CN108873885B

CN108873885B - Vehicle control method, device and system

Info

Publication number: CN108873885B
Application number: CN201810379451.9A
Authority: CN
Inventors: 桑耀; 冯洪鹏
Original assignee: Zhuhai Jieli Technology Co Ltd
Current assignee: Zhuhai Jieli Technology Co Ltd
Priority date: 2018-04-25
Filing date: 2018-04-25
Publication date: 2021-12-10
Anticipated expiration: 2038-04-25
Also published as: CN108873885A

Abstract

The application relates to a vehicle control method, device and system. The vehicle control method includes the steps of: the method comprises the steps of obtaining signals of a sensor arranged in a preset area of a traffic lane, wherein the traffic lane is connected to an intersection where a traffic indicator light is located, controlling vehicles to enter a specified area of the traffic lane according to the signals of the sensor when the signals of the traffic indicator light represent no passing, and controlling a plurality of vehicles in the specified area to start at the same speed when the signals of the traffic indicator light represent passing permission. By adopting the method, a plurality of vehicles can be parked in the designated area at proper intervals, and after the vehicles are started at the same speed, the proper intervals are still kept between the vehicles, so that the steps of detecting the safe distance before the vehicles are started are reduced, the time for waiting for the distance between the vehicles to reach the safe distance before the vehicles are started is reduced, the number of the vehicles passing through the intersection is increased, the passing efficiency of the vehicles at the intersection is improved, and the traffic jam phenomenon at the intersection is reduced.

Description

Vehicle control method, device and system

Technical Field

The application relates to the technical field of unmanned driving, in particular to a vehicle control method, device and system.

Background

In the unmanned period, the vehicle can be controlled by the cloud to drive, so that the unmanned driving is realized, the hands of a driver are liberated to a great extent, and the probability of traffic accidents is reduced.

In unmanned driving, for safety, the distance between a driven vehicle and front, rear, left and right vehicles is constantly monitored, and a safe vehicle distance is maintained. Similarly, when the green light at the intersection is on, the driven vehicle can only start to move ahead when the vehicle in front starts to move away for a certain distance and the distance between the driven vehicle and the previous vehicle is detected to reach the safe distance, and the time is spent on waiting for the previous vehicle to start and move away.

Therefore, when a vehicle passes through the intersection on a driving lane, the time wasted by accumulating and overlapping a plurality of vehicles before waiting can occupy a larger part of the time allowed to pass through the intersection, the number of vehicles which can pass through the intersection in the passing time of the intersection is reduced, the passing efficiency of unmanned vehicles at the intersection is low, and the phenomenon of traffic jam at the intersection is easily caused.

Disclosure of Invention

In view of the above, it is necessary to provide a vehicle control method, device and system for solving the problem of low traffic efficiency of the unmanned vehicle at the intersection.

A vehicle control method comprising the steps of:

acquiring a signal of a sensor arranged in a preset area of a traffic lane, wherein the traffic lane is accessed to an intersection where a traffic indicator lamp is located;

when the signal of the traffic indicating lamp represents no passing, controlling the vehicle to enter a specified area of a traffic lane according to the signal of the sensor;

when the signal of the traffic light represents permission to pass, a plurality of vehicles controlling the designated area are started at the same speed at the same time.

In one embodiment, the sensors comprise a plurality of transverse sensors and a plurality of single sensors, wherein the transverse sensors are arranged on a driving lane and divide the driving lane into a plurality of preset parking space areas, the single sensors are arranged in the preset parking space areas in a one-to-one correspondence mode, and the designated area comprises the preset parking space areas;

the method comprises the following steps of acquiring signals of a sensor arranged in a preset area of a traffic lane:

acquiring a first sensor signal of a transverse sensor and a second sensor signal of an individual sensor;

the step of controlling the vehicle to enter a designated area of the traffic lane in accordance with the signal of the sensor includes the steps of:

determining an empty parking space area according to the second sensor signal;

determining a target parking space area according to the sequence of the preset parking space areas and the vacant parking space areas;

and parking the vehicle in the target parking space area according to the first sensor signal.

In one embodiment, the step of determining the vacant parking space region based on the second sensor signal includes the steps of:

and when no sensing signal exists in the second sensor signal, determining that the preset parking space area corresponding to the second sensor signal is a vacant parking space area, wherein the presence of the sensing signal represents that the vehicle covers the sensor corresponding to the sensing signal.

In one embodiment, the preset parking space area comprises a target parking space area and a passing parking space area, wherein the passing parking space area is the preset parking space area through which a vehicle passes before reaching the target parking space area;

the step of parking the vehicle in the target parking space area according to the first sensor signal comprises the following steps:

acquiring the current position of the vehicle according to the first sensor signal;

determining a next position according to the current position, wherein the next position is a preset parking space area which is about to be reached by the vehicle in the driving direction;

when the next position is the target parking space area, controlling the vehicle to run to the target parking space area;

and when the next position is the passing parking space area, controlling the vehicle to run and pass the next position, and skipping to the step of acquiring the current position of the vehicle according to the first sensor signal.

In one embodiment, the step of obtaining the current position of the vehicle from the first sensor signal comprises the steps of:

when the first sensor signal has the sensing signal, the passing parking space area corresponding to the first sensor signal is determined as the current position.

In one embodiment, the step of controlling the vehicle to travel to the target parking space area comprises the following steps:

and when the induction signal exists in the second sensor signal corresponding to the target parking space area, controlling the vehicle to brake.

In one embodiment, the lateral sensor is further configured to measure a distance between the vehicle and the lateral sensor, wherein the distance between the vehicle and the lateral sensor is a distance between a body of the vehicle and the lateral sensor;

the method comprises the following steps of controlling a vehicle to run to a target parking space area:

acquiring the distance between a vehicle and a transverse sensor according to a first sensor signal of a target parking space area;

and controlling the vehicle to brake when the distance between the vehicle and the transverse sensor meets a preset range.

In one embodiment, after the step of parking the vehicle in the destination parking space area according to the first sensor signal, the method further comprises the steps of:

changing the target parking space area from the vacant parking space area to the occupied parking space area;

when a first sensor signal of a transverse sensor between a target parking space area and an adjacent parking space area continuously has a sensing signal, changing the adjacent parking space area from a vacant parking space area to a parking space occupied area, wherein the adjacent parking space area is the vacant parking space area adjacent to the target parking space area;

and after the occupied parking space area is changed, skipping to a step of determining a target parking space area according to the sequence of the preset parking space areas and the vacant parking space area.

In one embodiment, the sensor further comprises longitudinal sensors which are sequentially arranged on the driving line at intervals, the longitudinal sensors are used for sensing whether a vehicle covers the driving line, a sensor matrix is composed of the longitudinal sensors and the transverse sensors, the sensor matrix divides the driving lane into a plurality of preset parking space areas, and the designated area comprises each preset parking space area;

acquiring a third sensor signal of the longitudinal sensor;

and parking the vehicle in the target parking space area according to the first sensor signal and the third sensor signal.

In one embodiment, after the step of acquiring the third sensor signal of the longitudinal sensor, the method further comprises the steps of:

and controlling the vehicle to run in the specified traffic lane according to the third sensor signal.

In one embodiment, before the step of controlling the vehicle to enter the specified area of the traffic lane according to the signal of the sensor, the method further comprises the steps of:

and controlling the vehicle to run according to the preset vehicle speed.

A vehicle control apparatus includes a vehicle controller, a wireless communication device, and a sensor;

the vehicle controller is connected with the vehicle through a wireless communication device, the wireless communication device is connected with the vehicle through a wireless signal, the sensor is connected with the vehicle controller, the signal of the wireless communication device covers a traffic lane, and the sensor is arranged on the traffic lane, wherein the traffic lane is accessed to an intersection where the traffic indicator lamp is located;

the sensor is used for outputting a sensor signal and generating a sensing signal in the sensor signal when the vehicle covers the sensor;

the wireless communication device is used for sending a wireless signal to the vehicle;

the vehicle controller is used for controlling the vehicle through wireless signals and executing a vehicle control method.

In one embodiment, the sensors include a lateral sensor and a separate sensor;

the transverse sensor and the single sensor are respectively connected with a vehicle controller;

the system comprises a transverse sensor, a plurality of sensors and a plurality of sensors, wherein the transverse sensor is arranged on a traffic lane and divides the traffic lane into a plurality of preset parking space areas and is used for sensing a vehicle and measuring the distance between the vehicle and the transverse sensor, and the distance between the vehicle and the transverse sensor is the distance between the body of the vehicle and the transverse sensor;

the individual sensors are arranged in the preset parking space areas in a one-to-one correspondence mode and are used for sensing whether the vehicles cover the preset parking space areas or not;

the vehicle controller is used for executing a vehicle control method.

In one embodiment, the sensor further comprises a longitudinal sensor;

the longitudinal sensors are sequentially arranged on the driving line at intervals and used for sensing whether a vehicle covers the driving line or not, the longitudinal sensors and the transverse sensors form a sensor matrix, and the sensor matrix divides a road into a plurality of preset parking space areas;

the vehicle controller is used for executing a vehicle control method.

In one embodiment, the vehicle control apparatus further includes a signal shielding layer;

the signal shielding layers are arranged along two sides of the traffic lane and are used for limiting the communication range of the wireless communication device in the traffic lane.

A vehicle control system comprising:

the sensor signal acquisition module is used for acquiring signals of sensors arranged in a preset area of a traffic lane, wherein the traffic lane is accessed to an intersection where a traffic indicator lamp is located;

the vehicle parking module is used for controlling the vehicle to enter a specified area of a traffic lane according to the signal of the sensor when the signal of the traffic indicating lamp represents no traffic;

and the vehicle starting module is used for controlling a plurality of vehicles in the designated area to start at the same speed when the signal of the traffic indicating lamp represents permission to pass.

A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

According to the vehicle control method, the vehicle control system, the computer equipment and the storage medium, the plurality of vehicles are parked in the designated area at proper intervals, and after the vehicles are started at the same speed, the proper intervals are still kept between the vehicles, so that the steps of detecting the safe distance before the vehicles are started are reduced, the time for the distance between the vehicles to reach the safe distance before and after the vehicles are started is reduced, the number of the vehicles passing through the intersection is increased, the passing efficiency of the vehicles at the intersection is improved, and the traffic jam phenomenon at the intersection is reduced.

Drawings

FIG. 1 is a diagram of an exemplary vehicle control system;

FIG. 2 is a flow chart of a vehicle control method in one embodiment;

FIG. 3 is a flow diagram of a vehicle entering a designated area of a lane of travel in one embodiment;

FIG. 4 is a flowchart of the determination of the free space region in one embodiment;

FIG. 5 is a flow chart illustrating an exemplary embodiment of a vehicle parked in a destination slot area;

FIG. 6 is a flow diagram of vehicle current location acquisition in one embodiment;

FIG. 7 is a flowchart illustrating a vehicle driving to a destination slot area in response to a second sensor signal according to an embodiment;

FIG. 8 is a flow chart illustrating an exemplary embodiment of a vehicle traveling to a destination slot area with a first sensor signal;

FIG. 9 is a flowchart illustrating the change of the free parking space area according to an embodiment;

FIG. 10 is a flow chart of a parking destination slot area of a vehicle in response to a third sensor signal in one embodiment;

FIG. 11 is a flow diagram of a vehicle traveling in a designated lane of travel in one embodiment;

FIG. 12 is a flowchart illustrating a vehicle traveling at a preset vehicle speed in one embodiment;

FIG. 13 is a schematic configuration diagram of a vehicle control apparatus according to an embodiment;

FIG. 14 is a schematic diagram of the structure of a sensor in one embodiment;

FIG. 15 is a schematic diagram of the structure of a longitudinal sensor in one embodiment;

FIG. 16 is a schematic diagram of a signal shielding layer according to an embodiment;

fig. 17 is a schematic configuration diagram of a vehicle control apparatus in another embodiment;

FIG. 18 is a flowchart of a vehicle control method in another embodiment;

FIG. 19 is a schematic diagram of a vehicle control apparatus in another embodiment;

FIG. 20(a) is a schematic diagram of a vehicle passing a single sensor in another embodiment;

FIG. 20(B) is a first sensor signal diagram of B23 and a second sensor signal diagram of A1B2 in another embodiment;

FIG. 20(c) is a schematic diagram of vehicle ranging in another embodiment;

FIG. 21 is a schematic diagram of the construction of a vehicle control system in one embodiment;

FIG. 22 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The vehicle control method provided by the present application can be applied to the application environment shown in fig. 1, where fig. 1 is an application environment diagram of the vehicle control method in one embodiment. Wherein the vehicle controller 10 controls the vehicle 20 to travel on the traffic lane 30 by wireless signals. The range of the wireless signal of the vehicle controller 10 covers the traffic lane, and the range of the wireless signal is shown as an area enclosed by a dotted line. The vehicle 20 may be an unmanned vehicle or may be a vehicle having an unmanned mode. The traffic lane is provided with a sensor 30, and the sensor 30 senses whether the upper side of the sensor is covered by the vehicle 20 and outputs a signal.

In one embodiment, as shown in fig. 2, fig. 2 is a flowchart of a vehicle control method in one embodiment, and provides a vehicle control method, which is described by taking the method as an example applied to the vehicle controller in fig. 1, and includes the following steps:

step S210: and acquiring signals of a sensor arranged in a preset area of a traffic lane, wherein the traffic lane is connected to the intersection where the traffic indicator lamp is located.

Before controlling vehicles to pass through the intersection according to the traffic indicator, attention needs to be paid to the traffic lanes and the states of the vehicles at the intersection. A sensor is arranged in a preset area of the driving lane, can sense whether the upper part of the sensor is covered by the vehicle or not, and can output a signal. For example, the positional relationship between the vehicle and the preset area can be known from the signals of the sensors.

Step S220: and when the signal of the traffic indicating lamp represents no passing, controlling the vehicle to enter a specified area of the traffic lane according to the signal of the sensor.

When the vehicles are prohibited to pass through the intersection, the vehicles are parked in the designated area, so that the vehicles are sequentially parked in the preset area, and a proper distance is kept between the vehicles, so that the distance between the vehicles meets the requirement of driving safety when the vehicles are started at the same speed at the same time.

In addition, when the vehicle enters the preset area, the vehicle may be controlled by the vehicle controller. After the vehicle enters the preset zone, the control of the vehicle by the vehicle controller may be forced.

Step S230: when the signal of the traffic light represents permission to pass, a plurality of vehicles controlling the designated area are started at the same speed at the same time.

The vehicles are started at the same speed, the distance between the vehicles is kept stable, and the driving safety among the vehicles is ensured.

According to the vehicle control method, the vehicles are parked in the designated area at proper intervals, and after the vehicles are started at the same speed, the proper intervals are still kept between the vehicles, so that the step of detecting the safe distance before the vehicles are started is reduced, the time for waiting for the distance between the vehicles to reach the safe distance before the vehicles are started is reduced, the number of the vehicles passing through the intersection is increased, the passing efficiency of the vehicles at the intersection is improved, and the traffic jam phenomenon at the intersection is reduced.

In one embodiment, as shown in fig. 3, fig. 3 is a flowchart illustrating an embodiment of a vehicle entering a designated area of a traffic lane, where the sensor includes a plurality of lateral sensors and a plurality of individual sensors, the lateral sensors are disposed on the traffic lane and divide the traffic lane into a plurality of preset parking space areas, the individual sensors are disposed in the preset parking space areas in a one-to-one correspondence, and the designated area includes the preset parking space areas;

step S211: a first sensor signal of the transverse sensor and a second sensor signal of the individual sensor are acquired.

step S221: and determining the vacant parking space area according to the second sensor signal.

The single sensor can sense whether the upper part of the single sensor is covered by the vehicle or not, and whether the vehicle is parked in the preset parking space area where the corresponding single sensor is located or not can be judged according to the signal of the second sensor. For example, if it is determined that a vehicle is parked in the corresponding preset parking space region according to the second sensor, the preset parking space region is determined as an empty parking space region.

Step S222: and determining a target parking space area according to the sequence of the preset parking space areas and the vacant parking space areas.

The vacant parking space area represents a preset parking space area capable of parking vehicles, and a target parking space area is determined in the vacant parking space area; the distribution of the preset parking space areas has a spatial sequence, vehicles can be parked in order in the target parking space areas determined according to the sequence of the preset parking space areas, and meanwhile, the vehicles can be kept at a proper distance.

Step S223: and parking the vehicle in the target parking space area according to the first sensor signal.

The transverse sensor can sense the vehicle positioned above or passing the transverse sensor, the driving position of the vehicle can be sensed according to the first sensor, the position of the vehicle is monitored according to the signal of the first sensor, and the vehicle can be controlled to be parked in a target parking space area.

According to the vehicle control method, the target parking space area is determined and the vehicle is parked in the target parking space area through the first sensor signal of the transverse sensor and the second sensor signal of the longitudinal sensor, so that the vehicle can be effectively and orderly parked in the designated area, and meanwhile, a proper vehicle distance is conveniently kept between the vehicles.

In an embodiment, as shown in fig. 4, fig. 4 is a flowchart of the determination of the vacant parking space area in an embodiment, and the step of determining the vacant parking space area according to the second sensor signal includes the following steps:

step S2211: and when no sensing signal exists in the second sensor signal, determining that the preset parking space area corresponding to the second sensor signal is a vacant parking space area, wherein the presence of the sensing signal represents that the vehicle covers the sensor corresponding to the sensing signal.

In the vehicle control method, the second sensor signal does not have a sensing signal, which represents that no vehicle is parked above the preset parking space region where the single sensor corresponding to the second sensor signal is located, and the preset parking space region can be judged to be a vacant parking space region.

For example, the individual sensors may be distance sensors, and when the vehicle passes over the individual sensors, the vehicle reflects the signals transmitted by the individual sensors to the individual sensors, and the individual sensors receive the transmitted signals and generate sensing signals, so that when a sensing signal exists in the second sensor signals output by the individual sensors, it represents that the vehicle covers over the corresponding sensors.

In an embodiment, as shown in fig. 5, fig. 5 is a flowchart illustrating an embodiment of a vehicle parked in a destination parking space area, where the preset parking space area includes the destination parking space area and a passing parking space area, where the passing parking space area is the preset parking space area through which the vehicle passes before reaching the destination parking space area;

step S2231: the current position of the vehicle is obtained from the first sensor signal.

Step S2232: and determining the next position according to the current position, wherein the next position is a preset parking space area which is about to be reached by the vehicle in the driving direction.

Step S2233: and when the next position is the target parking space area, controlling the vehicle to travel to the target parking space area.

Step S2234: and when the next position is the passing parking space area, controlling the vehicle to run and pass the next position, and jumping to the step S2231: and acquiring the current position of the vehicle according to the first sensor signal.

According to the vehicle control method, the vehicle can be controlled to run to the next position according to the first sensor signal, and when the next position is the target parking space area, the vehicle is controlled to reach the target parking space area.

For example, when the position next to the current position of the vehicle on the driving lane is a target parking space region, the vehicle is controlled to drive a distance of a preset parking space region and reach the target parking space region; when the difference between the current position of the vehicle and the position of the target parking space area is a preset parking space area, namely the next position of the current position is a passing parking space area, and the next position of the passing parking space area is the target parking space area, therefore, the distance of the vehicle running through one preset parking space area can be controlled, and after the vehicle reaches the passing parking space area, the distance of the vehicle running through one preset parking space area can be controlled, and the vehicle reaches the target parking space area.

In one embodiment, as shown in fig. 6, fig. 6 is a flowchart of the vehicle current position acquisition in one embodiment, and the step of acquiring the current position of the vehicle according to the first sensor signal includes the steps of:

step S2235: when the first sensor signal has the sensing signal, the passing parking space area corresponding to the first sensor signal is determined as the current position.

According to the vehicle control method, the transverse sensor divides the traffic lane into the plurality of preset parking space areas, when the vehicle runs from one preset parking space area to another preset parking space area, the vehicle can pass through the transverse sensor from the upper part, when the first sensor signal has the sensing signal, the vehicle is shown to run into the preset parking space area corresponding to the first sensor signal, namely the corresponding passing parking space area can be used as the current position, wherein the preset parking space areas through which the vehicle passes before reaching the target parking space area are all the passing parking space areas.

For example, a first transverse sensor and a second transverse sensor divide a traffic lane into a first preset parking space area, a second preset parking space area and a third preset parking space area in sequence, wherein the first transverse sensor is located at the junction of the first preset parking space area and the second preset parking space area, the second transverse sensor is located at the junction of the second preset parking space area and the third preset parking space area, and the driving direction is from the first preset parking space area to the second preset parking space area; assuming that a first sensor signal corresponding to the first transverse sensor has an induction signal at the time t, and the vehicle travels from the first preset parking space area to the second preset parking space area at the time t, the current position of the vehicle at the time t is the second preset parking space area.

In one embodiment, as shown in fig. 7, fig. 7 is a flowchart illustrating that the vehicle travels to the target parking space area in the second sensor signal in one embodiment, and the step of controlling the vehicle to travel to the target parking space area includes the following steps:

step S2236: and when the induction signal exists in the second sensor signal corresponding to the target parking space area, controlling the vehicle to brake.

According to the vehicle control method, when the sensing signal exists in the second sensor signal corresponding to the target parking space area, the fact that the vehicle runs to the target parking space area is indicated, and then the vehicle can be controlled to brake and is parked in the target parking space area.

For example, because the individual sensor is arranged in the preset parking space area, when the vehicle travels from the passing parking space area to the target parking space area, the vehicle covers the upper side of the individual sensor corresponding to the target parking space area, a sensing signal exists in the second sensor signal corresponding to the target parking space area, and the vehicle is controlled to brake at the moment, so that the vehicle can be parked in the target parking space area.

In one embodiment, as shown in fig. 8, fig. 8 is a flowchart illustrating the vehicle driving to the destination parking space region in one embodiment when the first sensor signal is detected, and the lateral sensor is further configured to measure a distance between the vehicle and the lateral sensor, wherein the distance between the vehicle and the lateral sensor is a distance between a body of the vehicle and the lateral sensor;

step S2237: and acquiring the distance between the vehicle and the transverse sensor according to the first sensor signal of the target parking space area.

The transverse sensor can be a distance sensor, and can sense the distance between the vehicle and the transverse sensor of the target parking space region according to the acquired first sensor signal.

Step S2238: and controlling the vehicle to brake when the distance between the vehicle and the transverse sensor meets a preset range.

When the distance between the vehicle and the transverse sensor meets the preset range, the vehicle can completely enter the preset parking space area divided by the transverse sensor.

According to the vehicle control method, when the vehicle completely enters the corresponding target parking space area and the distance between the vehicle and the transverse sensor of the target parking space area meets the preset range, the vehicle can be controlled to brake, the vehicle can be parked in the target parking space area, and the vehicle can be accurately controlled.

For example, the horizontal sensor corresponding to the target parking space region may be a head located in the target parking space region, where the head of the target parking space region refers to one side of the target parking space region facing the driving direction, and the preset range may be that the distance between the vehicle and the horizontal sensor is less than 1.5 meters, that is, the distance between the vehicle head and the horizontal sensor is less than 1.5 meters; and measuring that the distance between the vehicle and the corresponding transverse sensor is 1.2 m, and controlling the vehicle to brake if the distance accords with a preset range, so that the vehicle is parked in a target parking space area.

In an embodiment, as shown in fig. 9, fig. 9 is a flowchart illustrating a change of the vacant parking space area in an embodiment, and after the step of parking the vehicle in the target parking space area according to the first sensor signal, the method further includes the following steps:

step S224: and changing the target parking space area from the vacant parking space area to the occupied parking space area.

In the step, after the target parking space area parks the vehicle, the state of the target parking space area is changed, and the target parking space area is changed from the vacant parking space area to the occupied parking space area.

Step S225: when the first sensor signal of the transverse sensor between the target parking space region and the adjacent parking space region continuously has a sensing signal, the adjacent parking space region is changed from the vacant parking space region to the occupied parking space region, wherein the adjacent parking space region is the vacant parking space region adjacent to the target parking space region.

When the vehicle is too long, when the vehicle is parked to a target parking space region, the vehicle not only occupies the target parking space region, but also occupies an adjacent parking space region, in order to guarantee the safety distance between the parked vehicles, the adjacent parking space region can be changed from a vacant parking space region to the parking space region, so that the adjacent parking space region cannot be determined as the target parking space region, and the subsequent parked vehicle cannot be parked in the adjacent parking space region.

And after the occupied parking space area is changed, jumping to the step S222 of determining a target parking space area according to the sequence of the preset parking space areas and the vacant parking space area.

In the step, after the occupied parking space area and the vacant parking space area are updated, the target parking space area is determined again so as to orderly control the vehicle to drive into the designated area.

According to the vehicle control method, whether the vehicle occupies two preset parking space areas is judged through the first signal of the transverse sensor, when the vehicle occupies the two preset parking space areas simultaneously, the two preset parking space areas occupied simultaneously are changed into the parking space areas, and the subsequent vehicle is not controlled to stop into the two preset parking space areas occupied simultaneously, so that the subsequent parked vehicle can keep a proper and safe distance from the vehicle, and the safe distance between the vehicles is guaranteed.

In one embodiment, as shown in fig. 10, fig. 10 is a flowchart of a parking target parking space area of a vehicle under a signal of a third sensor in one embodiment, the sensor further includes longitudinal sensors sequentially arranged at intervals on a driving line, the longitudinal sensors are used for sensing whether the vehicle covers the driving line, a sensor matrix is composed of the longitudinal sensors and the transverse sensors, the sensor matrix divides the driving line into a plurality of preset parking space areas, and the designated area includes each preset parking space area;

step S226: a third sensor signal of the longitudinal sensor is acquired.

Step S227: and parking the vehicle in the target parking space area according to the first sensor signal and the third sensor signal.

The designated area may include a plurality of traffic lanes, and the current lane in which the vehicle is located may be acquired according to the first sensor signals corresponding to the lateral sensors on the respective traffic lanes. When the target parking space area is in the current lane, the lane change is not needed in the process that the vehicle runs to the target parking space area, and the vehicle can be controlled to be parked in the target parking space area according to the first sensing signal. When the target parking space area is not in the current lane, determining the traffic lane in which the target parking space area is located as the target lane, and controlling the vehicle to run from the current lane to the target lane according to the third sensor signal; and after the vehicle runs to the target lane, controlling the vehicle to park in the target parking space area according to the first sensor signal.

According to the vehicle control method, the vehicle can be controlled to be parked in the target parking space area in the multi-lane according to the first sensor signal and the third sensor signal.

When the vehicle covers the upper portion of the driving line, a sensing signal can appear in a third sensor signal of the longitudinal sensor on the driving line, and therefore the fact that the sensing signal exists in the third sensor signal can indicate that the vehicle presses a line in the driving process. The vehicle needs to be pressed during lane changing, and the lane changing position and effect of the vehicle can be identified according to the signal of the third sensor, so that the vehicle is controlled to change lanes to a target lane, and the accuracy of vehicle control is improved.

For example, in the lane changing process, the vehicle is generally required to change to an adjacent lane, and the lane changing process can be performed for the second time after the vehicle keeps driving for a certain distance in the lane after the change, so that when the third sensor signal has the sensing signal, it indicates that the vehicle has entered the adjacent lane, and at this time, the driving direction of the vehicle needs to be controlled, and the vehicle needs to drive in the adjacent lane, so as to complete the lane changing; meanwhile, the vehicle can be detected and controlled according to the signal of the third sensor, and the vehicle is prevented from driving to an isolated traffic lane in the lane changing process.

In one embodiment, as shown in fig. 11, fig. 11 is a flowchart of the vehicle driving in the specified lane in one embodiment, and after the step of acquiring the third sensor signal of the longitudinal sensor, the method further comprises the following steps:

step S228: and controlling the vehicle to run in the specified traffic lane according to the third sensor signal.

When the vehicle runs in the designated lane, the vehicle is required to be kept not to press a line in the running process, and when the vehicle cannot cover the upper part of the traffic line, the third sensor signal of the longitudinal sensor on the corresponding traffic line is kept to have no induction signal as much as possible; and the induction signal in the third sensor signal can indicate that the vehicle presses the line and deviates from running in the running process of the vehicle, and the running direction of the vehicle is modulated in time according to the third sensor signal so that the vehicle runs in a running lane.

According to the vehicle control method, the vehicle is controlled to run in the specified traffic lane through the third sensor signal of the longitudinal sensor, and the vehicle is controlled not to press a line in the running process, so that the vehicle obeys the traffic rules in the running process.

In one embodiment, as shown in fig. 12, fig. 12 is a flowchart of the vehicle running at a preset vehicle speed in one embodiment, and before the step of controlling the vehicle to enter a specified area of the traffic lane according to the signal of the sensor, the method further comprises the following steps:

step S240: and controlling the vehicle to run according to the preset vehicle speed.

According to the vehicle control method, the vehicle is controlled to run in the designated area according to the preset vehicle speed, the vehicle pursuit condition in the designated area is avoided, and the traffic accidents are reduced.

It should be understood that although the steps in the flowcharts of fig. 2 to 12 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-12 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 13, fig. 13 is a schematic structural diagram of a vehicle control device in one embodiment, where the vehicle control device in this embodiment includes a vehicle controller 310, a wireless communication device 320, and a sensor 330;

the vehicle controller 310 is connected with a vehicle through a wireless communication device 320, the wireless communication device 320 is connected with the vehicle through a wireless signal, the sensor 330 is connected with the vehicle controller 310, the signal of the wireless communication device 320 covers a traffic lane, and the sensor 330 is arranged on the traffic lane, wherein the traffic lane is connected to an intersection where a traffic indicator lamp is located;

the sensor 330 is used for outputting a sensor signal and generating a sensing signal in the sensor signal when the vehicle is covered above the sensor 330;

the wireless communication device 320 is used for sending wireless signals to the vehicle;

the vehicle controller 310 is used to control the vehicle by wireless signals and execute a vehicle control method.

According to the vehicle control device, the sensor signal is obtained through the sensor 330, and according to the sensor signal and the vehicle control method, the vehicle controller 310 controls the vehicles to run through the wireless signal of the wireless communication device 320, so that the vehicles can be parked in a designated area at proper intervals, the proper intervals are kept among the vehicles after the vehicles are started at the same speed, the step of detecting the safe distance before the vehicles are started is reduced, the time for the distance between the vehicles to reach the safe distance before and after the vehicles are started is shortened, the number of the vehicles passing through the intersection is increased, the passing efficiency of the vehicles at the intersection is increased, and the traffic jam at the intersection is reduced.

In one embodiment, as shown in FIG. 14, FIG. 14 is a schematic diagram of the structure of a sensor in one embodiment, the sensor 330 includes a lateral sensor 331 and a separate sensor 332;

the lateral sensor 331 and the individual sensor 332 are respectively connected to the vehicle controller 310;

the transverse sensor 331 is disposed on the traffic lane and divides the traffic lane into a plurality of preset parking space regions, and the transverse sensor 331 is used for sensing the vehicle and measuring the distance between the vehicle and the transverse sensor 331, wherein the distance between the vehicle and the transverse sensor 331 is the distance between the body of the vehicle and the transverse sensor 331;

the individual sensors 332 are arranged in the preset parking space areas in a one-to-one correspondence manner, and the individual sensors 332 are used for sensing whether the vehicle covers the preset parking space areas or not;

the vehicle controller 310 is used to execute a vehicle control method.

In the vehicle control device, the transverse sensor 331 and the single sensor 332 are arranged on the driving lane, the transverse sensor 331 can acquire a first sensor signal, the single sensor 332 can acquire a second sensor signal, and the vehicle controller 310 can control the vehicles to be parked in a designated area orderly according to the first sensor signal, the second sensor signal and the vehicle control method so as to keep a proper vehicle distance between the vehicles.

In one embodiment, as shown in fig. 15, fig. 15 is a schematic structural diagram of a longitudinal sensor in one embodiment, and the sensor 330 further comprises a longitudinal sensor 333;

the longitudinal sensors 333 are sequentially arranged on the driving line at intervals and used for sensing whether the vehicles cover the driving line or not, the longitudinal sensors 333 and the transverse sensors 331 form a sensor matrix, and the sensor matrix divides the road into a plurality of preset parking space areas;

the vehicle controller 310 is used to execute a vehicle control method.

In the vehicle control device, the longitudinal sensor 333 is disposed on the lane line, the longitudinal sensor 333 can acquire the third sensor signal, and the vehicle controller 310 can control the vehicle to sequentially park in the designated area in the preset areas of the plurality of lanes according to the first sensor signal, the second sensor signal, the third sensor signal and the vehicle control method, so that the vehicle can keep a proper vehicle distance and observe the traffic rules.

In one embodiment, as shown in fig. 16, fig. 16 is a schematic structural diagram of a signal shielding layer in one embodiment, and the vehicle control device further includes a signal shielding layer 340;

signal shielding layers are provided along both sides of the traffic lane, and the signal shielding layers serve to restrict the communication range of the wireless communication device 320 in the traffic lane.

In the vehicle control device, the signal shielding layer 340 prevents the wireless signal of the wireless communication device 320 from being transmitted to the region outside the traffic lane, limits the communication range of the wireless communication device 320 in the traffic lane, and prevents the vehicle controller 310 from interfering with the wireless signal of another channel or influencing the vehicle running of another channel through the wireless signal of the wireless communication device 320.

In another embodiment, as shown in fig. 17 and 18, fig. 17 is a schematic structural diagram of a vehicle control apparatus in another embodiment, and fig. 18 is a flowchart of a vehicle control method in another embodiment. In the present embodiment, the vehicle control device includes a vehicle controller, a wireless communication device, a sensor matrix, and a signal shielding layer. The wireless communication device and the sensor matrix are respectively connected with the vehicle controller. The vehicle controller is connected with the vehicle through wireless signals of the wireless communication device and controls the vehicle, the sensor matrix comprises a plurality of sensors, and the sensor matrix inputs signals of the sensors to the vehicle controller.

As shown in fig. 19, fig. 19 is a schematic diagram of a vehicle control apparatus in another embodiment. The communication range of a wireless communication device needs to fully cover a road area. The wireless communication devices can be symmetrically arranged on two sides of a road, so that incomplete coverage of a communication range is avoided.

The sensor matrix comprises longitudinal sensors, transverse sensors and individual sensors, the longitudinal sensors are arranged on a driving line, the transverse sensors and the individual sensors are arranged on a driving lane, the longitudinal sensors and the transverse sensors divide a plurality of driving lanes of a road into a plurality of preset parking space areas, and the individual sensors are arranged in the preset parking space areas in a one-to-one correspondence mode. As shown in fig. 19, a12, a13, a14, a15, a22, a23, a24, and a25 are longitudinal sensors, B11, B12, B13, B14, B15, B21, B22, B23, B24, and B25 are lateral sensors, and A1B1 is a single sensor. The longitudinal sensor can monitor whether the vehicle is pressed and feed back to the vehicle controller if the vehicle is pressed; and the vehicle controller controls the vehicle to return to the positive rail according to a third sensor signal of the longitudinal sensor, so that the vehicle runs in the driving lane. The transverse sensor can sense whether the vehicle passes above the transverse sensor and monitor the position of the vehicle, and the vehicle controller can acquire a preset parking space area where the vehicle is located according to a first sensor signal of the transverse sensor. The individual sensors may sense whether the vehicle is in a pre-existing parking area.

For example, taking the preset parking space area in fig. 20(a) as an example, fig. 20(a) is a schematic diagram illustrating a principle that a vehicle passes through an individual sensor in another embodiment, when the vehicle passes over the individual sensor, a sensing signal is generated in a second sensor signal of the individual sensor, and the sensing signal is generated when the vehicle passes over the individual sensor from the head of the vehicle, as shown in fig. 20(B), and fig. 20(B) is a first sensor signal diagram of B23 and a second sensor signal diagram of A1B2 in another embodiment. At time t, the vehicle is in the state of fig. 20(a), the vehicle covers both B23 and A1B2, and the first sensor signal of B23 and the second sensor signal of A1B2 have sensing signals at time t. When the vehicle is parked above the single sensor, a sensing signal continuously exists in the second sensor signal, and the continuously existing sensing signal indicates that the vehicle occupies the preset parking space area corresponding to the single sensor. The transverse sensor may be a distance sensor, and the transverse sensor may sense a distance between a body of the vehicle and the transverse sensor, as shown in fig. 20(c), and fig. 20(c) is a schematic diagram of vehicle distance measurement in another embodiment, and the vehicle controller may control the vehicle to be parked in the preset parking space area and not to be covered above the transverse sensor according to the distance sensed by the transverse sensor. If the vehicle finishes parking, the corresponding transverse sensor continuously receives the reflected square wave signal, namely the position where the vehicle parks occupies two preset parking space areas, and the vehicle controller can accordingly control other vehicles not to park in the two occupied preset parking space areas.

In addition, the length of the preset parking space area divided by the longitudinal sensor and the transverse sensor can be between 6 meters and 7 meters, and the width of the preset parking space area can be between 3.5 meters and 4 meters, namely, the distance between the longitudinal sensor belts can be between 6 meters and 7 meters, and the distance between the transverse sensor belts can be between 3.5 meters and 4 meters.

The signal shielding layers are arranged along two sides of the road respectively, prevent wireless signals of the wireless communication device from being transmitted to the area outside the road, limit the communication range of the wireless communication device in the road, and avoid that a vehicle controller interferes with the wireless signals of other roads or influences the driving of vehicles of other roads through the wireless signals of the wireless communication device.

In the present embodiment, as shown in fig. 18, the vehicle control method includes the steps of:

signals of sensors of a sensor matrix are acquired. The signals of the sensors include a first sensor signal, a second sensor signal, and a third sensor signal.

The vehicle controller controls the vehicle entering the communication range of the wireless communication device according to the signal of the sensor. And controlling the speed of the vehicle to be a preset speed. Controlling the vehicles to be parked in the designated area in order when the red light is emitted; and when the lamp is green, the vehicles are controlled to start at the same speed and pass through the intersection where the red street lamp is located.

According to the vehicle control device and the vehicle control method, the plurality of vehicles are parked in the designated area at proper intervals, and after the vehicles are started at the same speed, the proper intervals are still kept between the vehicles, so that the steps of detecting the safe distance of the vehicles before starting are reduced, the time for waiting for the distance between the vehicles to reach the safe distance before starting is reduced, the number of the vehicles passing through the intersection is increased, the passing efficiency of the vehicles at the intersection is improved, and the traffic jam at the intersection is reduced.

In one embodiment, as shown in fig. 21, fig. 21 is a schematic structural diagram of a vehicle control system in one embodiment, and provides a vehicle control system, including: a sensor signal acquisition module 410, a vehicle parking module 420, and a vehicle activation module 430, wherein:

the sensor signal acquiring module 410 is configured to acquire a signal of a sensor arranged in a preset area of a traffic lane, where the traffic lane is connected to an intersection where a traffic indicator lamp is located.

A sensor is arranged in a preset area of the driving lane, can sense whether the upper part of the sensor is covered by the vehicle or not, and can output a signal. The sensor signal acquisition module 410 may acquire a signal of the sensor through the sensor.

And the vehicle parking module 420 is used for controlling the vehicle to enter a specified area of the traffic lane according to the signal of the sensor when the signal of the traffic indicating lamp represents the no-pass.

When the intersection is forbidden to pass, the vehicle parking module 420 parks the vehicles in the designated area, so that the vehicles are orderly parked in the preset area, and a proper distance is kept between the vehicles, so that the distance between the vehicles meets the requirement of driving safety when the vehicles are started at the same speed at the same time.

And a vehicle starting module 430 for controlling a plurality of vehicles in the designated area to start simultaneously at the same speed when the signal of the traffic light represents permission to pass.

When the signal of the traffic light represents permission to pass, the vehicle starting module 430 controls a plurality of vehicles to start simultaneously at the same speed, and the distance between the plurality of vehicles is kept stable, so that the driving safety between the plurality of vehicles is ensured.

According to the vehicle control system, the vehicles are parked in the designated area at proper intervals, and after the vehicles are started at the same speed, the proper intervals are still kept between the vehicles, so that the step of detecting the safe distance before the vehicles are started is reduced, the time for waiting for the distance between the vehicles to reach the safe distance before the vehicles are started is reduced, the number of the vehicles passing through the intersection is increased, the passing efficiency of the vehicles at the intersection is improved, and the traffic jam at the intersection is reduced.

In one embodiment, the sensors comprise a plurality of transverse sensors and a plurality of single sensors, wherein the transverse sensors are arranged on a driving lane and divide the driving lane into a plurality of preset parking space areas, the single sensors are arranged in the preset parking space areas in a one-to-one correspondence mode, and the designated area comprises the preset parking space areas; the sensor signal acquiring module 410 is further configured to acquire a first sensor signal of the lateral sensor and a second sensor signal of the individual sensor, and the vehicle parking module 420 is further configured to determine an empty parking space region according to the second sensor signal, and determine a target parking space region according to a sequence of the preset parking space regions and the empty parking space region.

According to the vehicle control system, the target parking space area is determined and the vehicle is parked in the target parking space area through the first sensor signal of the transverse sensor and the second sensor signal of the longitudinal sensor, so that the vehicle can be effectively and orderly parked in the designated area, and meanwhile, a proper vehicle distance is kept between the vehicles.

In one embodiment, the vehicle parking module 420 is further configured to determine that the preset parking space area corresponding to the second sensor signal is a vacant parking space area when no sensing signal exists in the second sensor signal, where the presence of the sensing signal indicates that the vehicle covers above the sensor corresponding to the sensing signal.

In the vehicle control system, the second sensor signal does not have a sensing signal, which represents that no vehicle is parked above the preset parking space region where the single sensor corresponding to the second sensor signal is located, and the preset parking space region can be judged to be a vacant parking space region.

In one embodiment, the preset parking space area comprises a target parking space area and a passing parking space area, wherein the passing parking space area is the preset parking space area through which a vehicle passes before reaching the target parking space area; the vehicle parking module 420 is further configured to obtain a current position of the vehicle according to the first sensor signal, determine a next position according to the current position, where the next position is a preset parking space area where the vehicle is to arrive in the driving direction, control the vehicle to drive to the target parking space area when the next position is the target parking space area, and perform obtaining the current position of the vehicle according to the first sensor signal.

The vehicle control system can control the vehicle to run to the next position according to the first sensor signal, and when the next position is the target parking space area, the vehicle is controlled to reach the target parking space area.

In one embodiment, the vehicle parking module 420 is further configured to determine that the passing parking space area corresponding to the first sensor signal is the current position when the sensing signal exists in the first sensor signal.

In the vehicle control system, the transverse sensor divides the traffic lane into the plurality of preset parking space areas, and when the vehicle runs from one preset parking space area to another preset parking space area, the vehicle passes through the transverse sensor from the upper part, so that when the first sensor signal has the sensing signal, the vehicle runs into the preset parking space area corresponding to the first sensor signal, namely the corresponding passing parking space area can be used as the current position, wherein the preset parking space areas through which the vehicle passes before reaching the target parking space area are all the passing parking space areas.

In one embodiment, the parking module 420 is further configured to control braking of the vehicle when the sensing signal is present in the second sensor signal corresponding to the destination parking space region.

According to the vehicle control system, when the sensing signal exists in the second sensor signal corresponding to the target parking space area, the vehicle is indicated to run to the target parking space area, and then the vehicle can be controlled to brake and be parked in the target parking space area.

In one embodiment, the lateral sensor is further configured to measure a distance between the vehicle and the lateral sensor, wherein the distance between the vehicle and the lateral sensor is a distance between a body of the vehicle and the lateral sensor; the vehicle parking module 420 is further configured to obtain a distance between the vehicle and the lateral sensor according to the first sensor signal of the destination parking space region; and controlling the vehicle to brake when the distance between the vehicle and the transverse sensor meets a preset range.

According to the vehicle control system, when the vehicle completely enters the corresponding target parking space area, and the distance between the vehicle and the transverse sensor of the target parking space area meets the preset range, the vehicle can be controlled to brake, the vehicle can be parked in the target parking space area, and the vehicle can be accurately controlled.

In one embodiment, the vehicle parking module 420 is further configured to change the target parking space region from an unoccupied parking space region to an occupied parking space region, and change the adjacent parking space region from the unoccupied parking space region to the occupied parking space region when a first sensor signal of a lateral sensor between the target parking space region and the adjacent parking space region continuously has a sensing signal, where the adjacent parking space region is an unoccupied parking space region adjacent to the target parking space region, and after the occupied parking space region is changed, the target parking space region is determined according to a sequence of the preset parking space regions and the unoccupied parking space region.

Above-mentioned vehicle control system judges through the first signal of horizontal sensor whether the vehicle occupies two preset parking stall regions, when the vehicle occupies two preset parking stall regions simultaneously, will be occupied simultaneously two preset parking stall regions change into and occupy the parking stall region, no longer control follow-up vehicle to park into by two preset parking stall regions that occupy simultaneously for follow-up vehicle of parking can keep suitable safe distance with this vehicle, ensures to keep safe distance between the vehicle.

In one embodiment, the sensor further comprises longitudinal sensors which are sequentially arranged on the driving line at intervals, the longitudinal sensors are used for sensing whether a vehicle covers the driving line, a sensor matrix is composed of the longitudinal sensors and the transverse sensors, the sensor matrix divides the driving lane into a plurality of preset parking space areas, and the designated area comprises each preset parking space area; the vehicle parking module 420 is further configured to obtain a third sensor signal of the longitudinal sensor, and park the vehicle in the target parking space area according to the first sensor signal and the third sensor signal.

According to the vehicle control system, the vehicle can be controlled to be parked in the target parking space area in the multi-lane according to the first sensor signal and the third sensor signal.

In one embodiment, the vehicle parking module 420 is further configured to control the vehicle to travel in a designated lane of travel based on the third sensor signal.

According to the vehicle control system, the vehicle is controlled to run in the specified traffic lane through the third sensor signal of the longitudinal sensor, and the vehicle is controlled not to press a line in the running process, so that the vehicle obeys the traffic rules in the running process.

In one embodiment, the vehicle parking module 420 is further configured to control the vehicle to travel at a preset vehicle speed.

The vehicle control system controls the vehicle to run in the designated area according to the preset vehicle speed, avoids the situation that the vehicle catches up in the designated area, and reduces the occurrence of traffic accidents.

For specific limitations of the vehicle control system, reference may be made to the above limitations of the vehicle control method, which are not described herein again. The various modules in the vehicle control system described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, the computer device may be a server, the internal structure of which may be as shown in fig. 22, fig. 22 is an internal structure of the computer device in one embodiment. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a vehicle control method.

Those skilled in the art will appreciate that the architecture shown in fig. 22 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:

In one embodiment, the processor, when executing the computer program, further performs the steps of:

acquiring a first sensor signal of a transverse sensor and a second sensor signal of an individual sensor; determining an empty parking space area according to the second sensor signal; determining a target parking space area according to the sequence of the preset parking space areas and the vacant parking space areas; and parking the vehicle in the target parking space area according to the first sensor signal.

acquiring the current position of the vehicle according to the first sensor signal; determining a next position according to the current position, wherein the next position is a preset parking space area which is about to be reached by the vehicle in the driving direction; when the next position is the target parking space area, controlling the vehicle to run to the target parking space area; and when the next position is the passing parking space area, controlling the vehicle to run and pass the next position, and skipping to the step of acquiring the current position of the vehicle according to the first sensor signal.

acquiring the distance between a vehicle and a transverse sensor according to a first sensor signal of a target parking space area; and controlling the vehicle to brake when the distance between the vehicle and the transverse sensor meets a preset range.

changing the target parking space area from the vacant parking space area to the occupied parking space area; when a first sensor signal of a transverse sensor between a target parking space area and an adjacent parking space area continuously has a sensing signal, changing the adjacent parking space area from a vacant parking space area to a parking space occupied area, wherein the adjacent parking space area is the vacant parking space area adjacent to the target parking space area; and after the occupied parking space area is changed, skipping to a step of determining a target parking space area according to the sequence of the preset parking space areas and the vacant parking space area.

acquiring a third sensor signal of the longitudinal sensor; and parking the vehicle in the target parking space area according to the first sensor signal and the third sensor signal.

and controlling the vehicle to run according to the preset vehicle speed.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of:

and controlling the vehicle to run according to the preset vehicle speed.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A vehicle control method characterized by comprising the steps of:

acquiring a signal of a sensor arranged in a preset area of a traffic lane, wherein the traffic lane is accessed to an intersection where a traffic indicator lamp is located; the sensors comprise a plurality of transverse sensors and a plurality of single sensors, wherein the transverse sensors are arranged on the traffic lane and divide the traffic lane into a plurality of preset parking space areas, and the single sensors are arranged in the preset parking space areas in a one-to-one correspondence mode; the transverse sensor senses a vehicle positioned above or passing the transverse sensor, monitors the driving position of the vehicle according to a sensor signal of the transverse sensor and controls the vehicle to park in a target parking space area; the single sensor senses whether the upper part of the single sensor is covered by a vehicle or not, and judges whether the vehicle is parked on a preset parking space area where the corresponding single sensor is located or not according to a sensor signal of the single sensor;

when the signal of the traffic indicator light represents no passing, controlling the vehicles to enter a specified area of the traffic lane according to the signal of the sensor, and keeping proper distance between the vehicles; the proper distance is used for ensuring that the distance between the vehicles meets the requirement of driving safety when the vehicles are started at the same speed; the designated area comprises each preset parking space area;

when the signal of the traffic indicator light represents permission to pass, controlling a plurality of vehicles in the designated area to start at the same speed at the same time, and keeping stable intervals among the plurality of vehicles; the stable spacing is used for ensuring driving safety among a plurality of vehicles.

2. The vehicle control method according to claim 1, wherein the step of acquiring the signal of the sensor provided in the lane preset area includes the steps of:

acquiring a first sensor signal of the lateral sensor and a second sensor signal of the individual sensor;

the step of controlling the vehicle to enter the designated area of the traffic lane according to the signal of the sensor comprises the following steps:

determining an empty parking space region according to the second sensor signal;

3. The vehicle control method according to claim 2, wherein the step of determining the vacant space region from the second sensor signal includes the steps of:

and when no induction signal exists in the second sensor signal, determining that a preset parking space area corresponding to the second sensor signal is a vacant parking space area, wherein the existence of the induction signal represents that the vehicle covers above the sensor corresponding to the induction signal.

4. The vehicle control method according to claim 2, wherein the preset parking space region includes the destination parking space region and a passing parking space region, wherein the passing parking space region is a preset parking space region through which the vehicle passes before reaching the destination parking space region;

when the next position is the target parking space area, controlling the vehicle to drive to the target parking space area;

and when the next position is the passing parking space area, controlling the vehicle to run and pass through the next position, and skipping to the step of acquiring the current position of the vehicle according to the first sensor signal.

5. The vehicle control method according to claim 4, wherein the step of acquiring the current position of the vehicle from the first sensor signal includes the steps of:

and when the first sensor signal has the sensing signal, determining that the passing parking space area corresponding to the first sensor signal is the current position.

6. The vehicle control method according to claim 4, wherein the step of controlling the vehicle to travel to the destination slot area includes the steps of:

and when the second sensor signal corresponding to the target parking space area has the sensing signal, controlling the vehicle to brake.

7. The vehicle control method according to claim 4, characterized in that the lateral sensor is further configured to measure a distance between the vehicle and the lateral sensor, wherein the distance between the vehicle and the lateral sensor is a distance between a body of the vehicle and the lateral sensor;

the step of controlling the vehicle to travel to the target parking space region comprises the following steps:

acquiring the distance between the vehicle and the transverse sensor according to the first sensor signal of the target parking space area;

8. The vehicle control method according to claim 2, characterized by, after the step of parking the vehicle in the destination slot area according to the first sensor signal, further comprising the steps of:

changing the target parking space area from an empty parking space area to an occupied parking space area;

when a first sensor signal of a transverse sensor between the target parking space area and an adjacent parking space area continuously has a sensing signal, changing the adjacent parking space area from a vacant parking space area to an occupied parking space area, wherein the adjacent parking space area is a vacant parking space area adjacent to the target parking space area;

and after the occupied parking space area is changed, skipping to the step of determining the target parking space area according to the sequence of the preset parking space areas and the vacant parking space area.

9. The vehicle control method according to claim 2, wherein the sensors further include longitudinal sensors sequentially arranged at intervals on a lane line, the longitudinal sensors are used for sensing whether the vehicle covers the upper part of the lane line, a sensor matrix is composed of the longitudinal sensors and the transverse sensors, the sensor matrix divides the lane line into a plurality of preset parking space areas, and the designated area includes each preset parking space area;

acquiring a third sensor signal of the longitudinal sensor;

10. The vehicle control method according to claim 9, characterized by, after the step of acquiring the third sensor signal of the longitudinal sensor, further comprising the step of:

and controlling the vehicle to run in a specified traffic lane according to the third sensor signal.

11. The vehicle control method according to any one of claims 1 to 10, characterized by, before the step of controlling the vehicle to enter the specified area of the traffic lane according to the signal of the sensor, further comprising the steps of:

and controlling the vehicle to run according to a preset vehicle speed.

12. A vehicle control apparatus characterized by comprising a vehicle controller, a wireless communication apparatus, and a sensor;

the vehicle controller is connected with a vehicle through a wireless communication device, the wireless communication device is connected with the vehicle through a wireless signal, the sensor is connected with the vehicle controller, the signal of the wireless communication device covers a traffic lane, and the sensor is arranged on the traffic lane, wherein the traffic lane is accessed to an intersection where a traffic indicator lamp is located;

the sensor is used for outputting a sensor signal and generating a sensing signal in the sensor signal when the vehicle covers above the sensor;

the wireless communication device is used for transmitting the wireless signal to the vehicle;

the vehicle controller is configured to control the vehicle by the wireless signal, and execute the vehicle control method according to claim 1.

13. The vehicle control apparatus according to claim 12, characterized in that the sensor includes a lateral sensor and a separate sensor;

the transverse sensor and the single sensor are respectively connected with the vehicle controller;

the transverse sensor is arranged on the traffic lane and divides the traffic lane into a plurality of preset parking space areas, and is used for sensing the vehicle and measuring the distance between the vehicle and the transverse sensor, wherein the distance between the vehicle and the transverse sensor is the distance between the body of the vehicle and the transverse sensor;

the individual sensors are arranged in the preset parking space areas in a one-to-one correspondence mode, and are used for sensing whether the vehicles cover the preset parking space areas or not;

the vehicle controller is configured to execute the vehicle control method according to any one of claims 2 to 8.

14. The vehicle control apparatus of claim 13, wherein the sensor further comprises a longitudinal sensor;

the longitudinal sensors are sequentially arranged on the driving line at intervals and used for sensing whether the vehicle covers the driving line or not, the longitudinal sensors and the transverse sensors form a sensor matrix, and the sensor matrix divides the road into a plurality of preset parking space areas;

the vehicle controller is configured to execute the vehicle control method according to any one of claims 9 to 10.

15. The vehicle control apparatus according to any one of claims 12 to 14, characterized by further comprising a signal shielding layer;

the signal shielding layer is arranged along two sides of the traffic lane and used for limiting the communication range of the wireless communication device in the traffic lane.

16. A vehicle control system, characterized by comprising:

the sensor signal acquisition module is used for acquiring signals of a sensor arranged in a preset area of a traffic lane, wherein the traffic lane is accessed to an intersection where a traffic indicator lamp is located; the sensors comprise a plurality of transverse sensors and a plurality of single sensors, wherein the transverse sensors are arranged on the traffic lane and divide the traffic lane into a plurality of preset parking space areas, and the single sensors are arranged in the preset parking space areas in a one-to-one correspondence mode; the transverse sensor senses a vehicle positioned above or passing the transverse sensor, monitors the driving position of the vehicle according to a sensor signal of the transverse sensor and controls the vehicle to park in a target parking space area; the single sensor senses whether the upper part of the single sensor is covered by a vehicle or not, and judges whether the vehicle is parked on a preset parking space area where the corresponding single sensor is located or not according to a sensor signal of the single sensor;

the vehicle parking module is used for controlling the vehicles to enter a specified area of the traffic lane according to the signals of the sensors when the signals of the traffic indicating lamps represent no traffic, and the vehicles keep a proper distance; the proper distance is used for ensuring that the distance between the vehicles meets the requirement of driving safety when the vehicles are started at the same speed; the designated area comprises each preset parking space area;

and the vehicle starting module is used for controlling a plurality of vehicles in the designated area to start at the same speed when the signal of the traffic indicator light represents permission to pass.

17. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the vehicle control method according to any one of claims 1 to 11 are implemented by the processor when executing the computer program.

18. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the vehicle control method according to any one of claims 1 to 11.