CN106828482A - Aid in method, device and the vehicle for driving - Google Patents
Aid in method, device and the vehicle for driving Download PDFInfo
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- CN106828482A CN106828482A CN201611210873.0A CN201611210873A CN106828482A CN 106828482 A CN106828482 A CN 106828482A CN 201611210873 A CN201611210873 A CN 201611210873A CN 106828482 A CN106828482 A CN 106828482A
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000003331 infrared imaging Methods 0.000 claims description 23
- 238000001931 thermography Methods 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 9
- 230000036760 body temperature Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/12—Lateral speed
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Studio Devices (AREA)
Abstract
Present disclose provides a kind of method for aiding in driving, device and vehicle.The infrared image that the method is collected by this car, tailstock feature to the vehicle of this car traveling road ahead carries out Real time identification, do not influenceed by misty rain weather, also the transport condition of the vehicle of this car traveling road ahead will not cannot be distinguished because the indicator of the vehicle of this car traveling road ahead is not turned on, this car can be caught using infrared image to the vehicle of this car traveling road ahead at any time, the tailstock feature that the vehicle of road ahead is travelled according to this car judges that this car travels the transport condition of the vehicle of road ahead, and then adjust the travel direction and speed of this car, realization follows the purpose of front truck.
Description
Technical field
This disclosure relates to wagon control technology, in particular it relates to a kind of method for aiding in driving, device and vehicle.
Background technology
Growing with vehicle technology, existing vehicle is equipped with increasing DAS (Driver Assistant System), there is provided to use
The safer easily experience in family.Transport condition to the vehicle of this car traveling road ahead carries out accurate discrimination, is auxiliary
One Main Function of control loop.
In correlation technique, by distinguish this car travel road ahead vehicle indicator signal come judge this car travel
The transport condition of the vehicle of road ahead, although this method implementation process is simple, practicality and the degree of accuracy can not meet
User's request, because in the case where the indicator of misty rain weather and the vehicle of Ben Che traveling road aheads is not turned on, it is impossible to
The signal of accurate discrimination indicator, so that, the judgement to the transport condition of the vehicle of this car traveling road ahead is also not accurate enough.
The content of the invention
The purpose of the disclosure is to provide a kind of method for aiding in driving, device and vehicle, for realizing being travelled with car.
To achieve these goals, according to the first aspect of the invention, there is provided a kind of method for aiding in driving, methods described
Including：
The infrared image of the vehicle of road ahead is travelled according to this car, the tailstock feature of the vehicle, the tailstock is determined
Feature includes that the infrared imaging of exhaust outlet, the relative position between the infrared imaging of taillight and the infrared imaging of rear tyre are closed
System；
Judge whether the tailstock feature of the vehicle is consistent with the tailstock feature of the front truck for following is specified；
When the tailstock feature of the vehicle is consistent with the tailstock feature of the front truck specified and follow, according to the vehicle
With the described relative position relation of car, described the travel direction and speed of car are adjusted.
Alternatively, methods described also includes：
When the tailstock feature for judging the vehicle is consistent with the tailstock feature of the front truck specified and follow, judge described
Whether the mark that with the distinguishing mark tailstock of the front truck specifying follow on is consistent, the identification are possessed on the tailstock of vehicle
Mark includes the pattern or word for carrying out infrared imaging.
Alternatively, in the infrared image of the vehicle that road ahead is travelled according to this car, the tailstock of the vehicle is determined
Before feature, methods described also includes：
According to the infrared image of the front truck specified and follow, the tailstock feature of the front truck specified and follow is determined；
According to the tailstock feature of the front truck specified and follow, the tailstock center of the front truck specified and follow, institute are determined
It is left tail lamp to the midpoint of the distance of left rear tire earth point and the distance of right tail lamp to right rear fire earth point to state tailstock center
Midpoint between line intermediate point；The center of the described infrared image of car is adjusted to described and specifies the front truck that follows
Tailstock center superposition, and the coincidence point that will be obtained is used as the reference point for following.
Alternatively, it is described according to the vehicle and the described relative position relation of car, adjust the described traveling side of car
To and speed, including：
Tailstock feature according to the vehicle, determines the tailstock center of the vehicle；
Tailstock center and the relative position relation of the reference point according to the vehicle, adjust the described traveling side of car
To and speed.
Alternatively, methods described also includes：
By in the multiple vehicles in described car preset range, it is identical with described car travel direction and with described
The vehicles that the travel route coincidence of car is most are set as the front truck specified and follow.
According to the second aspect of the invention, there is provided a kind of device for aiding in driving, described device includes：
First determining module, the infrared image of the vehicle for travelling road ahead according to this car, determines the vehicle
Tailstock feature, the tailstock feature includes the infrared imaging of the infrared imaging, the infrared imaging of taillight and rear tyre of exhaust outlet
Between relative position relation；
First judge module, for judge the vehicle tailstock feature whether with specify the tailstock feature of front truck for following
It is consistent；
Performing module, is consistent for the tailstock feature when the vehicle with the tailstock feature for specifying the front truck for following
When, according to the vehicle and the described relative position relation of car, adjust described the travel direction and speed of car.
Alternatively, described device also includes：
Second judge module, for judging that the tailstock feature of the vehicle is special with the tailstock for specifying the front truck for following
Levy when being consistent, judge the distinguishing mark phase for whether possessing on the tailstock with the front truck specified and follow on the tailstock of the vehicle
The mark of symbol, the distinguishing mark includes the pattern or word for carrying out infrared imaging.
Alternatively, described device also includes：
Second determining module, for specifying the infrared image of front truck for following according to described, determines described to specify what is followed
The tailstock feature of front truck；
3rd determining module, for specifying the tailstock feature of front truck for following according to described, determines described to specify what is followed
The tailstock center of front truck, after the tailstock center is for the midpoint and right tail lamp to the right side of distance of the left tail lamp to left rear tire earth point
The intermediate point of the line between the midpoint of the distance of tire earth point；
Setup module, for the center of the described infrared image of car to be adjusted to the car with the specified front truck for following
Tail center superposition, and the coincidence point that will be obtained is used as the reference point for following.
Alternatively, the performing module includes：
Determination sub-module, for the tailstock feature according to the vehicle, determines the tailstock center of the vehicle；
Implementation sub-module, for the tailstock center according to the vehicle and the relative position relation of the reference point, adjusts
Described the travel direction and speed of car.
Alternatively, described device also includes：
Setting module, for by the multiple vehicles in described car preset range, with described car travel direction
Identical and most vehicles that overlapped with the travel route of described car are set as the front truck specified and follow.
According to the third aspect of the invention we, there is provided a kind of vehicle, the vehicle includes：
Thermal imaging system, for gathering infrared image；And
The device that the above-mentioned auxiliary provided according to the disclosure drives.
Different from judging this by distinguishing that this car travels the signal of the indicator of the vehicle of road ahead in correlation technique
The transport condition of the vehicle of car traveling road ahead, travels the vehicle of road ahead using infrared image to this car in the disclosure
Tailstock feature carries out Real time identification, is not influenceed by misty rain weather, also will not be because of the side of the vehicle of this car traveling road ahead
It is not turned on to lamp and cannot distinguishes that this car travels the transport condition of the vehicle of road ahead, this car can be utilized at any time
Infrared image is caught to the vehicle of this car traveling road ahead, and the tailstock feature of the vehicle of road ahead is travelled according to this car
Judge the transport condition of the vehicle of this car traveling road ahead, and then adjust the travel direction and speed of this car, before realization is followed
The purpose of car.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is, for providing further understanding of the disclosure, and to constitute the part of specification, with following tool
Body implementation method is used to explain the disclosure together, but does not constitute limitation of this disclosure.In the accompanying drawings：
Fig. 1 is the flow chart of the method that a kind of auxiliary according to an exemplary embodiment drives；
Fig. 2 is the schematic diagram of the fleet of the use Car following model according to an exemplary embodiment；
Fig. 3 is the signal of the infrared image of the vehicle of this car traveling road ahead according to an exemplary embodiment
Figure；
Fig. 4 is the schematic diagram at tailstock center in infrared image according to an exemplary embodiment；
Fig. 5 is the vehicle of this car traveling road ahead according to an exemplary embodiment in this car infrared image
The schematic diagram of position；
Fig. 6 is the block diagram of the device that a kind of auxiliary according to an exemplary embodiment drives.
Specific embodiment
It is described in detail below in conjunction with accompanying drawing specific embodiment of this disclosure.It should be appreciated that this place is retouched
The specific embodiment stated is merely to illustrate and explains the disclosure, is not limited to the disclosure.
In correlation technique, by distinguish this car travel road ahead vehicle indicator signal come judge this car travel
The transport condition of the vehicle of road ahead, although this method implementation process is simple, practicality and the degree of accuracy can not meet
User's request, because in the case where the indicator of misty rain weather and the vehicle of Ben Che traveling road aheads is not turned on, it is impossible to
The signal of accurate discrimination indicator, so that, the judgement to the transport condition of the vehicle of this car traveling road ahead is also not accurate enough.
To solve above technical problem, present disclose provides a kind of method for aiding in and driving, by the infrared shadow for collecting
Picture, the tailstock feature to the vehicle of this car traveling road ahead is identified, and judges that this car travels the vehicle of road ahead with this
Transport condition, and the travel direction and speed of this car are adjusted according to judged result, so as to realize following the purpose of front truck.
The method that the auxiliary that the disclosure is provided drives is mainly used in realizing with car traveling, such as in commercial cargo or passenger traffic
When, the fleet of identical starting point and destination is often had, in this case, safer economic drive mode
It is that one carries out automatic Pilot by driver's driving or the head car of full-automatic driving, remaining vehicle using Car following model.This car
In order to be able to closely follow previous car, it is unlikely to losing with mistake, it is necessary to which the vehicle to this car traveling road ahead is identified, it is determined that
The vehicle of this car traveling road ahead is after specifying the front truck that follows, then is followed.
Fig. 1 is refer to, Fig. 1 is the flow chart of the method that a kind of auxiliary according to an exemplary embodiment drives.Such as
Shown in Fig. 1, the method is comprised the following steps：
Step S11, the infrared image of the vehicle of road ahead is travelled according to this car, determines the tailstock feature of the vehicle,
It is the infrared imaging of the tailstock feature including exhaust outlet, relative between the infrared imaging of taillight and the infrared imaging of rear tyre
Position relationship；
Step S12, judges whether the tailstock feature of the vehicle is consistent with the tailstock feature of the front truck for following is specified；
Step S13, when the tailstock feature of the vehicle is consistent with the tailstock feature of the front truck specified and follow, according to
The vehicle and the described relative position relation of car, adjust described the travel direction and speed of car.
Different from judging this by distinguishing that this car travels the signal of the indicator of the vehicle of road ahead in correlation technique
The transport condition of the vehicle of car traveling road ahead, travels the vehicle of road ahead using infrared image to this car in the disclosure
Tailstock feature carries out Real time identification, is not influenceed by misty rain weather, also will not be because of the side of the vehicle of this car traveling road ahead
It is not turned on to lamp and cannot distinguishes that this car travels the transport condition of the vehicle of road ahead, can utilize infrared at any time
Image is caught to the vehicle of this car traveling road ahead, and then realization is followed.
Refer to Fig. 2, the schematic diagram of the fleet of use Car following models of the Fig. 2 according to an exemplary embodiment.This public affairs
The method for opening the auxiliary driving of offer is mainly used in realizing following designated vehicle, as shown in Figure 2, a car is followed with car 1
Traveling, follows with car 2 and is travelled with car 1.Infrared acquisition is carried out by the thermal imaging system installed on this car (such as with car 1) vehicle body, is obtained
The infrared image of the vehicle (such as head car) of this car traveling road ahead, the infrared image is displayed on the middle control display of this car；
In addition, keeping this car that the safe distance of the vehicle of road ahead is travelled with this car by the radar detection of this car.
To obtain the infrared image of the vehicle of this car traveling road ahead, thermal imaging system need to be installed on this car vehicle body, typically
Installed in headstock position, specific installation site is not limited, but the thermal imaging system after installing should keep parallel with this car travel direction,
More accurately to judge the transport condition of the vehicle of this car traveling road ahead.Using the thermal imaging system installed on this car to this car
Vehicle in front of travel carries out infrared image collection, and temperature part higher all can in the vehicle of this car traveling road ahead
Highlighted in infrared image.For example, the car body temperature of the vehicle in traveling is generally greater than environment temperature, the tire in traveling
It is generally again higher than car body temperature, and the temperature of tail gas and automobile tail light then can be higher, therefore, in infrared image, difference can be used
Levels of color is identified to the object of different temperatures, and the object of different temperatures then shows as different colours.
Fig. 3 is refer to, Fig. 3 is the infrared shadow of the vehicle of this car traveling road ahead according to an exemplary embodiment
The schematic diagram of picture.As shown in figure 3, tail gas and taillight may show as red (being represented with filled black in figure), temperature is represented most
It is high；Tire may show as buff (filled with left oblique line in figure and represented), represent that temperature is higher；And car body may show as it is shallow
Yellow (represents) that expression temperature is relatively low with point filling in figure.
The infrared image of the vehicle of this car travel this car traveling road ahead is gathered using the thermal imaging system of this car, just may be used
To identify car body profile, exhaust outlet, taillight and the rear tyre of the vehicle of this car traveling road ahead in infrared image, and
And the tailstock feature that this car travels the vehicle of road ahead is obtained, this tailstock feature refers to exhaust outlet, taillight in infrared image
And the relative position relation between rear tyre.Because with transport condition of the vehicle of this car traveling road ahead on road
Change (climb and fall or left/right rotation), the car body profile of vehicle of this car traveling road ahead can also become in infrared image
Change, so car body profile can be used as reference, the approximate location of the vehicle for determining this car traveling road ahead in infrared image,
But it is used for vehicle identification not as tailstock feature, and for same car, the relative position between exhaust outlet, taillight and rear tyre
The relation of putting is fixed, is not changed with the change of the transport condition of vehicle.
By infrared image identify this car travel road ahead vehicle tailstock feature after, with specify follow before
Whether the tailstock feature of car is compared, be to specify the front truck for following with the vehicle for judging this car traveling road ahead, here
The tailstock feature first to specifying the front truck for following is needed to be acquired and store.Therefore, before Car following model is started, there is one
The process of thermal imaging system initialization, the process includes：
According to the infrared image of the front truck specified and follow, the tailstock feature of the front truck specified and follow is determined；
According to the tailstock feature of the front truck specified and follow, the tailstock center of the front truck specified and follow, institute are determined
It is left tail lamp to the midpoint of the distance of left rear tire earth point and the distance of right tail lamp to right rear fire earth point to state tailstock center
Midpoint between line intermediate point；
The center of the described infrared image of car is adjusted to the tailstock center superposition with the front truck specified and follow, and
The coincidence point that will be obtained is used as the reference point for following.
After this car starts and exercises steadily, the infrared image for specifying the front truck for following is gathered with thermal imaging system, it is determined that and depositing
The tailstock feature of the front truck for following is specified in storage, that is, specify exhaust outlet, taillight and rear tyre in the infrared image of the front truck for following
Between relative position relation.
In actual applications, the model of vehicle has many kinds, and the tailstock feature of the vehicle of different model is likely to much like.
Therefore, when the tailstock feature and the tailstock feature of the vehicle of Multiple Type of specifying the front truck for following are difficult to differentiate between, can be to referring to
Surely the front truck for following adds a distinguishing mark, and the distinguishing mark includes realizing the pattern or word of infrared imaging, for example, can
To be pattern or word that the heat proof material near tail gas is made, the front truck and other cars specified and follow are distinguished with the distinguishing mark
.
It is determined that after the tailstock feature of the specified front truck for following, according to the tailstock feature for specifying the front truck for following, it is determined that referring to
The tailstock center of the front truck for following surely, the intersection point (point O) of solid line cross hair as shown in Figure 4, Fig. 4 is exemplary according to one
The schematic diagram at tailstock center in the infrared image that exemplifies of implementation, the tailstock center be left tail lamp to left rear tire earth point away from
From midpoint (point A) and right tail lamp to right rear fire earth point with a distance from midpoint (point B) between line intermediate point.
The determination at the tailstock center is used to demarcate the center of infrared image, and the center of the infrared image of this car is adjusted
It is whole thus as the reference point for following to the tailstock center superposition for specifying the front truck for following, and the coincidence point that will be obtained
The traveling-position for realizing being specified during initially travelling the front truck for following is reference, this car travel during being travelled after judgement
The transport condition (climb and fall or left/right rotation) of the vehicle in front.
After tailstock feature to specifying the front truck for following is stored, start Car following model.Traveling under Car following model
During, using thermal imaging system gather this car traveling road ahead vehicle tailstock feature, and with storage it is specified follow before
The tailstock feature of car is compared.If the tailstock feature and the specified front truck for following for storing of the vehicle of this car traveling road ahead
Tailstock feature be consistent, then the vehicle for illustrating this car traveling road ahead is exactly to specify the front truck that follows, then this car just can be with
Follow.
In the case where specifying the front truck for following to post distinguishing mark, then before judging this car travel by infrared image
Whether possesses identical distinguishing mark on the tailstock of the vehicle of side, if possessing phase on the tailstock of the vehicle of this car traveling road ahead
Same distinguishing mark, then the vehicle for judging this car traveling road ahead is exactly the specified front truck for following, and this car can be followed.
Can continue to judge the vehicle that this car travels road ahead with subsequent in the vehicle for judging this car traveling road ahead
Transport condition, to adjust the travel direction and speed of this car in time, can just stay close this car travel road ahead vehicle.Should
Process is comprised the following steps：
Tailstock feature according to the vehicle, determines the tailstock center of the vehicle；
Tailstock center and the relative position relation of the reference point according to the vehicle, adjust the described traveling side of car
To and speed.
The vehicle of road ahead and the relative position relation of this car are travelled by judging this car in the disclosure, to determine this car
The transport condition of the vehicle in front of travel.Concrete operation method is that the tailstock of the vehicle of road ahead is travelled according to this car
Center judges that this car travels the vehicle of road ahead through the relative position relation at the center of calibrated infrared image with this car
With the relative position relation of this car, wherein, this car traveling road ahead vehicle tailstock center determination method and refer to above
The determination method at the tailstock center of the front truck for following surely is identical.
Fig. 5 is refer to, Fig. 5 is that the vehicle of this car traveling road ahead according to an exemplary embodiment is red in this car
The schematic diagram of the position in outer image.In Fig. 5, the intersection point O of solid line cross hair is the car of the vehicle of this car traveling road ahead
Tail center, the intersection point H of dotted line cross hair is the center of the infrared image that this car is collected.As shown in figure 5, this car travel
The tailstock of the vehicle in front is centrally located at the upper left side at infrared image center, then illustrate the vehicle of this car traveling road ahead at this
At the left upward slope of car, then in order to keep up with the vehicle that this car travels road ahead, this car is answered oil supply and travelled to the left.
By all of the above step, the purpose that vehicle is travelled with car is just realized.Except such as commercial cargo or passenger traffic etc.
The situation of known following vehicle, the method that the auxiliary that the disclosure is provided drives can be additionally used in interim with car.
In vehicle travel process, user is wanted using easily Car following model, then before needing first to determine specified following
Car.Adoptable method is, identical with this car travel direction by the multiple vehicles in this car preset range, and with this
The vehicles that the travel route coincidence of car is most are set as specifying the front truck for following.Filter out it is identical with this car travel direction, and with
The overlap specific method of most vehicles of the travel route of this car refers to correlation technique, just repeats no more herein.Finger is determined
Surely after the front truck for following, this car thermal imaging system is initialized, stores the tailstock feature of the specified front truck for following and demarcate
The center of infrared image, just can then start Car following model travelled with car.
The disclosure also provides a kind of device for aiding in and driving, and refer to Fig. 6, and Fig. 6 is shown according to an exemplary embodiment
A kind of auxiliary drive device block diagram.As shown in fig. 6, the device 600 that auxiliary drives includes：
First determining module 601, the infrared image of the vehicle for travelling road ahead according to this car, determines the vehicle
Tailstock feature, the infrared imaging of the tailstock feature including exhaust outlet, the infrared imaging of taillight and the infrared of rear tyre into
Relative position relation as between；
First judge module 602, for judge the vehicle tailstock feature whether with specify the tailstock of front truck for following
Feature is consistent；
Performing module 603, the tailstock feature phase of front truck for following is specified for the tailstock feature when the vehicle with described
Fu Shi, according to the vehicle and the described relative position relation of car, adjusts described the travel direction and speed of car.
Alternatively, described device also includes：
Second judge module, for judging that the tailstock feature of the vehicle is special with the tailstock for specifying the front truck for following
Levy when being consistent, judge the distinguishing mark phase for whether possessing on the tailstock with the front truck specified and follow on the tailstock of the vehicle
The mark of symbol, the distinguishing mark includes the pattern or word for carrying out infrared imaging.
Alternatively, described device also includes：
Second determining module, for specifying the infrared image of front truck for following according to described, determines described to specify what is followed
The tailstock feature of front truck；
3rd determining module, for specifying the tailstock feature of front truck for following according to described, determines described to specify what is followed
The tailstock center of front truck, after the tailstock center is for the midpoint and right tail lamp to the right side of distance of the left tail lamp to left rear tire earth point
The intermediate point of the line between the midpoint of the distance of tire earth point；
Setup module, for the center of the described infrared image of car to be adjusted to the car with the specified front truck for following
Tail center superposition, and the coincidence point that will be obtained is used as the reference point for following.
Alternatively, the performing module 603 includes：
Determination sub-module, for the tailstock feature according to the vehicle, determines the tailstock center of the vehicle；
Implementation sub-module, for the tailstock center according to the vehicle and the relative position relation of the reference point, adjusts
Described the travel direction and speed of car.
Alternatively, described device also includes：
Setting module, for by the multiple vehicles in described car preset range, with described car travel direction
Identical and most vehicles that overlapped with the travel route of described car are set as the front truck specified and follow.
On the device in above-described embodiment, wherein modules perform the concrete mode of operation in relevant the method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
Additionally, the disclosure additionally provides a kind of vehicle, the vehicle includes thermal imaging system, for gathering infrared image；And root
The device that the above-mentioned auxiliary provided according to the disclosure drives.
Describe the preferred embodiment of the disclosure in detail above in association with accompanying drawing, but, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, various letters can be carried out with technical scheme of this disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned specific embodiment, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy is no longer separately illustrated.
Additionally, can also be combined between a variety of implementation methods of the disclosure, as long as it is without prejudice to originally
Disclosed thought, it should equally be considered as disclosure disclosure of that.
Claims (11)
1. a kind of method that auxiliary drives, it is characterised in that methods described includes：
The infrared image of the vehicle of road ahead is travelled according to this car, the tailstock feature of the vehicle, the tailstock feature is determined
Relative position relation between the infrared imaging of infrared imaging, taillight and the infrared imaging of rear tyre including exhaust outlet；
Judge whether the tailstock feature of the vehicle is consistent with the tailstock feature of the front truck for following is specified；
When the tailstock feature of the vehicle is consistent with the tailstock feature of the front truck specified and follow, according to the vehicle and institute
The relative position relation of this car is stated, described the travel direction and speed of car is adjusted.
2. method according to claim 1, it is characterised in that also include：
When the tailstock feature for judging the vehicle is consistent with the tailstock feature of the front truck specified and follow, the vehicle is judged
The tailstock on whether possess the mark being consistent with the distinguishing mark on the tailstock of front truck specified and follow, the distinguishing mark
Including pattern or word for carrying out infrared imaging.
3. method according to claim 1, it is characterised in that in the red of the vehicle that road ahead is travelled according to this car
Outer image, before determining the tailstock feature of the vehicle, methods described also includes：
According to the infrared image of the front truck specified and follow, the tailstock feature of the front truck specified and follow is determined；
According to the tailstock feature of the front truck specified and follow, the tailstock center of the front truck specified and follow, the car are determined
Tail center is in left tail lamp to the midpoint of the distance of left rear tire earth point and right tail lamp to the distance of right rear fire earth point
The intermediate point of the line between point；The center of the described infrared image of car is adjusted to the car with the front truck specified and follow
Tail center superposition, and the coincidence point that will be obtained is used as the reference point for following.
4. method according to claim 3, it is characterised in that described according to the vehicle and the described relative position of car
Relation, adjusts described the travel direction and speed of car, including：
Tailstock feature according to the vehicle, determines the tailstock center of the vehicle；
The relative position relation of tailstock center according to the vehicle and the reference point, the travel direction of described car of adjustment and
Speed.
5. method according to claim 1, it is characterised in that methods described also includes：
It is identical with described car travel direction and with described car by the multiple vehicles in described car preset range
The most vehicles of travel route coincidence are set as the front truck specified and follow.
6. the device that a kind of auxiliary drives, it is characterised in that described device includes：
First determining module, the infrared image of the vehicle for travelling road ahead according to this car, determines the tailstock of the vehicle
Feature, the infrared imaging of the tailstock feature including exhaust outlet, between the infrared imaging of taillight and the infrared imaging of rear tyre
Relative position relation；
First judge module, for judge the vehicle tailstock feature whether with specify the tailstock feature phase of front truck for following
Symbol；
Performing module, for when the vehicle tailstock feature with it is described specify the tailstock feature of front truck for following to be consistent when, root
According to the vehicle and the described relative position relation of car, described the travel direction and speed of car are adjusted.
7. device according to claim 6, it is characterised in that described device also includes：
Second judge module, in the tailstock feature and the tailstock feature phase of the specified front truck for following for judging the vehicle
Whether Fu Shi, judges possess what is be consistent with the distinguishing mark on the tailstock of the front truck specified and follow on the tailstock of the vehicle
Mark, the distinguishing mark includes the pattern or word for carrying out infrared imaging.
8. device according to claim 6, it is characterised in that described device also includes：
Second determining module, for the infrared image according to the specified front truck for following, determines the front truck specified and follow
Tailstock feature；
3rd determining module, for the tailstock feature according to the specified front truck for following, determines the front truck specified and follow
Tailstock center, the tailstock center is midpoint and the right tail lamp of distance of the left tail lamp to left rear tire earth point to right rear fire
The intermediate point of the line between the midpoint of the distance of earth point；
Setup module, the tailstock of front truck for following is specified for the center of the described infrared image of car to be adjusted to described
The heart overlaps, and the coincidence point that will be obtained is used as the reference point for following.
9. device according to claim 8, it is characterised in that the performing module includes：
Determination sub-module, for the tailstock feature according to the vehicle, determines the tailstock center of the vehicle；
Implementation sub-module, for the tailstock center according to the vehicle and the relative position relation of the reference point, adjusts described
The travel direction and speed of this car.
10. device according to claim 6, it is characterised in that described device also includes：
Setting module is identical with described car travel direction for by the multiple vehicles in described car preset range
And most vehicles that overlapped with the travel route of described car are set as the front truck specified and follow.
11. a kind of vehicles, it is characterised in that the vehicle includes：
Thermal imaging system, for gathering infrared image；And
The device that auxiliary according to claim any one of 6-10 drives.
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Address after: 102206 Beijing Changping District Shahe town Shayang Road, Niu Niu Wan Village North Patentee after: Beiqi Futian Automobile Co., Ltd. Address before: 102206, Beijing, Shahe Town, Changping District Road, sand Yang Patentee before: Beiqi Futian Automobile Co., Ltd. |