CN111186442B - Vehicle control method and device - Google Patents

Abstract

The invention discloses a vehicle control method and device. The method comprises the following steps: acquiring environmental information and state information of a vehicle in real time; judging whether the vehicle is in an abnormal state or not according to the environmental information and the state information; if the vehicle has abnormal information and the abnormal information belongs to a first abnormal level, limiting the speed of the vehicle and decelerating the vehicle; and if the vehicle has abnormal information and the abnormal information belongs to a second abnormal level, locking the vehicle and stopping the vehicle. The embodiment of the invention has the following beneficial effects: (1) whether the vehicle is in an abnormal state or not is judged through real-time vehicle environment information and state information, and when the vehicle has an abnormal condition, the vehicle speed is limited or the vehicle is locked, so that the traffic safety can be guaranteed; (2) by limiting the speed of the vehicle or locking the vehicle, illegal or offending personnel are prevented from utilizing the vehicle to endanger the public order again.

Description

Vehicle control method and device

Technical Field

The invention relates to the technical field of internet, in particular to a vehicle control method and device.

Background

At present, with the improvement of the living standard and the living rhythm of people, the dependence degree of people on vehicles is higher and higher.

In the field of logistics, the problems of long-distance transportation and distribution of goods are most typical. The safety problem is often neglected by long-distance drivers due to fatigue, over confidence in driving technology and the like when long-distance transportation is carried out. The traffic accidents caused by the accidents happen frequently, and the life safety of people is seriously influenced.

In addition, the problem of illegal use of vehicles also exists in the field of automobile leasing: the renter does not rent any more, the vehicle exceeds the range of the fence, and lawbreakers use the vehicle to make illegal activities. These problems, once they occur, are not easily regulated.

Disclosure of Invention

In view of the above, the present invention provides a vehicle control method and apparatus that facilitates vehicle management, reduces the probability of occurrence of traffic accidents, and suppresses illegal events.

In order to achieve the above object, the present invention provides a vehicle control method including:

acquiring environmental information and state information of a vehicle in real time;

judging whether the vehicle is in an abnormal state or not according to the environmental information and the state information;

if the vehicle has abnormal information and the abnormal information belongs to a first abnormal level, limiting the speed of the vehicle to enable the vehicle to decelerate;

and if the vehicle has abnormal information and the abnormal information belongs to a second abnormal level, locking the vehicle.

Preferably, the acquiring environmental information and state information of the vehicle in real time includes:

receiving environment information and state information of the vehicle sent by a vehicle management platform; or acquiring the environment information and the state information of the vehicle, which are sent by a vehicle sensor.

Preferably, the environment information includes at least one of:

position information, attitude information, obstacle information, lane line information, nearby vehicle and pedestrian information, traffic lights, and traffic signs.

Preferably, the status information includes at least one of:

engine temperature and speed, oil mass, electrical quantity, battery health status, wear condition, and tire pressure information.

Preferably, the first abnormality level includes at least one of: the method comprises the following steps that vehicle faults, low electric quantity, low oil quantity, poor road surface, warning information which is not processed for a long time, overhigh temperature, overlow tire pressure, overlarge abrasion, a sensor is shielded, and a vehicle management platform sends a speed limit instruction;

the second anomaly level includes at least one of: the method comprises the steps of positioning loss, sensor failure, damage of a vehicle execution mechanism and sending of a locking instruction by a vehicle management platform.

Preferably, limiting the vehicle speed of the vehicle to decelerate the vehicle comprises:

and sending an engine rotating speed limiting request signal to an engine controller of the vehicle to limit the engine rotating speed within a preset range.

Preferably, locking the vehicle comprises:

and sending an engine locking instruction to an engine controller of the vehicle to stop and start the engine.

Preferably, after limiting the vehicle speed of the vehicle to decelerate the vehicle, the method further includes:

and when the abnormal state of the vehicle disappears, sending a limitation releasing signal to the vehicle controller.

The present invention also provides a vehicle control apparatus, the apparatus including:

the acquisition module is used for acquiring environmental information and state information of the vehicle in real time;

the judging module is used for judging whether the vehicle is in an abnormal state or not according to the environment information and the state information;

the speed limiting module is used for limiting the speed of the vehicle to enable the vehicle to decelerate when the vehicle has abnormal information and the abnormal information belongs to a first abnormal level;

and the locking module is used for locking the vehicle when the vehicle has abnormal information and the abnormal information belongs to a second abnormal level.

Compared with the prior art, the invention has the following beneficial effects: (1) whether the vehicle is in an abnormal state or not is judged through real-time vehicle environment information and state information, and when the vehicle has an abnormal condition, the vehicle speed is limited or the vehicle is locked, so that vehicle management is facilitated, and the probability of traffic accidents is reduced; (2) by limiting the speed of the vehicle or locking the vehicle, illegal or offending personnel are prevented from utilizing the vehicle to endanger the public order again.

Drawings

FIG. 1 is a flowchart of a first embodiment of a vehicle control method of the present invention;

FIG. 2 is a flowchart of a second embodiment of a vehicle control method of the present invention;

FIG. 3 is a schematic diagram of a first embodiment of a vehicle control apparatus according to the present invention;

fig. 4 is a schematic diagram of a server according to a first embodiment of the present invention.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

Fig. 1 is a flowchart of a first embodiment of a vehicle control method according to the present invention, and as shown in fig. 1, the vehicle control method according to the present embodiment may specifically include the following steps:

and S101, acquiring environmental information and state information of the vehicle in real time.

The execution main body of the embodiment is an in-vehicle intelligent terminal. The vehicle is provided with various sensors, for example, the vehicle is provided with sensors such as a temperature sensor, a wheel speed meter and an oil quantity sensor, and the state information of the vehicle can be detected in real time; for another example, a vehicle is provided with a GPS module and a radar, and environmental information of the vehicle can be detected in real time. And the state information and the environmental information of the vehicle need to be reported to the vehicle-mounted intelligent terminal.

Wherein the environmental information includes at least one of: position information, attitude information, obstacle information, lane line information, nearby vehicle and pedestrian information, traffic lights, and traffic signs.

In general, a vehicle is provided with various sensors capable of detecting vehicle environment information. The environmental information of the vehicle can be obtained according to the vehicle data detected by the sensor. For example, the longitude and latitude information of the vehicle can be acquired in real time according to a GPS module on the vehicle, so that the vehicle can be positioned; the inertial navigation estimates the motion attitude of the vehicle according to the acceleration information of six degrees of freedom of the vehicle and corrects the positioning information; the laser radar can detect lane line edges, obstacle information, vehicles, pedestrians and the like; the millimeter wave radar is used for detecting vehicles on the structured road; cameras are used to detect traffic lights, traffic signs, obstacle information, nearby vehicles and pedestrians, and other objects that cannot be accurately identified by sensors.

The status information includes at least one of: engine temperature and speed, fuel volume, electrical quantity, battery health, wear and tear, and tire pressure information.

The vehicle is also provided with various instruments capable of obtaining vehicle state information, and the vehicle state information can be automatically detected. For example, a thermometer may measure the temperature of the engine; the wheel speed meter can measure the running speed of the vehicle; the oil quantity sensor can measure the residual oil quantity of the oil tank; the electric quantity sensor can measure the electric quantity of the battery; the battery state of health sensor can measure the state of health of the battery; the wear sensor can measure the wear condition of the vehicle; the tire pressure sensor may measure a tire pressure value.

The vehicle, the vehicle and the surrounding driving environment are monitored in real time in a mode of fusing various sensors, and accurate data are provided for monitoring and controlling the vehicle.

And S102, judging whether the vehicle is in an abnormal state or not according to the environment information and the state information.

After the vehicle-mounted intelligent terminal obtains the environmental information and the state information, whether the vehicles are abnormal or not can be analyzed by combining the relevance among the data. For example, when the wheel speed meter detects that the vehicle is in a high-speed driving state, such as a vehicle speed of 100km/h or more, the normal safe vehicle distance should be 100 meters or more, and when the distance from the laser radar or the camera to the vehicle in front is found to be less than 30 meters, the abnormal state can be determined. For another example, it is found that the vehicle always runs at a high speed within a preset time, and it can be determined that the vehicle may malfunction and be in an abnormal state in combination with the situations of a lot of road obstacles and pedestrians.

S103, if the vehicle has abnormal information and the abnormal information belongs to a first abnormal level, limiting the speed of the vehicle and decelerating the vehicle.

And S104, if the vehicle has abnormal information and the abnormal information belongs to a second abnormal level, locking the vehicle and stopping the vehicle.

The first anomaly level includes at least one of: the vehicle management system comprises a vehicle management platform, a vehicle monitoring system and a vehicle monitoring system, wherein the vehicle monitoring system comprises a vehicle monitoring system, a vehicle monitoring system and a vehicle monitoring system, and the vehicle monitoring system comprises a vehicle monitoring system, a vehicle monitoring system and a vehicle management platform.

The second anomaly level includes at least one of: lost positioning, sensor failure, damaged vehicle actuator and lock command sent by the vehicle management platform. Here, the positioning loss may be caused by a signal being poor, and the positioning is temporarily lost, so that the present embodiment does not lock the vehicle immediately when the positioning is lost, but locks the vehicle when the positioning is still impossible after a certain period of time, for example, 3 hours, 5 hours, or 10 hours.

In addition, there are various methods for controlling the vehicle speed, for example, the vehicle-mounted intelligent terminal can send a speed limit instruction and/or a locking instruction to the engine according to the abnormal grade; and sending a speed limit instruction and/or a locking instruction to the brake controller. Other methods of controlling the vehicle speed may be applied to the present embodiment.

The first abnormality level indicates that an abnormality has occurred, but the case is not particularly urgent. For example, the current road surface can be judged to be poor according to the vehicle environment information and the state information, and the vehicle can be controlled to decelerate; if the vehicle has a warning that the vehicle is not processed for a long time, for example, the driver does not fasten a safety belt, after the warning is given to the driver, if the driver does not process for a long time, the vehicle can be controlled to decelerate; the truck driver or the rental car driver violates the appointed matters, and the person with the authority can send a speed limiting instruction through the vehicle management platform.

The second abnormality level is a case where an abnormality has occurred, and the case is particularly urgent. For example, when the vehicle is in a lost state, a locking instruction can be sent through the vehicle management platform, and certainly in a driving state, the locking of the vehicle can cause personal danger to a driver, so that the current vehicle speed is generally judged before the locking of the vehicle is controlled, and if the current vehicle speed is low or zero, the vehicle can be locked to prevent the vehicle from being started, so that the lost vehicle can be found.

In one scenario, cargo transportation is often required in the logistics field, a vehicle for cargo transportation needs to be monitored in real time, a logistics company can adopt a vehicle management platform to control a truck on the vehicle management platform, for example, when the truck is clear or an accident may occur, a manager with authority operates on the management platform, and sends an instruction for reducing the rotating speed of an engine or locking the engine to a vehicle-mounted intelligent terminal on the truck, so as to avoid greater loss caused by the traffic accident. Similarly, it can also be applied to control rental cars, shared cars, and the like.

The embodiment can also be applied to other scenes, such as unit vehicles (such as public vehicles, hotel guests, and valet parking), and scenes in which the vehicles need to be controlled in an emergency.

The embodiment of the invention has the following beneficial effects: (1) whether the vehicle is in an abnormal state or not is judged through real-time vehicle environment information and state information, and when the vehicle has an abnormal condition, the vehicle speed is limited or the vehicle is locked, so that vehicle management is facilitated, and the probability of traffic accidents is reduced; (2) by limiting the speed of the vehicle or locking the vehicle, illegal or illegal personnel are prevented from using the vehicle to endanger the public order again.

Fig. 2 is a flowchart of a second embodiment of the vehicle control method of the present invention. The vehicle control method according to the present embodiment will be described in more detail with reference to the first embodiment. As shown in fig. 2, the vehicle control method of the present embodiment may specifically include the following steps:

s201, receiving the vehicle environment information and the state information sent by the vehicle management platform.

Generally, the present embodiment is mostly used in a scene where centralized management of vehicles is required. For example, in the field of property, management of trucks, management of vehicles by rental car companies, and management of vehicles by units are used. The vehicle management platform is usually configured in the scenes, and can acquire vehicle environment information and state information sent by the vehicle-mounted intelligent terminal in real time, and then the vehicle management platform analyzes the data at the back stage, judges whether the vehicle is in an abnormal state, then generates a corresponding processing instruction, and sends the corresponding processing instruction to the vehicle-mounted intelligent terminal.

Of course, the operation on the vehicle management platform may be performed by a user with authority, for example, the vehicle may have an illegal situation, the user with the management authority may input a vehicle speed limit instruction on the vehicle management platform, and then the vehicle management platform generates a speed limit instruction and sends the speed limit instruction to the vehicle-mounted intelligent terminal.

In addition, the present embodiment can also be applied to a protection device for a private vehicle. In the scene, the vehicle-mounted intelligent terminal acquires the vehicle environment information and the state information sent by the vehicle sensor, analyzes the environment information and the state information, and can take measures of deceleration or locking for the vehicle when the analysis result shows that the vehicle is in an abnormal state.

The above step S201 corresponds to the step S101 in the first embodiment.

And S202, judging whether the vehicle is in an abnormal state or not according to the environment information and the state information, if the vehicle has the abnormal information, executing the step S203, and if not, executing the step S206.

The above step S202 corresponds to the step S102 in the first embodiment.

S203, judging whether the abnormal information belongs to a first abnormal level, if so, executing the step S204, otherwise, executing the step S205.

And S204, sending an engine rotating speed limiting request signal to an engine controller of the vehicle, so that the engine rotating speed is limited within a preset range.

For example, when the vehicle is in the first abnormal level, the in-vehicle control terminal sends a speed limit command to the engine controller, for example, to set the rotational speed of the transmitter to 1500 revolutions or less.

And S205, sending an engine locking command to an engine controller of the vehicle to stop and start the engine.

The above steps S203 to S205 correspond to the steps S103 and S104 in the first embodiment.

In addition, when the vehicle is in a high-speed driving state, the vehicle is suddenly locked, and the driver is inevitably injured or a serious traffic accident is caused. At this point, the vehicle may be decelerated before the engine is locked; or temporarily not performing any operation, when the vehicle is in a stop state, locking the engine, and after the engine is locked, the driver can not start the vehicle.

The present embodiment may not limit the abnormality level. Step S204 and step S205 may be applied to different embodiments. When the vehicle is in an abnormal condition, only the vehicle speed is limited; alternatively, when an abnormal situation occurs in the vehicle, only the vehicle is locked in a vehicle-stopped state, so that the vehicle cannot be restarted.

And S206, controlling the vehicle to normally run.

Generally, if the vehicle does not find an abnormal situation, the vehicle is not intervened, so that the driver can normally drive the vehicle.

The invention can control the speed or driving state of the vehicle by limiting the rotating speed of the engine, thereby ensuring traffic safety or avoiding illegal or illegal personnel to use the vehicle to further damage public order.

On the basis of the second embodiment, a third embodiment of the present invention further introduces the technical solution of the present invention in more detail.

Example three includes all the steps of example two. And further, when the vehicle belongs to a first abnormal level and the engine speed is limited within a preset range, when the abnormal state of the vehicle disappears, sending a limitation release signal to the vehicle controller. And when the vehicle belongs to a second abnormal grade and the engine stops and starts, sending a limitation releasing signal to the vehicle controller when the abnormal state of the vehicle disappears.

Furthermore, when the vehicle belongs to the second abnormality level, the abnormality state changes from the second abnormality level to the first abnormality level after a lapse of time, and the action taken on the vehicle at this time may also change from locking the vehicle to restricting the vehicle speed accordingly.

The embodiment of the invention can realize that: when the abnormal state of the vehicle is released, the restriction or locking of the vehicle is released, so that the vehicle can return to normal running.

Fig. 3 is a schematic diagram of a first embodiment of the vehicle control device of the present invention. As shown in fig. 3, the vehicle control apparatus of the present embodiment may specifically include an obtaining module 31, a judging module 32, a speed limiting module 33, and a locking module 34.

The acquisition module 31 is used for acquiring environmental information and state information of the vehicle in real time;

a judging module 32, configured to judge whether the vehicle is in an abnormal state according to the environmental information and the state information;

the speed limit module 33 is used for limiting the speed of the vehicle and enabling the vehicle to decelerate when the vehicle has abnormal information and the abnormal information belongs to a first abnormal level;

and the locking module 34 is used for locking the vehicle when the vehicle has the abnormal information and the abnormal information belongs to the second abnormal level.

The vehicle control device of this embodiment is a device embodiment corresponding to the vehicle control method described in the first embodiment, and an implementation mechanism for implementing vehicle control by using the modules is the same as the implementation mechanism of the vehicle control method in the embodiment shown in fig. 1, and reference may be made to the description of the embodiment shown in fig. 1 in detail, which is not repeated herein.

In an exemplary embodiment of the present invention, there is also provided a server 400, which may include a processor 410, a storage unit 420 for storing executable instructions of the processor, and a display unit 430 for displaying various data, as shown in fig. 4. Wherein the processor 410 is configured to perform the steps of the vehicle control method of any of the above embodiments via execution of the executable instructions. The display unit 430 may display the processing result of the processor 410 and the current state of the vehicle. As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.

The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.

Claims (5)

1. A vehicle control method characterized by comprising:

acquiring environmental information and state information of a vehicle in real time;

acquiring environmental information of the vehicle according to the vehicle data detected by the sensor; the method comprises the following steps that longitude and latitude information of a vehicle is acquired in real time according to a GPS module on the vehicle, and the vehicle is positioned; the inertial navigation estimates the motion attitude of the vehicle according to the acceleration information of six degrees of freedom of the vehicle and corrects the positioning information; detecting lane line edges, obstacle information, vehicles and pedestrians by using a laser radar; the millimeter wave radar is used for detecting vehicles on the structured road; the camera is used for detecting traffic signal lamps, traffic signs, barrier information, nearby vehicles and pedestrians and other objects which cannot be accurately identified by the sensor;

performing relevance analysis on the environment information and the state information to judge whether the vehicle is in an abnormal state;

if the vehicle has abnormal information and the abnormal information belongs to a first abnormal level, limiting the speed of the vehicle to decelerate the vehicle; sending an engine rotating speed limiting request signal to an engine controller of the vehicle to limit the rotating speed of the engine within a preset range, specifically, sending a speed limiting instruction to the engine controller by a vehicle-mounted control terminal to enable the rotating speed of a transmitter to be below 1500 revolutions, and firstly, decelerating the vehicle;

if the vehicle has abnormal information and the abnormal information belongs to a second abnormal level, locking the vehicle to stop the vehicle, specifically, when the vehicle is in a stop state, locking an engine, and after the engine is locked, enabling a driver to stop the vehicle;

wherein the first anomaly level comprises at least one of: the method comprises the following steps that vehicle faults, low electric quantity, low oil quantity, poor road surface, warning information which is not processed for a long time, overhigh temperature, overlow tire pressure, overlarge abrasion, a sensor is shielded, and a vehicle management platform sends a speed limit instruction;

the second anomaly level includes at least one of: the method comprises the following steps of (1) positioning loss, sensor failure, damage of a vehicle execution mechanism and sending of a locking instruction by a vehicle management platform;

the environmental information includes at least one of:

position information, attitude information, obstacle information, lane line information, nearby vehicle and pedestrian information, traffic lights, and traffic signs;

the status information includes at least one of:

engine temperature and speed, fuel volume, electrical quantity, battery health, wear and tear, and tire pressure information.

2. The method of claim 1, wherein obtaining environmental and status information of the vehicle in real-time comprises:

receiving environment information and state information of the vehicle sent by a vehicle management platform; or acquiring the environment information and the state information of the vehicle, which are sent by a vehicle sensor.

3. The method of claim 1, wherein the vehicle speed of the vehicle is limited, and after decelerating the vehicle, the method further comprises:

and when the abnormal state of the vehicle disappears, sending a limitation release signal to the vehicle controller.

4. The method of claim 1, wherein after locking the vehicle, the method further comprises:

and when the abnormal state of the vehicle disappears, sending a limitation release signal to the vehicle controller.

5. A vehicle control apparatus, characterized by comprising:

the acquisition module is used for acquiring environmental information and state information of the vehicle;

acquiring environmental information of the vehicle according to the vehicle data detected by the sensor; the method comprises the following steps that longitude and latitude information of a vehicle is acquired in real time according to a GPS module on the vehicle, and the vehicle is positioned; the inertial navigation estimates the motion attitude of the vehicle according to the acceleration information of six degrees of freedom of the vehicle and corrects the positioning information; detecting lane line edges, obstacle information, vehicles and pedestrians by using a laser radar; the millimeter wave radar is used for detecting vehicles on the structured road; the camera is used for detecting traffic signal lamps, traffic signs, obstacle information, nearby vehicles and pedestrians and other objects which cannot be accurately distinguished by the sensor;

the judging module is used for performing relevance analysis on the environment information and the state information so as to judge whether the vehicle is in an abnormal state;

the speed limiting module is used for limiting the speed of the vehicle to enable the vehicle to decelerate when the vehicle has abnormal information and the abnormal information belongs to a first abnormal level; sending an engine rotating speed limiting request signal to an engine controller of the vehicle to limit the rotating speed of the engine within a preset range, specifically sending a speed limiting instruction to the engine controller to enable the rotating speed of a transmitter to be below 1500 revolutions; firstly, decelerating the vehicle;

the locking module is used for locking the vehicle when the vehicle has abnormal information and the abnormal information belongs to a second abnormal grade, specifically, when the vehicle is in a stop state, the engine is locked, and after the engine is locked, a driver can not start the vehicle;

wherein the first anomaly level comprises at least one of: the method comprises the following steps that vehicle faults, low electric quantity, low oil quantity, poor road surface, warning information which is not processed for a long time, overhigh temperature, overlow tire pressure, overlarge abrasion, sheltered sensors and speed limit instructions sent by a vehicle management platform are avoided;

the second anomaly level includes at least one of: the method comprises the steps of positioning loss, sensor failure, damage of a vehicle execution mechanism and sending of a locking instruction by a vehicle management platform.

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