 5, characterized in that: After determining the ground distance according to the measured distance and the pitch angle, the method further includes: Determining the height of the vehicle from the ground according to the measured distance and the pitch angle; Determine the height difference between the height above the ground and the standard height; Determining a tilt angle of the vehicle according to the height difference; The tilt angle is input into the suspension of the vehicle to adjust the posture of the suspension.

10. The vehicle driving control method according to claim 1, characterized in that: Before acquiring the multiple marking frames emitted by the display device, the method further includes: determining whether the vehicle is in a fault state; If the vehicle is in a fault state, a fault code corresponding to the fault state is obtained.

11. A vehicle driving control device, characterized in that: include: An acquisition module, used for acquiring a plurality of marking frames emitted by the display device; A determination module, used to determine the ground distance between the single-line distance measuring device and the obstacle; A control module is used to control the vehicle to travel according to the ground distance and the multiple marking frames.

12. A vehicle, characterized in that: include: The vehicle driving control device as claimed in claim 11.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a vehicle driving control program, and when the vehicle driving control program is executed by the processor, the vehicle driving control method according to any one of claims 1 to 10 is implemented.

14. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the vehicle driving control method according to any one of claims 1 to 10 is implemented.

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