A control method of a mobile device and related apparatus

Abstract

The application discloses a control method of a movable device and a related device, relates to the field of device control, and obtains position information between the movable device and an obstacle, obtains a predicted track of the movable device based on movable device information, and finally executes a corresponding anti-collision strategy based on the position information and the predicted track. The application can recognize potential collision risks in advance by obtaining the position information between the movable device and the obstacle in real time and predicting the predicted track of the movable device. When it is predicted that the movable device may collide, the collision accident can be effectively avoided or mitigated by automatically executing the corresponding anti-collision strategy, and the safety of the movable device is improved.

Description

Technical Field

[0001] This invention relates to the field of equipment control technology, and more specifically, to a control method and related apparatus for a mobile device. Background Technology

[0002] With social development and the improvement of people's living standards, more and more mobile devices (such as mobility scooters) are appearing on the roads. While meeting travel needs, mobile devices also pose certain safety hazards. During operation, if an emergency occurs, a collision may happen due to the user's delayed reaction, or when encountering an obstacle ahead, the user may grip the accelerator lever tightly and continue driving forward due to panic, thus creating a safety hazard. Summary of the Invention

[0003] In view of this, the present invention discloses a control method and related apparatus for a mobile device, which can acquire positional information between the mobile device and obstacles, predict the trajectory of the mobile device, and identify potential collision risks in advance. When a collision is predicted, the method automatically executes corresponding anti-collision strategies to effectively avoid or mitigate collision accidents and improve the safety of the mobile device.

[0004] A method for controlling a mobile device, comprising:

[0005] Obtain the location information between the mobile device and the obstacle;

[0006] The predicted trajectory of the mobile device is obtained based on the mobile device information, which includes at least one of the mobile device status information and mobile device size information.

[0007] Execute the corresponding collision avoidance strategy based on the location information and the predicted trajectory.

[0008] Optionally, the mobile device includes a steering control component, and obtaining the predicted trajectory of the mobile device based on the mobile device information includes:

[0009] The linear velocity, angular velocity, and steering angle corresponding to the steering control component of the mobile device are obtained.

[0010] The target turning radius of the mobile device is determined based on the linear velocity, the angular velocity, and the steering angle.

[0011] The predicted trajectory is obtained based on the target turning radius.

[0012] Optionally, determining the target turning radius of the mobile device based on the linear velocity, the angular velocity, and the steering angle includes:

[0013] The first turning radius is obtained based on the linear velocity and the angular velocity;

[0014] The first turning angle of the mobile device when turning is determined based on the steering angle and the chassis steering dimensions of the mobile device, and the second turning radius is obtained based on the first turning angle;

[0015] The first turning radius and the second turning radius are fused together to obtain the target turning radius.

[0016] Optionally, determining the first turning angle of the mobile device when turning based on the steering angle and the chassis steering dimensions of the mobile device, and obtaining the second turning radius based on the first turning angle, includes:

[0017] The first rotation angle when the mobile device turns is determined based on the steering angle and the chassis steering dimensions;

[0018] Obtain the first wheelbase and the second wheelbase of the mobile device;

[0019] The second turning radius is obtained based on the first rotation angle, the first wheelbase, and the second wheelbase.

[0020] Optionally, obtaining the predicted trajectory based on the target turning radius includes:

[0021] Obtain the left and right wheelbase of the mobile device, and determine the turning center based on the target turning radius;

[0022] Based on the target turning radius and the left and right wheelbase, determine the turning radius of the inner rear wheel and the turning radius of the outer rear wheel with the turning center as the center;

[0023] Based on the outer rear wheel turning radius and the outer front wheel rotation angle, determine the outer front wheel turning radius with the turning center as the center;

[0024] Using the turning center as the center, determine the annulus formed by the circle containing the turning radius of the inner rear wheel and the circle containing the turning radius of the outer front wheel, and use the annulus as the coverage area of ​​the predicted trajectory.

[0025] Optionally, the step of executing a corresponding collision avoidance strategy based on the location information and the predicted trajectory includes:

[0026] Based on the location information and the predicted trajectory, if it is determined that the predicted trajectory overlaps with the obstacle, perform at least one of the following operations:

[0027] If the relative distance between the mobile device and the obstacle is greater than the first distance, return to retrieve the position information between the mobile device and the obstacle again;

[0028] If the relative distance between the mobile device and the obstacle is not greater than the first distance but greater than the second distance, the mobile device is controlled to decelerate linearly.

[0029] If the relative distance between the mobile device and the obstacle is not greater than the second distance but greater than the third distance, the mobile device is controlled to decelerate linearly, and a warning is issued simultaneously.

[0030] If the relative distance between the mobile device and the obstacle is not greater than the third distance but greater than the fourth distance, the mobile device is controlled to decelerate to a preset speed and maintain the preset speed while issuing a warning.

[0031] If the relative distance between the mobile device and the obstacle is not greater than the fourth distance, control the mobile device to perform a parking operation, switch the direction of travel of the mobile device, and control the mobile device to travel in the switched direction of travel.

[0032] Optionally, it also includes:

[0033] When the collision function is activated on the mobile device, the gear position of the mobile device during its driving process is obtained;

[0034] Based on the gear position, perform state switching of at least one sensor.

[0035] Optionally, the step of performing state switching of at least one sensor based on the gear position includes:

[0036] When the gear is in forward gear, the forward sensor of the movable device is activated and the rearward sensor is deactivated; and / or,

[0037] When the gear is in reverse gear, the rearward sensor is activated and the forward sensor is deactivated; and / or,

[0038] When the gear is in the push gear position, the forward sensor and the backward sensor are turned off.

[0039] Optionally, when the gear is in a forward gear, activating the forward sensor and deactivating the rear sensor of the mobile device includes:

[0040] When the gear is the forward gear, if the linear velocity of the mobile device is greater than a speed threshold, all the forward sensors remain on; and / or,

[0041] When the gear is the forward gear, if the linear velocity of the mobile device is not greater than the velocity threshold, the relative distance between the mobile device and the obstacle is obtained;

[0042] The operating state of the forward sensor is controlled based on the relative distance.

[0043] Optionally, controlling the operating state of the forward sensor based on the relative distance includes:

[0044] If the relative distance is less than the distance threshold, the mid-to-long-range detection sensor in the forward sensor is turned off;

[0045] If the relative distance is not less than the distance threshold, all the forward sensors remain on.

[0046] Optionally, it also includes:

[0047] When the mobile device is in forward gear, if a first failure sensor is present in the forward sensor of the mobile device, at least one detection sensor is triggered.

[0048] Optionally, triggering at least one detection sensor includes:

[0049] The first failure sensor is a mid-to-long-range detection sensor, triggering the activation of the short-range detection sensor; and / or,

[0050] The first failure sensor is the forward proximity detection sensor, which triggers the forward collision detection sensor to activate; and / or,

[0051] The first failure sensor is the forward collision detection sensor, which performs interception protection for potential collision accidents based on the set motor control stall algorithm.

[0052] Optionally, it also includes:

[0053] When the mobile device is in reverse position, if a second failure sensor is present in the rearward sensor of the mobile device, at least one detection sensor is triggered.

[0054] Optionally, triggering at least one detection sensor includes:

[0055] The second failure sensor is a rearward proximity detection sensor, which triggers the rearward collision detection sensor to activate; and / or,

[0056] The second failure sensor is the rear collision detection sensor, which performs interception protection for potential collision accidents based on the set motor control stall algorithm.

[0057] A control device for a mobile device, comprising:

[0058] The acquisition unit is used to acquire the location information between the movable device and the obstacle;

[0059] A trajectory prediction unit is used to obtain a predicted trajectory of the mobile device based on mobile device information, wherein the mobile device information includes at least one of mobile device status and mobile device size;

[0060] The collision avoidance control unit is used to execute a corresponding collision avoidance strategy based on the location information and the predicted trajectory.

[0061] A controller, the controller comprising: a memory and a processor;

[0062] The memory is used to store at least one instruction;

[0063] The processor is used to execute the at least one instruction to implement a control method for any mobile device.

[0064] A mobile device includes: a ranging sensor and a controller connected to the ranging sensor;

[0065] The ranging sensor includes a forward sensor disposed in front of the mobile device and a backward sensor disposed behind the mobile device.

[0066] Optionally, the forward sensor includes at least one of the following detection sensors:

[0067] A medium-to-long-range detection sensor mounted on the pole of a mobile device;

[0068] Steering detection sensor mounted on the front axle steering knuckle;

[0069] Forward proximity detection sensors are installed on the left and right front sides of the mobile device;

[0070] Forward collision detection sensors are mounted on the front bumper beam;

[0071] The backward sensor includes at least one of the following detection sensors:

[0072] Rear proximity detection sensors are disposed on the left and right rear sides of the mobile device;

[0073] A rearward collision detection sensor is mounted on the rear bumper beam of the mobile device.

[0074] A computer storage medium storing at least one instruction that, when executed by a processor, implements a control method for any mobile device.

[0075] As can be seen from the above technical solution, this invention discloses a control method and related apparatus for a mobile device. It acquires positional information between the mobile device and obstacles, obtains a predicted trajectory of the mobile device based on this information, and finally executes a corresponding collision avoidance strategy based on the positional information and the predicted trajectory. This application, by acquiring positional information between the mobile device and obstacles in real time and predicting the trajectory of the mobile device, can identify potential collision risks in advance. When a collision is predicted, automatically executing the corresponding collision avoidance strategy can effectively avoid or mitigate collision accidents, thereby improving the safety of the mobile device. Attached Figure Description

[0076] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the published drawings without creative effort.

[0077] Figure 1 This is a schematic diagram of the installation position of a forward sensor on a mobile device according to an embodiment of the present invention;

[0078] Figure 2 This is a schematic diagram of the installation position of a rearward sensor on a mobile device according to an embodiment of the present invention;

[0079] Figure 3 This is a flowchart of a control method for a mobile device disclosed in an embodiment of the present invention;

[0080] Figure 4 This is a flowchart of a method for reducing power consumption in a mobile device, as disclosed in an embodiment of the present invention.

[0081] Figure 5 This is a schematic diagram of the structure of a control device for a mobile device disclosed in an embodiment of the present invention;

[0082] Figure 6 This is a schematic diagram of the structure of a vehicle controller disclosed in an embodiment of the present invention. Detailed Implementation

[0083] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0084] The mobile device in this application can be a mobile device with front wheels and rear wheels, such as a three-wheeled vehicle, a four-wheeled vehicle, etc., and the four-wheeled vehicle can be an electric mobility scooter (i.e., a mobility scooter for the elderly).

[0085] To achieve collision avoidance functionality for mobile devices, this application includes a ranging sensor on the mobile device, which is connected to the vehicle controller.

[0086] The ranging sensor includes a forward sensor positioned in front of the mobile device and a backward sensor positioned behind the mobile device.

[0087] For a better understanding of the placement of the forward sensor on a mobile device, see [link / reference]. Figure 1 This application discloses a schematic diagram of the installation position of a forward sensor on a mobile device. The forward sensor may include at least one of the following detection sensors:

[0088] The medium-to-long-range detection sensor 1 is installed on the vehicle pole. The medium-to-long-range detection sensor 1 can be, for example, a millimeter-wave radar, a ToF (Time of Flight) sensor, a camera, etc.

[0089] The vehicle steering detection sensor 2 is installed on the front axle steering knuckle. The vehicle steering detection sensor 2 may be a Hall sensor, a magnetic coding sensor, a camera, etc.

[0090] Forward proximity sensors located on the left and right front sides of the vehicle (see...) Figure 1 (See Figures 3 and 5 in the attached diagrams). Forward proximity detection sensors include ultrasonic sensors, infrared sensors, cameras, etc.

[0091] A vehicle forward collision detection sensor 4 is installed on the front bumper beam of the vehicle. The vehicle forward collision detection sensor 4 may include, for example, a thin film pressure sensor or a camera.

[0092] For a better understanding of the placement of the rearview sensor on a mobile device, see [link / reference]. Figure 2 This application discloses a schematic diagram of the installation position of a rearward sensor on a mobile device. The rearward sensor may include at least one of the following detection sensors:

[0093] Rear proximity detection sensors located on the left and right rear sides of the vehicle (see) Figure 2 (See attached figures 6 and 8), rear-facing proximity detection sensors such as ultrasonic sensors, infrared sensors, cameras, etc.

[0094] The rear collision detection sensor 7 is installed on the rear bumper beam of the vehicle. The rear collision detection sensor 7 may include, for example, a thin-film pressure sensor or a camera.

[0095] based on Figure 1 and Figure 2 The mobile device shown is shown in the image. Figure 3 This application discloses a flowchart of a control method for a mobile device. This method is applied to a vehicle controller in a mobile device and may include:

[0096] Step S101: Obtain the location information between the mobile device and the obstacle.

[0097] Specifically, the system acquires the raw relative position information between the mobile device and the obstacle collected by the ranging sensor, and preprocesses the raw relative position data to obtain the position information.

[0098] The raw relative position information includes the actual distance between the mobile device and the obstacle, and the actual angle of the obstacle relative to the mobile device. Preprocessing the raw relative position data includes, but is not limited to, filtering the raw relative position data to improve its accuracy, usability, and reliability.

[0099] Step S102: Obtain the predicted trajectory of the mobile device based on the mobile device information.

[0100] The mobile device information includes at least one of the following: mobile device status information and mobile device size information. The mobile device status information may include the mobile device's linear velocity, angular velocity, steering angle, and direction of travel. The mobile device size information may include the mobile device's chassis and steering dimensions.

[0101] In practical applications, when a mobile device turns, its front wheels generate a turning angle relative to the vehicle body, which determines the device's steering direction. Based on steering geometry, there is a geometric relationship between the front wheel turning angle and the device's turning radius. When the steering wheel is turned at a certain angle, the front wheels generate a corresponding turning angle, causing the device to travel along a specific turning radius. Simultaneously, during travel, the device's speed and acceleration, among other motion parameters, affect its trajectory. Therefore, based on the device's steering geometry and kinematic laws, a predicted trajectory can be obtained from the device's information.

[0102] Step S103: Execute the corresponding collision avoidance strategy based on the location information and the predicted trajectory.

[0103] Based on the location information between the mobile device and the obstacle, as well as the predicted trajectory of the mobile device, it is possible to determine whether there is a potential collision risk between the mobile device and the obstacle. By controlling the mobile device to execute the corresponding anti-collision strategy, collision accidents can be effectively avoided or mitigated.

[0104] In summary, this application discloses a control method for a mobile device, which acquires the positional information between the mobile device and obstacles, obtains a predicted trajectory of the mobile device based on the mobile device information, and finally executes a corresponding collision avoidance strategy based on the positional information and the predicted trajectory. By acquiring the positional information between the mobile device and obstacles in real time and predicting the predicted trajectory of the mobile device, this application can identify potential collision risks in advance. When a collision is predicted, automatically executing the corresponding collision avoidance strategy can effectively avoid or mitigate collision accidents, thereby improving the safety of the mobile device.

[0105] In one embodiment, when the movable device includes a steering control component (e.g., a handle), step S102 may specifically include:

[0106] (1) Obtain the linear velocity, angular velocity and steering angle of the mobile device and the steering control component.

[0107] In practical applications, the linear velocity ν of a mobile device can be obtained from the motor speed, reduction ratio, and wheel diameter. The steering angle θ can be acquired by a detection sensor installed on the steering control component (e.g., the handle rotation part). The angular velocity ω is measured by an IMU (Inertial Measurement Unit) installed on the mobile device; the angular velocity ω is actually the z-direction angular velocity of the IMU.

[0108] (2) Determine the target turning radius of the mobile device based on the linear velocity, the angular velocity and the steering angle.

[0109] In this application, the target turning radius (r) of the mobile device refers to the distance between the center of the rear wheel track of the mobile device and the turning center (o) of the mobile device.

[0110] The turning center (o) of the mobile device is the intersection of the extended lines of the inner and outer axles of the front wheel and the extended lines of the inner and outer axles of the rear wheel when the mobile device turns.

[0111] The ability of a mobile device to traverse narrow, winding areas or bypass insurmountable obstacles can be determined based on its target turning radius (r).

[0112] (3) The predicted trajectory is obtained based on the target turning radius.

[0113] In summary, this application determines the target turning radius of the mobile device based on its linear velocity, angular velocity, and the steering angle corresponding to the steering control component. Then, it obtains a predicted trajectory based on the target turning radius. This allows the mobile device to identify potential collision risks in advance by combining the positional information between the mobile device and obstacles during operation. Furthermore, when a collision is predicted, the application can effectively avoid or mitigate collision accidents and improve the safety of the mobile device by automatically executing corresponding anti-collision strategies.

[0114] In one embodiment, the process of determining the target turning radius of the mobile device based on its linear velocity, angular velocity, and the steering angle corresponding to the steering control component may include:

[0115] (1) The first turning radius is obtained based on the linear velocity and angular velocity.

[0116] In practical applications, the linear velocity and angular velocity are processed according to the steering geometry and kinematic laws of the mobile device to obtain the first turning radius.

[0117] (2) Determine the first turning angle of the mobile device when it turns based on the steering angle and the chassis steering dimensions of the mobile device, and obtain the second turning radius based on the first turning angle.

[0118] A mobile device can be a mobile device with front wheels and rear wheels, in which case the first rotation angle can be the rotation angle of the front wheels. In practical applications, the rotation angle of the front wheels is the angle between the wheels of the mobile device and the central axis of the mobile device in the longitudinal direction, which can be determined based on the steering angle and chassis steering dimensions, combined with steering geometry characteristics.

[0119] When the chassis of a mobile device is shaped like a quadrilateral, the chassis steering dimension of the mobile device is also the quadrilateral dimension of the chassis steering.

[0120] The process for determining the second turning radius is as follows:

[0121] Determine the first rotation angle of the mobile device when it turns based on the steering angle and chassis steering dimensions; obtain the first wheelbase and second wheelbase of the mobile device;

[0122] The second turning radius is obtained based on the first rotation angle, the first wheelbase, and the second wheelbase.

[0123] When the mobile device is a mobile device with front wheels and rear wheels, the first wheelbase of the mobile device can be the front and rear wheelbase, and the second wheelbase can be the left and right wheelbase.

[0124] (3) The first turning radius and the second turning radius are fused to obtain the target turning radius.

[0125] In practical applications, the first turning radius and the second turning radius can be fused by weighted averaging to obtain the fused target turning radius, thereby improving the accuracy and reliability of the target turning radius, which helps to optimize driving decisions and improve driving safety.

[0126] In one embodiment, the process of obtaining the predicted trajectory based on the target turning radius includes:

[0127] Obtain the left and right wheelbase of the mobile device and determine the turning center based on the target turning radius;

[0128] Based on the target turning radius and the left and right wheelbase, determine the turning radius of the inner rear wheel and the turning radius of the outer rear wheel with the turning center as the center;

[0129] Based on the outer rear wheel turning radius and the outer front wheel rotation angle, determine the outer front wheel turning radius with the turning center as the center;

[0130] Using the turning center as the center, determine the annulus formed by the circle containing the turning radius of the inner rear wheel and the circle containing the turning radius of the outer front wheel, and use the annulus as the coverage area of ​​the predicted trajectory.

[0131] In practical applications, based on the steering geometry of the mobile device, and by determining the turning center o based on the front and rear wheelbase L, the left and right wheelbase λ, the target turning radius r, and the target turning radius, the current trajectory of the four wheels can be obtained. This trajectory is a concentric circle with o as the center and the inner rear wheel turning radius r1, the outer rear wheel turning radius r2, the inner front wheel turning radius r3, and the outer front wheel turning radius r4 as radii. Through real-time iterative updates, the predicted trajectory of the mobile device can be obtained.

[0132] When determining the predicted trajectory of a mobile device in real time, it is usually only necessary to focus on the annulus formed by the two concentric circles consisting of the inner rear wheel turning radius r1 and the outer front wheel turning radius r4. This annulus represents the coverage area of ​​the predicted trajectory of the mobile device. Therefore, in practical applications, it is only necessary to determine the annulus formed by the two concentric circles consisting of the inner rear wheel turning radius r1 and the outer front wheel turning radius r4.

[0133] In one embodiment, the predicted trajectory of the mobile device and the location information between the mobile device and the obstacle can be used to determine whether the predicted trajectory of the mobile device overlaps with the obstacle, so as to further determine whether there is a potential collision risk between the mobile device and the obstacle.

[0134] When it is determined that the predicted trajectory of the mobile device does not coincide with the obstacle based on the predicted trajectory of the mobile device and the position information between the mobile device and the obstacle, it is determined that there is no potential collision risk between the mobile device and the obstacle. At this time, return to step S101 to obtain the position information between the mobile device and the obstacle again.

[0135] In one embodiment, step S103 may specifically include:

[0136] Based on location information and the predicted trajectory, if it is determined that the predicted trajectory overlaps with an obstacle, perform at least one of the following operations:

[0137] If the relative distance between the mobile device and the obstacle is greater than the first distance, return to reacquire the position information between the mobile device and the obstacle collected by the ranging sensor;

[0138] If the relative distance between the mobile device and the obstacle is not greater than the first distance but greater than the second distance, the mobile device is controlled to decelerate linearly.

[0139] If the relative distance between the mobile device and the obstacle is not greater than the second distance but greater than the third distance, the mobile device is controlled to decelerate linearly and a warning is issued at the same time, such as a display warning and a voice warning.

[0140] If the relative distance between the mobile device and the obstacle is not greater than the third distance but greater than the fourth distance, the mobile device is controlled to decelerate to a preset speed and maintain the preset speed while issuing a warning.

[0141] If the relative distance between the mobile device and the obstacle is not greater than the fourth distance, control the mobile device to perform a parking operation, switch the direction of travel of the mobile device, and control the mobile device to travel in the switched direction of travel.

[0142] Specifically, assuming the relative distance between the mobile device and the obstacle is d, the first distance is d0, the second distance is d1, the third distance is d2, and the fourth distance is d3, where d0 > d1 > d2 > d3.

[0143] Determine whether the trajectory of the mobile device overlaps with the obstacle.

[0144] If there is no overlap, return to step S101.

[0145] If there is overlap, perform the following operations:

[0146] If d > d0, return to step S101.

[0147] If d0≥d>d1, control the movable device to perform linear deceleration, and then return to step S101 again.

[0148] If d1≥d>d2, control the mobile device to decelerate linearly and issue a warning (e.g., display warning, voice warning, etc.); then you can return to step S101 again.

[0149] If d2≥d>d3, control the mobile device to decelerate to a preset speed and maintain the preset speed while issuing a warning; then you can return to step S101 again.

[0150] If d > d3, control the mobile device to perform a parking operation, switch the direction of travel of the mobile device, and control the mobile device to travel in the switched direction; then you can return to step S101 again. Here, switching the direction of travel of the mobile device means switching from the forward direction to the reverse direction, or from the reverse direction to the forward direction, in order to avoid collisions between the mobile device and obstacles.

[0151] This application utilizes ranging sensors (including forward and backward sensors) installed on a mobile device to collect real-time positional information between the mobile device and obstacles. Combined with the predicted trajectory of the mobile device, it identifies potential collision risks in advance, thereby enabling timely implementation of collision avoidance strategies to effectively prevent or mitigate collision accidents. Figure 1 and Figure 2 As can be seen from the above, this application sets a relatively large number of forward and backward sensors in the mobile device. In order to reduce the power consumption of the mobile device, this application provides a power consumption reduction strategy in addition to the collision avoidance strategy.

[0152] Specifically, when the collision function of the mobile device is enabled, the gear position of the mobile device during its driving process is obtained; based on the gear position, the state switching of at least one sensor is performed.

[0153] In one embodiment, see Figure 4 The flowchart of a method for reducing power consumption in a mobile device disclosed in this application includes:

[0154] Step S201: Determine whether the gear of the mobile device during its movement is forward, reverse, or push.

[0155] Step S202: With the gear in forward gear, turn on the forward sensor and turn off the rearward sensor.

[0156] Forward gears can include: low gear, medium gear, and high gear.

[0157] When a mobile device is in forward gear, the forward sensor is the primary power source. In this case, the power consumption of the rear sensor can be reduced by turning it off, thereby extending the battery life of the mobile device.

[0158] Step S203: When the gear is in reverse gear, turn on the rearward sensor and turn off the forward sensor.

[0159] When a mobile device is in reverse mode, the rearward sensor is the primary power source. In this case, the power consumption of the forward sensor can be reduced by turning it off, thereby extending the battery life of the mobile device.

[0160] Step S204: When the gear is in push gear, turn off the forward sensor and the backward sensor.

[0161] The push gear of a mobile device typically refers to the gear used when the device needs to be manually pushed. Its main functions are to facilitate pushing, prevent accidental movement, and for emergency starting in certain situations. Many mobile devices do not have a dedicated "push gear," but can be pushed using N (neutral). The function of N is to disconnect the power connection between the engine and transmission, so that the mobile device does not output power or generate resistance in this position.

[0162] Since the movement speed of the mobile device when pushing the gear is manually pushed, it can avoid obstacles during the manual pushing process. At this time, in order to reduce the power consumption of the sensors, both the forward and backward sensors can be turned off to extend the battery life of the mobile device.

[0163] It should be noted that the strategy for reducing power consumption of the mobile device in this embodiment is any one or a combination of the three strategies in steps S202 to S204, depending on the actual needs.

[0164] In one embodiment, when the movable device is in forward gear, the process of activating the forward sensor and deactivating the backward sensor may specifically include:

[0165] When the gear is in the forward gear, if the linear velocity of the mobile device is greater than the speed threshold, all the forward sensors remain on; and / or,

[0166] When the gear is the forward gear, if the linear velocity of the mobile device is not greater than the velocity threshold, the relative distance between the mobile device and the obstacle is obtained;

[0167] The operating state of the forward sensor is controlled based on the relative distance.

[0168] Assuming a speed threshold of 4.5 km / h, the forward sensors include: millimeter-wave radar, Hall effect sensor, ultrasonic sensor, thin-film pressure sensor, and camera.

[0169] When the mobile device is in forward gear, if the linear speed of the mobile device is greater than 4.5 km / h, such as 5.5 km / h, all sensors are turned on. For example, the millimeter-wave radar, Hall sensor, ultrasonic sensor, thin-film pressure sensor and camera can all be kept on.

[0170] If the mobile device is in forward gear and its linear speed is no greater than 4.5 km / h (e.g., 3.5 km / h), the relative distance between the mobile device and the obstacle is obtained. Then, based on the relationship between the relative distance and the distance threshold, the sensors that need to be turned off are determined.

[0171] It should be noted that in practical applications, the forward sensor includes any one or more of the following: millimeter-wave radar, Hall sensor, ultrasonic sensor, thin-film pressure sensor, and camera. The specific sensor can be flexibly set according to actual needs.

[0172] Specifically, the process of controlling the operating state of the forward sensor based on the relative distance may include:

[0173] If the relative distance is less than the distance threshold, the mid-to-long-range detection sensor in the forward sensor is turned off;

[0174] If the relative distance is not less than the distance threshold, all the forward sensors remain on.

[0175] The values ​​of the speed threshold and the distance threshold are determined according to actual needs, and this application does not impose any restrictions on them.

[0176] Assuming a distance threshold of 1.5m, the forward sensors include: millimeter-wave radar, Hall effect sensor, ultrasonic sensor, thin-film pressure sensor, and camera, with the millimeter-wave radar serving as a medium- to long-range detection sensor.

[0177] When the relative distance between the mobile device and the obstacle is less than 1.5m, such as 1m, it indicates that the relative distance between the mobile device and the obstacle is relatively small. Since the millimeter-wave radar in the forward sensor mainly detects the medium to long distance between the mobile device and the obstacle, in order to further reduce the power consumption of the forward sensor and maintain the detection function of the forward sensor, this application only turns off the millimeter-wave radar at this time, while the Hall sensor, ultrasonic sensor, thin film pressure sensor and camera remain on.

[0178] When the relative distance between the mobile device and the obstacle is not less than 1.5m, such as when the relative distance is 2m, the millimeter-wave radar, Hall sensor, ultrasonic sensor and thin-film pressure sensor are all turned on.

[0179] It should be noted that in practical applications, the forward sensor includes any one or more of the following: millimeter-wave radar, Hall sensor, ultrasonic sensor, thin-film pressure sensor, and camera. The specific sensor can be flexibly set according to actual needs.

[0180] In practical applications, when the mobile device is in forward gear, the linear velocity of the mobile device is not greater than the speed threshold, and the relative distance between the mobile device and the obstacle is less than the distance threshold, it indicates that the relative distance between the mobile device and the obstacle is relatively small. The mid-to-long distance detection sensor in the forward sensor mainly detects the mid-to-long distance between the mobile device and the obstacle. Therefore, in order to further reduce the power consumption of the forward sensor, this application turns off the mid-to-long distance detection sensor when the mobile device is in forward gear, the linear velocity of the mobile device is not greater than the speed threshold, and the relative distance between the mobile device and the obstacle is less than the distance threshold.

[0181] In one embodiment, this application also provides a failure strategy for sensors in mobile devices.

[0182] Therefore, the control methods for mobile devices may also include:

[0183] When the mobile device is in forward gear, if a first failure sensor is present in the forward sensor of the mobile device, at least one detection sensor is triggered.

[0184] The process of triggering at least one detection sensor specifically includes:

[0185] The first failure sensor is a mid-to-long-range detection sensor, triggering the activation of the short-range detection sensor; and / or,

[0186] The first failure sensor is the proximity detection sensor, which triggers the activation of the forward collision detection sensor for the mobile device; and / or,

[0187] The first failure sensor is the forward collision detection sensor of the mobile device, which performs interception protection for potential collision accidents based on the set motor control stall algorithm.

[0188] The motor control stall algorithm is defined as a motor current value that is greater than the current threshold and the duration of the stall exceeds the preset time.

[0189] Assume that in the forward-looking sensors, the mid-to-long-range detection sensor is a millimeter-wave radar, the short-range detection sensor is an ultrasonic sensor, and the forward collision detection sensor is a thin-film pressure sensor.

[0190] When the mobile device is in forward gear, if the first faulty sensor in the forward sensor of the mobile device is a millimeter-wave radar, the ultrasonic sensor is triggered to open; if the first faulty sensor in the forward sensor of the mobile device is an ultrasonic sensor, the thin-film pressure sensor is triggered to open; if the first faulty sensor in the forward sensor of the mobile device is a thin-film pressure sensor, the set motor control stall algorithm performs interception protection for potential collision accidents.

[0191] It should be noted that in practical applications, the forward collision detection sensor is not limited to a thin-film pressure sensor, but can also be a detection sensor other than a thin-film pressure sensor. The specific choice depends on the actual needs, and this application does not impose any restrictions here.

[0192] In summary, this application, upon detecting a malfunctioning forward sensor, triggers the next-level sensor of the malfunctioning sensor to ensure real-time acquisition of the relative position data between the mobile device and obstacles. This facilitates the early identification of potential collision risks and effectively avoids or mitigates collisions by automatically triggering anti-collision strategies. Furthermore, after determining that all forward sensors have failed, this application employs a pre-defined motor control stall algorithm to intercept and protect against potential collisions, effectively avoiding or mitigating collisions and improving the safety of the mobile device.

[0193] In one embodiment, the control method for a mobile device may further include:

[0194] When the mobile device is in reverse position, if a second failure sensor is present in the rearward sensor of the mobile device, at least one detection sensor is triggered.

[0195] Specifically, the process of triggering at least one detection sensor may include:

[0196] The second failure sensor is a proximity detection sensor, which triggers the activation of the rear collision detection sensor for the movable device; and / or,

[0197] The second failure sensor is the rear collision detection sensor of the mobile device, which performs interception protection for potential collision accidents based on the set motor control stall algorithm.

[0198] Assuming that in the rearward sensors, the near-field detection sensor is an ultrasonic sensor, and the rearward collision detection sensor is a thin-film pressure sensor.

[0199] When the mobile device is in reverse, if the second failure sensor in the rearward sensor of the mobile device is an ultrasonic sensor, the membrane pressure sensor is triggered to open; if the second failure sensor in the rearward sensor of the mobile device is a membrane pressure sensor, the set motor control stall algorithm is used to intercept and protect against potential collision accidents.

[0200] It should be noted that in practical applications, the rear collision detection sensor is not limited to a thin-film pressure sensor, but can also be a detection sensor other than a thin-film pressure sensor. The specific choice depends on the actual needs, and this application does not impose any restrictions here.

[0201] In summary, this application, upon detecting a failed rearward sensor, triggers the next-level sensor of the failed sensor to ensure real-time acquisition of the relative position data between the mobile device and obstacles. This facilitates the early identification of potential collision risks and effectively avoids or mitigates collision accidents by automatically triggering anti-collision strategies. Furthermore, after determining that all rearward sensors have failed, this application employs a motor control stall algorithm based on a predefined setting to intercept and protect against potential collisions, effectively avoiding or mitigating collision accidents and improving the safety of the mobile device.

[0202] Corresponding to the above method embodiments, this application also discloses a control device for a mobile device.

[0203] See Figure 5 This application discloses a schematic diagram of the structure of a control device for a mobile device. The control device includes:

[0204] The acquisition unit 301 is used to acquire the position information between the mobile device and the obstacle.

[0205] The acquisition unit 301 can be specifically used to: acquire the original relative position information between the mobile device and the obstacle collected by the ranging sensor, and preprocess the original relative position data to obtain the position information.

[0206] The raw relative position information includes the actual distance between the mobile device and the obstacle, and the actual angle of the obstacle relative to the mobile device. Preprocessing the raw relative position data includes, but is not limited to, filtering the raw relative position data to improve its accuracy, usability, and reliability.

[0207] The trajectory prediction unit 302 is used to obtain the predicted trajectory of the mobile device based on the mobile device information.

[0208] The mobile device information includes at least one of the following: mobile device status and mobile device size.

[0209] The mobile device information includes at least one of the following: mobile device status information and mobile device size information. The mobile device status information may include the mobile device's linear velocity, angular velocity, steering angle, and direction of travel. The mobile device size information may include the mobile device's chassis and steering dimensions.

[0210] In practical applications, when a mobile device turns, its front wheels generate a turning angle relative to the vehicle body, which determines the device's steering direction. Based on steering geometry, there is a geometric relationship between the front wheel turning angle and the turning radius of the mobile device. When the steering wheel is turned at a certain angle, the front wheels generate a corresponding turning angle, causing the device to travel along a specific turning radius. Simultaneously, during travel, the device's speed and acceleration, among other motion parameters, affect its trajectory. Therefore, based on the device's steering geometry and kinematic laws, a predicted trajectory can be obtained from the device's information.

[0211] The collision avoidance control unit 303 is used to execute a corresponding collision avoidance strategy based on the location information and the predicted trajectory.

[0212] Based on the location information between the mobile device and the obstacle, as well as the predicted trajectory of the mobile device, it is possible to determine whether there is a potential collision risk between the mobile device and the obstacle. By controlling the mobile device to execute the corresponding anti-collision strategy, collision accidents can be effectively avoided or mitigated.

[0213] In summary, this application discloses a control device for a mobile device that acquires positional information between the mobile device and obstacles, obtains a predicted trajectory of the mobile device based on the mobile device information, and finally executes a corresponding collision avoidance strategy based on the positional information and the predicted trajectory. By acquiring positional information between the mobile device and obstacles in real time and predicting the mobile device's trajectory, this application can identify potential collision risks in advance. When a collision is predicted, automatically executing the corresponding collision avoidance strategy can effectively avoid or mitigate collision accidents, thereby improving the safety of the mobile device.

[0214] In one embodiment, when the mobile device includes a steering control component, the trajectory prediction unit 302 includes:

[0215] The acquisition subunit is used to acquire the linear velocity, angular velocity of the mobile device, and the steering angle corresponding to the steering control component;

[0216] A turning radius determination subunit is used to determine the target turning radius of the mobile device based on the linear velocity, the angular velocity, and the steering angle.

[0217] The predicted trajectory determination subunit is used to obtain the predicted trajectory based on the target turning radius.

[0218] In one embodiment, the turning radius determination subunit can be specifically used for:

[0219] The first turning radius is obtained based on the linear velocity and the angular velocity;

[0220] The first turning angle of the mobile device when turning is determined based on the steering angle and the chassis steering dimensions of the mobile device, and the second turning radius is obtained based on the first turning angle;

[0221] The first turning radius and the second turning radius are fused together to obtain the target turning radius.

[0222] In one embodiment, the turning radius determining subunit can also be used for:

[0223] The first rotation angle when the mobile device turns is determined based on the steering angle and the chassis steering dimensions;

[0224] Obtain the first wheelbase and the second wheelbase of the mobile device;

[0225] The second turning radius is obtained based on the first rotation angle, the first wheelbase, and the second wheelbase.

[0226] In one embodiment, the trajectory prediction and determination subunit can specifically be used for:

[0227] Obtain the left and right wheelbase of the mobile device, and determine the turning center based on the target turning radius;

[0228] Based on the target turning radius and the left and right wheelbase, determine the turning radius of the inner rear wheel and the turning radius of the outer rear wheel with the turning center as the center;

[0229] Based on the outer rear wheel turning radius and the outer front wheel rotation angle, determine the outer front wheel turning radius with the turning center as the center;

[0230] Using the turning center as the center, determine the annulus formed by the circle containing the turning radius of the inner rear wheel and the circle containing the turning radius of the outer front wheel, and use the annulus as the coverage area of ​​the predicted trajectory.

[0231] In one embodiment, the collision avoidance control unit 303 can be specifically used for:

[0232] Based on the location information and the predicted trajectory, if it is determined that the predicted trajectory overlaps with the obstacle, perform at least one of the following operations:

[0233] If the relative distance between the mobile device and the obstacle is greater than the first distance, return to retrieve the position information between the mobile device and the obstacle again;

[0234] If the relative distance between the mobile device and the obstacle is not greater than the first distance but greater than the second distance, the mobile device is controlled to decelerate linearly.

[0235] If the relative distance between the mobile device and the obstacle is not greater than the second distance but greater than the third distance, the mobile device is controlled to decelerate linearly, and a warning is issued simultaneously.

[0236] If the relative distance between the mobile device and the obstacle is not greater than the third distance but greater than the fourth distance, the mobile device is controlled to decelerate to a preset speed and maintain the preset speed while issuing a warning.

[0237] If the relative distance between the mobile device and the obstacle is not greater than the fourth distance, control the mobile device to perform a parking operation, switch the direction of travel of the mobile device, and control the mobile device to travel in the switched direction of travel.

[0238] In one embodiment, the control device for the mobile device may further include:

[0239] The gear position acquisition unit is used to acquire the gear position of the mobile device during its driving process when the collision function of the mobile device is activated.

[0240] A state switching unit is used to perform state switching of at least one sensor based on the gear position.

[0241] In one embodiment, the state switching unit can be specifically used for:

[0242] When the gear is in forward gear, the forward sensor of the movable device is activated and the rearward sensor is deactivated; and / or,

[0243] When the gear is in reverse gear, the rearward sensor is activated and the forward sensor is deactivated; and / or,

[0244] When the gear is in the push gear position, the forward sensor and the backward sensor are turned off.

[0245] In one embodiment, the state switching unit can also be used for:

[0246] When the gear is the forward gear, if the linear velocity of the mobile device is greater than a speed threshold, all the forward sensors remain on; and / or,

[0247] When the gear is the forward gear, if the linear velocity of the mobile device is not greater than the velocity threshold, the relative distance between the mobile device and the obstacle is obtained;

[0248] The operating state of the forward sensor is controlled based on the relative distance.

[0249] In one embodiment, the state switching unit can also be used for:

[0250] If the relative distance is less than the distance threshold, the mid-to-long-range detection sensor in the forward sensor is turned off;

[0251] If the relative distance is not less than the distance threshold, all the forward sensors remain on.

[0252] In one embodiment, the control device for the mobile device may further include:

[0253] The first sensor triggering unit is used to trigger at least one detection sensor when the mobile device is in forward gear and a first failure sensor is present in the forward sensor of the mobile device.

[0254] In one embodiment, the first sensor triggering unit can specifically be used for:

[0255] The first failure sensor is a mid-to-long-range detection sensor, triggering the activation of the short-range detection sensor; and / or,

[0256] The first failure sensor is the forward proximity detection sensor, which triggers the forward collision detection sensor to activate; and / or,

[0257] The first failure sensor is the forward collision detection sensor, which performs interception protection for potential collision accidents based on the set motor control stall algorithm.

[0258] In one embodiment, the control device for the mobile device may further include:

[0259] The second sensor triggering unit is used to trigger at least one detection sensor when the mobile device is in reverse gear and a second failure sensor exists in the rearward sensor of the mobile device.

[0260] In one embodiment, the second sensor triggering unit can specifically be used for:

[0261] The second failure sensor is a rearward proximity detection sensor, which triggers the rearward collision detection sensor to activate; and / or,

[0262] The second failure sensor is the rear collision detection sensor, which performs interception protection for potential collision accidents based on the set motor control stall algorithm.

[0263] It should be noted that for the specific working principles of each component in the device embodiment, please refer to the corresponding section of the method embodiment, which will not be repeated here.

[0264] Corresponding to the above embodiments, this application also discloses a computer storage medium that stores at least one instruction, which, when executed by a processor, implements the steps shown in the embodiments of the control method for a mobile device.

[0265] Computer storage media can be tangible media that may contain or store programs for use by or in conjunction with an instruction execution system, apparatus, or device. Computer storage media can be machine-readable signal media or machine-readable storage media. Computer storage media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0266] Corresponding to the above embodiments, such as Figure 6 As shown, the present invention also provides a mobile device controller, which may include: a processor 1 and a memory 2;

[0267] The processor 1 and memory 2 communicate with each other via communication bus 3.

[0268] Processor 1, for executing at least one instruction;

[0269] Memory 2 is used to store at least one instruction;

[0270] Processor 1 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0271] Memory 2 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0272] In this embodiment, the processor executes at least one instruction to implement the steps shown in the control method for the mobile device.

[0273] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0274] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0275] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a mobile device, characterized in that, include: Obtain the location information between the mobile device and the obstacle; The predicted trajectory of the mobile device is obtained based on the mobile device information, which includes at least one of the mobile device status information and mobile device size information. Execute the corresponding collision avoidance strategy based on the location information and the predicted trajectory.

2. The control method according to claim 1, characterized in that, The mobile device includes a steering control component, and obtaining the predicted trajectory of the mobile device based on the mobile device information includes: The linear velocity, angular velocity, and steering angle corresponding to the steering control component of the mobile device are obtained. The target turning radius of the mobile device is determined based on the linear velocity, the angular velocity, and the steering angle. The predicted trajectory is obtained based on the target turning radius.

3. The control method according to claim 2, characterized in that, Determining the target turning radius of the mobile device based on the linear velocity, the angular velocity, and the steering angle includes: The first turning radius is obtained based on the linear velocity and the angular velocity; The first turning angle of the mobile device when turning is determined based on the steering angle and the chassis steering dimensions of the mobile device, and the second turning radius is obtained based on the first turning angle; The first turning radius and the second turning radius are fused together to obtain the target turning radius.

4. The control method according to claim 3, characterized in that, The step of determining the first turning angle of the mobile device when turning based on the steering angle and the chassis steering dimensions of the mobile device, and obtaining the second turning radius based on the first turning angle, includes: The first rotation angle when the mobile device turns is determined based on the steering angle and the chassis steering dimensions; Obtain the first wheelbase and the second wheelbase of the mobile device; The second turning radius is obtained based on the first rotation angle, the first wheelbase, and the second wheelbase.

5. The control method according to any one of claims 2 to 4, characterized in that, The process of obtaining the predicted trajectory based on the target turning radius includes: Obtain the left and right wheelbase of the mobile device, and determine the turning center based on the target turning radius; Based on the target turning radius and the left and right wheelbase, determine the turning radius of the inner rear wheel and the turning radius of the outer rear wheel with the turning center as the center; Based on the outer rear wheel turning radius and the outer front wheel rotation angle, determine the outer front wheel turning radius with the turning center as the center; Using the turning center as the center, determine the annulus formed by the circle containing the turning radius of the inner rear wheel and the circle containing the turning radius of the outer front wheel, and use the annulus as the coverage area of ​​the predicted trajectory.

6. The control method according to any one of claims 1 to 5, characterized in that, The step of executing a corresponding collision avoidance strategy based on the location information and the predicted trajectory includes: Based on the location information and the predicted trajectory, if it is determined that the predicted trajectory overlaps with the obstacle, perform at least one of the following operations: If the relative distance between the mobile device and the obstacle is greater than the first distance, return to retrieve the position information between the mobile device and the obstacle again; If the relative distance between the mobile device and the obstacle is not greater than the first distance but greater than the second distance, the mobile device is controlled to decelerate linearly. If the relative distance between the mobile device and the obstacle is not greater than the second distance but greater than the third distance, the mobile device is controlled to decelerate linearly, and a warning is issued simultaneously. If the relative distance between the mobile device and the obstacle is not greater than the third distance but greater than the fourth distance, the mobile device is controlled to decelerate to a preset speed and maintain the preset speed while issuing a warning. If the relative distance between the mobile device and the obstacle is not greater than the fourth distance, control the mobile device to perform a parking operation, switch the direction of travel of the mobile device, and control the mobile device to travel in the switched direction of travel.

7. The control method according to any one of claims 1 to 6, characterized in that, Also includes: When the collision function is activated on the mobile device, the gear position of the mobile device during its driving process is obtained; Based on the gear position, perform state switching of at least one sensor.

8. The control method according to claim 7, characterized in that, The step of switching the state of at least one sensor based on the gear position includes: When the gear is in forward gear, the forward sensor of the movable device is activated and the rearward sensor is deactivated; and / or, When the gear is in reverse gear, the rearward sensor is activated and the forward sensor is deactivated; and / or, When the gear is in the push gear position, the forward sensor and the backward sensor are turned off.

9. The control method according to claim 8, characterized in that, When the gear is in forward gear, activating the forward sensor and deactivating the rear sensor of the mobile device includes: When the gear is the forward gear, if the linear velocity of the mobile device is greater than a speed threshold, all the forward sensors remain on; and / or, When the gear is the forward gear, if the linear velocity of the mobile device is not greater than the velocity threshold, the relative distance between the mobile device and the obstacle is obtained; The operating state of the forward sensor is controlled based on the relative distance.

10. The control method according to claim 9, characterized in that, The control of the operating state of the forward sensor based on the relative distance includes: If the relative distance is less than the distance threshold, the mid-to-long-range detection sensor in the forward sensor is turned off; If the relative distance is not less than the distance threshold, all the forward sensors remain on.

11. The control method according to any one of claims 1 to 10, characterized in that, Also includes: When the mobile device is in forward gear, if a first failure sensor is present in the forward sensor of the mobile device, at least one detection sensor is triggered.

12. The control method according to claim 11, characterized in that, The triggering of at least one detection sensor includes: The first failure sensor is a mid-to-long-range detection sensor, triggering the activation of the short-range detection sensor; and / or, The first failure sensor is the forward proximity detection sensor, which triggers the forward collision detection sensor to activate; and / or, The first failure sensor is the forward collision detection sensor, which performs interception protection for potential collision accidents based on the set motor control stall algorithm.

13. The control method according to any one of claims 1 to 12, characterized in that, Also includes: When the mobile device is in reverse position, if a second failure sensor is present in the rearward sensor of the mobile device, at least one detection sensor is triggered.

14. The control method according to claim 13, characterized in that, The triggering of at least one detection sensor includes: The second failure sensor is a rearward proximity detection sensor, which triggers the rearward collision detection sensor to activate; and / or, The second failure sensor is the rear collision detection sensor, which performs interception protection for potential collision accidents based on the set motor control stall algorithm.

15. A control device for a mobile device, characterized in that, include: The acquisition unit is used to acquire the location information between the movable device and the obstacle; A trajectory prediction unit is used to obtain a predicted trajectory of the mobile device based on mobile device information, wherein the mobile device information includes at least one of mobile device status and mobile device size; The collision avoidance control unit is used to execute a corresponding collision avoidance strategy based on the location information and the predicted trajectory.

16. A controller, characterized in that, The controller includes: a memory and a processor; The memory is used to store at least one instruction; The processor is used to execute the at least one instruction to implement the control method of the mobile device as described in any one of claims 1 to 14.

17. A mobile device, characterized in that, include: The ranging sensor and the controller of claim 16 connected to the ranging sensor; The ranging sensor includes a forward sensor disposed in front of the mobile device and a backward sensor disposed behind the mobile device.

18. The mobile device according to claim 17, characterized in that, The forward sensor includes at least one of the following detection sensors: A medium-to-long-range detection sensor mounted on the pole of a mobile device; Steering detection sensor mounted on the front axle steering knuckle; Forward proximity detection sensors are installed on the left and right front sides of the mobile device; Forward collision detection sensors are mounted on the front bumper beam; The backward sensor includes at least one of the following detection sensors: Rear proximity detection sensors are disposed on the left and right rear sides of the mobile device; A rearward collision detection sensor is mounted on the rear bumper beam of the mobile device.

19. A computer storage medium, characterized in that, The computer storage medium stores at least one instruction, which, when executed by a processor, implements the control method for the mobile device as described in any one of claims 1 to 14.

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