CN106828482B - Assist the method, apparatus driven and vehicle - Google Patents
Assist the method, apparatus driven and vehicle Download PDFInfo
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- CN106828482B CN106828482B CN201611210873.0A CN201611210873A CN106828482B CN 106828482 B CN106828482 B CN 106828482B CN 201611210873 A CN201611210873 A CN 201611210873A CN 106828482 B CN106828482 B CN 106828482B
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000003331 infrared imaging Methods 0.000 claims description 23
- 238000001931 thermography Methods 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 8
- 230000036760 body temperature Effects 0.000 description 2
- 239000003086 colorant Substances 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
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- 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, apparatus that auxiliary drives and vehicles.This method passes through the collected infrared image of this vehicle, the tailstock feature of the vehicle of this vehicle traveling road ahead is identified in real time, it is not influenced by rain and fog weather, the indicator for the vehicle that road ahead will not be travelled because of this vehicle is not turned on and can not distinguish the driving status of the vehicle of this vehicle traveling road ahead, this vehicle can be captured at any time using vehicle of the infrared image to this vehicle traveling road ahead, the driving status of the vehicle of this vehicle traveling road ahead is judged according to the tailstock feature that this vehicle travels the vehicle of road ahead, and then adjust the driving direction and speed of this vehicle, realize the purpose for following front truck.
Description
Technical field
This disclosure relates to vehicle control technology, and in particular, to a kind of method, apparatus and vehicle of auxiliary driving.
Background technique
Increasingly developed with vehicle technology, existing vehicle is supplied to use equipped with more and more DAS (Driver Assistant System)s
The safer convenient and fast usage experience in family.Accurate discrimination is carried out to the driving status of the vehicle of this vehicle traveling road ahead, is auxiliary
One main function of control loop.
In the related technology, by distinguish this vehicle travel road ahead vehicle indicator signal come judge this vehicle travel
The driving status of the vehicle of road ahead, although this method realizes that process is simple, practicability and accuracy can not meet
User demand, because in the case where the indicator of rain and fog weather and the vehicle of Ben Che traveling road ahead is not turned on, it can not
The signal of accurate discrimination indicator, thus, it is also not accurate enough to the judgement of the driving status of the vehicle of this vehicle traveling road ahead.
Summary of the invention
Purpose of this disclosure is to provide a kind of method, apparatus that auxiliary drives and vehicles, for realizing follow the bus traveling.
To achieve the goals above, according to the first aspect of the invention, a kind of method that auxiliary drives, the method are provided
Include:
The infrared image that the vehicle of road ahead is travelled according to this vehicle, determines the tailstock feature of the vehicle, the tailstock
Feature includes that the relative position between the infrared imaging of the infrared imaging of exhaust outlet, the infrared imaging of taillight and rear tyre is closed
System；
Judge whether the tailstock feature of the vehicle is consistent with the tailstock feature of the specified front truck followed；
When the tailstock feature of the vehicle is consistent with the tailstock feature of the specified front truck followed, according to the vehicle
With the relative positional relationship of described vehicle, the driving direction and speed of described vehicle are adjusted.
Optionally, the method also includes:
When the tailstock feature for determining the vehicle is consistent with the tailstock feature of the specified front truck followed, described in judgement
Whether the mark that with the distinguishing mark tailstock of the specified front truck that follows on is consistent, the identification are had on the tailstock of vehicle
Mark includes the pattern or text for carrying out infrared imaging.
Optionally, in the infrared image of the vehicle for travelling road ahead according to this vehicle, the tailstock of the vehicle is determined
Before feature, the method also includes:
According to the infrared image of the specified front truck followed, the tailstock feature of the specified front truck followed is determined；
According to the tailstock feature of the specified front truck followed, the tailstock center of the specified front truck followed, institute are determined
Stating tailstock center is the midpoint of the distance of left tail lamp to left rear tire grounding point at a distance from right tail lamp to right rear fire grounding point
Midpoint between line intermediate point；By the center of the infrared image of described vehicle adjust to the specified front truck followed
Tailstock center be overlapped, and using obtained coincidence point as the reference point followed.
Optionally, the relative positional relationship according to the vehicle and described vehicle adjusts the traveling side of described vehicle
To and speed, comprising:
According to the tailstock feature of the vehicle, the tailstock center of the vehicle is determined；
According to the relative positional relationship at the tailstock center of the vehicle and the reference point, the traveling side of described vehicle is adjusted
To and speed.
Optionally, the method also includes:
By in multiple vehicles in described vehicle preset range, it is identical as described vehicle driving direction and with described
The travel route of vehicle is overlapped most vehicles and is set as the specified front truck followed.
According to the second aspect of the invention, a kind of device that auxiliary drives is provided, described device includes:
First determining module, the infrared image of the vehicle for travelling road ahead according to this vehicle, determines the vehicle
Tailstock feature, the tailstock feature include the infrared imaging of the infrared imaging of exhaust outlet, the infrared imaging of taillight and rear tyre
Between relative positional relationship；
First judgment module, for judge the vehicle tailstock feature whether the tailstock feature with the specified front truck followed
It is consistent；
Execution module is consistent for the tailstock feature when the vehicle with the tailstock feature of the specified front truck followed
When, according to the relative positional relationship of the vehicle and described vehicle, adjust the driving direction and speed of described vehicle.
Optionally, described device further include:
Second judgment module, it is special for the tailstock in the tailstock feature and the specified front truck followed that determine the vehicle
When sign is consistent, judge whether have on the tailstock of the vehicle and the distinguishing mark phase on the tailstock of the specified front truck followed
The mark of symbol, the distinguishing mark include the pattern or text for carrying out infrared imaging.
Optionally, described device further include:
Second determining module determines described specified follow for the infrared image according to the specified front truck followed
The tailstock feature of front truck；
Third determining module determines described specified follow for the tailstock feature according to the specified front truck followed
The tailstock center of front truck, after the midpoint of distance of the left tail lamp to left rear tire grounding point and right tail lamp to the right side is in the tailstock center
The intermediate point of line between the midpoint of the distance of tire grounding point；
Setup module, for adjusting at the center of the infrared image of described vehicle to the vehicle with the specified front truck followed
Tail center is overlapped, and using obtained coincidence point as the reference point followed.
Optionally, the execution module includes:
It determines submodule, for the tailstock feature according to the vehicle, determines the tailstock center of the vehicle；
Implementation sub-module, for according to the tailstock center of the vehicle and the relative positional relationship of the reference point, adjustment
The driving direction and speed of described vehicle.
Optionally, described device further include:
Setting module, for by multiple vehicles in described vehicle preset range, with described vehicle driving direction
It is identical and be overlapped most vehicles with the travel route of described vehicle and be set as the specified front truck followed.
According to the third aspect of the invention we, a kind of vehicle is provided, the vehicle includes:
Thermal imaging system, for acquiring infrared image；And
The device driven according to the above-mentioned auxiliary that the disclosure provides.
This is judged different from the signal of the indicator of the vehicle in the related technology by distinguishing this vehicle traveling road ahead
Vehicle travels the driving status of the vehicle of road ahead, using infrared image to the vehicle of this vehicle traveling road ahead in the disclosure
Tailstock feature is identified in real time, is not influenced by rain and fog weather, and the side of the vehicle of road ahead will not be travelled because of this vehicle
The driving status of the vehicle of this vehicle traveling road ahead is not turned on and can not distinguished to lamp, this vehicle can utilize at any time
Infrared image captures the vehicle of this vehicle traveling road ahead, and the tailstock feature of the vehicle of road ahead is travelled according to this vehicle
Judge the driving status of the vehicle of this vehicle traveling road ahead, and then adjust the driving direction and speed of this vehicle, before realization follows
The purpose of vehicle.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is the flow chart for the method that a kind of auxiliary shown according to an exemplary embodiment drives；
Fig. 2 is the schematic diagram of the fleet shown according to an exemplary embodiment using Car following model；
Fig. 3 is the signal of the infrared image of the vehicle of shown according to an exemplary embodiment vehicle traveling road ahead
Figure；
Fig. 4 is the schematic diagram at tailstock center in infrared image shown according to an exemplary embodiment；
Fig. 5 is the vehicle of shown according to an exemplary embodiment vehicle traveling road ahead in this vehicle infrared image
The schematic diagram of position；
Fig. 6 is the block diagram for the device that a kind of auxiliary shown according to an exemplary embodiment drives.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
In the related technology, by distinguish this vehicle travel road ahead vehicle indicator signal come judge this vehicle travel
The driving status of the vehicle of road ahead, although this method realizes that process is simple, practicability and accuracy can not meet
User demand, because in the case where the indicator of rain and fog weather and the vehicle of Ben Che traveling road ahead is not turned on, it can not
The signal of accurate discrimination indicator, thus, it is also not accurate enough to the judgement of the driving status of the vehicle of this vehicle traveling road ahead.
In order to solve the above technical problems, present disclose provides a kind of method that auxiliary drives, pass through collected infrared shadow
Picture is identified the tailstock feature of the vehicle of this vehicle traveling road ahead, the vehicle of this vehicle traveling road ahead is judged with this
Driving status, and the driving direction and speed of this vehicle are adjusted according to judging result, to realize the purpose for following front truck.
The method that the auxiliary that the disclosure provides drives is mainly used for realizing follow the bus traveling, such as in commercial cargo or passenger traffic
When, the fleet of identical starting point and destination is often had, in this case, the drive mode of safer economy
It is that one carries out automatic Pilot using Car following model by driver's driving or the head vehicle of full-automatic driving, remaining vehicle.This vehicle
In order to closely follow previous vehicle, it is unlikely to losing with mistake, it is necessary to the vehicle of this vehicle traveling road ahead be identified, determined
The vehicle of this vehicle traveling road ahead is the specified front truck followed and then is followed.
Referring to FIG. 1, Fig. 1 is the flow chart for the method that a kind of auxiliary shown according to an exemplary embodiment drives.Such as
Shown in Fig. 1, method includes the following steps:
Step S11 travels the infrared image of the vehicle of road ahead according to this vehicle, determines the tailstock feature of the vehicle,
The tailstock feature includes opposite between the infrared imaging of the infrared imaging of exhaust outlet, the infrared imaging of taillight and rear tyre
Positional relationship；
Step S12, judges whether the tailstock feature of the vehicle is consistent with the tailstock feature of the specified front truck followed；
Step S13, when the tailstock feature of the vehicle is consistent with the tailstock feature of the specified front truck followed, according to
The relative positional relationship of the vehicle and described vehicle adjusts the driving direction and speed of described vehicle.
This is judged different from the signal of the indicator of the vehicle in the related technology by distinguishing this vehicle traveling road ahead
Vehicle travels the driving status of the vehicle of road ahead, using infrared image to the vehicle of this vehicle traveling road ahead in the disclosure
Tailstock feature is identified in real time, is not influenced by rain and fog weather, and the side of the vehicle of road ahead will not be travelled because of this vehicle
The driving status of the vehicle of this vehicle traveling road ahead is not turned on and can not distinguished to lamp, can be utilized at any time infrared
Image captures the vehicle of this vehicle traveling road ahead, and then realizes and follow.
Referring to FIG. 2, the schematic diagram of Fig. 2 fleet shown according to an exemplary embodiment using Car following model.This public affairs
The method for opening the auxiliary driving of offer, which is mainly used for realizing, follows designated vehicle, and as shown in Figure 2, follow the bus 1 follows a vehicle
Traveling, follow the bus 2 follow follow the bus 1 to travel.Infrared acquisition is carried out by the thermal imaging system installed on this vehicle (such as follow the bus 1) vehicle body, is obtained
This vehicle travels the infrared image of the vehicle (such as head vehicle) of road ahead, which is shown on the middle control display of this vehicle；
In addition, keeping the safe distance of the vehicle of this Che Yuben vehicle traveling road ahead by the radar detection of this vehicle.
To obtain the infrared image that this vehicle travels the vehicle of road ahead, thermal imaging system need to be installed on this vehicle vehicle body, generally
It is mounted on headstock position, specific installation site is unlimited, but the thermal imaging system after installing should keep parallel with this vehicle driving direction,
More accurately to judge the driving status of the vehicle of this vehicle traveling road ahead.Using the thermal imaging system installed on this vehicle to this vehicle
Vehicle in front of travel carries out infrared image acquisition, and the higher part of temperature all can in the vehicle of this vehicle traveling road ahead
It is 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 usually again higher than car body temperature, and the temperature of tail gas and automobile tail light then can be higher, therefore, in infrared image, can use difference
Levels of color identifies that the object of different temperatures then shows as different colours to the object of different temperatures.
Referring to FIG. 3, Fig. 3 is the infrared shadow of the vehicle of shown according to an exemplary embodiment vehicle traveling road ahead
The schematic diagram of picture.As shown in figure 3, tail gas and taillight may show as red (being indicated in figure with filled black), temperature is indicated most
It is high；Tire may show as buff (being indicated in figure with the filling of left oblique line), indicate that temperature is higher；And car body may be shown as shallowly
Yellow (is indicated in figure with point filling), indicates that temperature is lower.
The infrared image of the vehicle of this vehicle this vehicle of travel traveling road ahead is acquired using the thermal imaging system of this vehicle,
To identify car body profile, exhaust outlet, taillight and the rear tyre of the vehicle of this vehicle traveling road ahead in infrared image, and
And the tailstock feature of the vehicle of this vehicle traveling road ahead is obtained, this tailstock feature refers in infrared image, exhaust outlet, taillight
And the relative positional relationship between rear tyre.Because with driving status of the vehicle of this vehicle traveling road ahead on road
Variation (climb and fall or left/right rotation), the car body profile of the vehicle of this vehicle traveling road ahead can also become in infrared image
Change, so car body profile can be used as reference, for determining the approximate location of the vehicle of this vehicle traveling road ahead in infrared image,
But vehicle identification, and the opposite position for same vehicle, between exhaust outlet, taillight and rear tyre are used for not as tailstock feature
The relationship of setting be it is fixed, do not change with the variation of the driving status of vehicle.
After identifying the tailstock feature that this vehicle travels the vehicle of road ahead by infrared image, before specified follow
The tailstock feature of vehicle is compared, to judge whether the vehicle of this vehicle traveling road ahead is the specified front truck followed, here
It needs that first the tailstock feature of the specified front truck followed is acquired and is stored.Therefore, before starting Car following model, there is one
The process of thermal imaging system initialization, the process include:
According to the infrared image of the specified front truck followed, the tailstock feature of the specified front truck followed is determined；
According to the tailstock feature of the specified front truck followed, the tailstock center of the specified front truck followed, institute are determined
Stating tailstock center is the midpoint of the distance of left tail lamp to left rear tire grounding point at a distance from right tail lamp to right rear fire grounding point
Midpoint between line intermediate point；
The center of the infrared image of described vehicle is adjusted to the tailstock center of the specified front truck followed and is overlapped, and
Using obtained coincidence point as the reference point followed.
After this vehicle starts and exercises steadily, with the infrared image of the specified front truck followed of thermal imaging system acquisition, determines and deposit
The tailstock feature of the specified front truck followed of storage, that is, specify exhaust outlet, taillight and rear tyre in the infrared image of the front truck followed
Between relative positional relationship.
In practical applications, for the model of vehicle there are many kind, the tailstock feature of the vehicle of different model may also be much like.
It therefore, can be to finger when the specified tailstock feature of front truck followed and the tailstock feature of various types of vehicles are difficult to differentiate between
Surely the front truck followed adds a distinguishing mark, which includes the pattern or text for being able to achieve infrared imaging, for example, can
To be pattern made of the heat proof material near tail gas or text, the specified front truck and other vehicles followed is distinguished with the distinguishing mark
?.
After the tailstock feature for determining the specified front truck followed, according to the tailstock feature of the specified front truck followed, determination refers to
Surely the tailstock center of the front truck followed, the intersection point (point O) of solid line cross hair as shown in Figure 4, Fig. 4 is exemplary according to one
Implement the schematic diagram at tailstock center in the infrared image that exemplifies, the tailstock center be left tail lamp to left rear tire grounding point away from
From line of the midpoint (point A) between midpoint (point B) at a distance from right tail lamp to right rear fire grounding point intermediate point.
Center of the determination at the tailstock center for infrared image is demarcated, by the center tune of the infrared image of this vehicle
It is whole to be overlapped to the tailstock center of the specified front truck followed, and using obtained coincidence point as the reference point followed, thus may be used
It realizes initially to specify the traveling-position of the front truck followed as reference when driving, this vehicle travel in driving process after judgement
The driving status (climb and fall or left/right rotation) of the vehicle in front.
After storing to the tailstock feature of the specified front truck followed, start Car following model.Traveling under Car following model
In the process, using thermal imaging system acquire this vehicle traveling road ahead vehicle tailstock feature, and with storage it is specified follow before
The tailstock feature of vehicle is compared.If this vehicle travels the tailstock feature of the vehicle of road ahead and the specified front truck followed of storage
Tailstock feature be consistent, then illustrate that the vehicle of this vehicle traveling road ahead is exactly the specified front truck followed, then this vehicle
It follows.
In the case where the specified front truck followed posts distinguishing mark, then before judging this vehicle travel by infrared image
Whether has identical distinguishing mark on the tailstock of the vehicle of side, if having phase on the tailstock of the vehicle of this vehicle traveling road ahead
Same distinguishing mark then determines that the vehicle of this vehicle traveling road ahead is exactly the specified front truck followed, this vehicle can follow.
It can continue the vehicle for judging this vehicle traveling road ahead with subsequent in the vehicle for determining this vehicle traveling road ahead
Driving status, to adjust the driving direction and speed of this vehicle in time, can just stay close this vehicle traveling road ahead vehicle.It should
Process the following steps are included:
According to the tailstock feature of the vehicle, the tailstock center of the vehicle is determined；
According to the relative positional relationship at the tailstock center of the vehicle and the reference point, the traveling side of described vehicle is adjusted
To and speed.
By judging that this vehicle travels the vehicle of road ahead and the relative positional relationship of this vehicle in the disclosure, to determine this vehicle
The driving status of vehicle in front of travel.Concrete operation method is that the tailstock of the vehicle of road ahead is travelled according to this vehicle
The relative positional relationship at center and center of this vehicle through calibrated infrared image, to judge the vehicle of this vehicle traveling road ahead
With the relative positional relationship of this vehicle, wherein this vehicle traveling road ahead vehicle tailstock center determination method with refer to above
The determination method at the tailstock center of the front truck followed surely is identical.
Referring to FIG. 5, Fig. 5 is the vehicle of shown according to an exemplary embodiment vehicle traveling road ahead in this Che Hong
The schematic diagram of position in outer image.In Fig. 5, the intersection point O of solid line cross hair is the vehicle for the vehicle that this vehicle travels road ahead
Tail center, the intersection point H of dotted line cross hair are center of this vehicle through calibrated infrared image.As shown in figure 5, this vehicle travel road
The tailstock center of vehicle in front of road is located at the upper left side at infrared image center, then illustrates that the vehicle of this vehicle traveling road ahead exists
At the left upward slope of this vehicle, then in order to keep up with the vehicle of this vehicle traveling road ahead, this vehicle is answered oil supply and is travelled to the left.
By all of the above step, the purpose of vehicle follow the bus traveling is just realized.In addition to such as commercial cargo or passenger traffic etc.
Known the case where following vehicle, the method that the auxiliary that the disclosure provides drives can also be used in interim follow the bus.
In vehicle travel process, user wants to use convenient and fast Car following model, then before needing first to determine specified follow
Vehicle.Adoptable method is, identical as this vehicle driving direction by multiple vehicles in this vehicle preset range, and with this
The travel route of vehicle is overlapped most vehicles and is set as the specified front truck followed.Filter out it is identical as this vehicle driving direction, and with
The specific method that the travel route of this vehicle is overlapped most vehicles can refer to the relevant technologies, and details are not described herein again.Finger has been determined
Surely after the front truck followed, this vehicle thermal imaging system is initialized, store the tailstock feature of the specified front truck followed and is demarcated
The center of infrared image can then start Car following model and carry out follow the bus traveling.
The disclosure also provides a kind of device that auxiliary drives, referring to FIG. 6, 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 vehicle, determines the vehicle
Tailstock feature, the tailstock feature include the infrared imaging of exhaust outlet, the infrared imaging of taillight and rear tyre it is infrared at
Relative positional relationship as between；
First judgment module 602, for judge the vehicle tailstock feature whether the tailstock with the specified front truck followed
Feature is consistent；
Execution module 603, for the tailstock feature and the tailstock feature phase of the specified front truck followed when the vehicle
Fu Shi adjusts the driving direction and speed of described vehicle according to the relative positional relationship of the vehicle and described vehicle.
Optionally, described device further include:
Second judgment module, it is special for the tailstock in the tailstock feature and the specified front truck followed that determine the vehicle
When sign is consistent, judge whether have on the tailstock of the vehicle and the distinguishing mark phase on the tailstock of the specified front truck followed
The mark of symbol, the distinguishing mark include the pattern or text for carrying out infrared imaging.
Optionally, described device further include:
Second determining module determines described specified follow for the infrared image according to the specified front truck followed
The tailstock feature of front truck；
Third determining module determines described specified follow for the tailstock feature according to the specified front truck followed
The tailstock center of front truck, after the midpoint of distance of the left tail lamp to left rear tire grounding point and right tail lamp to the right side is in the tailstock center
The intermediate point of line between the midpoint of the distance of tire grounding point；
Setup module, for adjusting at the center of the infrared image of described vehicle to the vehicle with the specified front truck followed
Tail center is overlapped, and using obtained coincidence point as the reference point followed.
Optionally, the execution module 603 includes:
It determines submodule, for the tailstock feature according to the vehicle, determines the tailstock center of the vehicle；
Implementation sub-module, for according to the tailstock center of the vehicle and the relative positional relationship of the reference point, adjustment
The driving direction and speed of described vehicle.
Optionally, described device further include:
Setting module, for by multiple vehicles in described vehicle preset range, with described vehicle driving direction
It is identical and be overlapped most vehicles with the travel route of described vehicle and be set as the specified front truck followed.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
In addition, the disclosure additionally provides a kind of vehicle, which includes thermal imaging system, for acquiring infrared image；And root
The device driven according to the above-mentioned auxiliary that the disclosure provides.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, 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, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (11)
1. a kind of method that auxiliary drives, which is characterized in that the described method includes:
The infrared image that the vehicle of road ahead is travelled according to this vehicle, determines the tailstock feature of the vehicle, the tailstock feature
Relative positional relationship 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 specified front truck followed；
When the tailstock feature of the vehicle is consistent with the tailstock feature of the specified front truck followed, according to the vehicle and institute
The relative positional relationship of this vehicle is stated, the driving direction and speed of described vehicle are adjusted.
2. the method according to claim 1, wherein further include:
When the tailstock feature for determining the vehicle is consistent with the tailstock feature of the specified front truck followed, the vehicle is judged
The tailstock on whether have the mark being consistent with the distinguishing mark on the tailstock of the specified front truck followed, the distinguishing mark
Including the pattern or text for carrying out infrared imaging.
3. the method according to claim 1, wherein in the red of the vehicle for travelling road ahead according to this vehicle
Outer image, before the tailstock feature for determining the vehicle, the method also includes:
According to the infrared image of the specified front truck followed, the tailstock feature of the specified front truck followed is determined；
According to the tailstock feature of the specified front truck followed, the tailstock center of the specified front truck followed, the vehicle are determined
Tail center be left tail lamp to left rear tire grounding point distance midpoint at a distance from right tail lamp to right rear fire grounding point in
The intermediate point of line between point；The center of the infrared image of described vehicle is adjusted to the vehicle with the specified front truck followed
Tail center is overlapped, and using obtained coincidence point as the reference point followed.
4. according to the method described in claim 3, it is characterized in that, the relative position according to the vehicle and described vehicle
Relationship adjusts the driving direction and speed of described vehicle, comprising:
According to the tailstock feature of the vehicle, the tailstock center of the vehicle is determined；
According to the relative positional relationship at the tailstock center of the vehicle and the reference point, adjust described vehicle driving direction and
Speed.
5. the method according to claim 1, wherein the method also includes:
It is identical as described vehicle driving direction and with described vehicle by multiple vehicles in described vehicle preset range
Travel route is overlapped most vehicles and is set as the specified front truck followed.
6. a kind of device that auxiliary drives, which is characterized in that described device includes:
First determining module, the infrared image of the vehicle for travelling road ahead according to this vehicle, determines the tailstock of the vehicle
Feature, the tailstock feature include between the infrared imaging of the infrared imaging of exhaust outlet, the infrared imaging of taillight and rear tyre
Relative positional relationship；
First judgment module, for judge the vehicle tailstock feature whether the tailstock feature phase with the specified front truck followed
Symbol；
Execution module, for when the tailstock feature of the vehicle is consistent with the tailstock feature of the specified front truck followed, root
According to the relative positional relationship of the vehicle and described vehicle, the driving direction and speed of described vehicle are adjusted.
7. device according to claim 6, which is characterized in that described device further include:
Second judgment module, for the tailstock feature phase in the tailstock feature for determining the vehicle and the specified front truck followed
Whether Fu Shi, judge to have on the tailstock of the vehicle and be consistent with the distinguishing mark on the tailstock of the specified front truck followed
Mark, the distinguishing mark includes the pattern or text for carrying out infrared imaging.
8. device according to claim 6, which is characterized in that described device further include:
Second determining module determines the specified front truck followed for the infrared image according to the specified front truck followed
Tailstock feature；
Third determining module determines the specified front truck followed for the tailstock feature according to the specified front truck followed
Tailstock center, midpoint that the tailstock center is distance of the left tail lamp to left rear tire grounding point and right tail lamp are to right rear fire
The intermediate point of line between the midpoint of the distance of grounding point；
Setup module, for by the center of the infrared image of described vehicle adjust to in the tailstock of the specified front truck followed
The heart is overlapped, and using obtained coincidence point as the reference point followed.
9. device according to claim 8, which is characterized in that the execution module includes:
It determines submodule, for the tailstock feature according to the vehicle, determines the tailstock center of the vehicle；
Implementation sub-module, for the relative positional relationship according to the tailstock center of the vehicle and the reference point, described in adjustment
The driving direction and speed of this vehicle.
10. device according to claim 6, which is characterized in that described device further include:
Setting module is identical as described vehicle driving direction for by multiple vehicles in described vehicle preset range
And it is overlapped most vehicles with the travel route of described vehicle and is set as the specified front truck followed.
11. a kind of vehicle, which is characterized in that the vehicle includes:
Thermal imaging system, for acquiring infrared image；And
The device driven according to the described in any item auxiliary of claim 6-10.
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| CN107972668B (en) * | 2017-11-21 | 2020-08-04 | 杭州容大智造科技有限公司 | Automatic tracking driving method and device for vehicle and automobile |
| CN109460025A (en) * | 2018-11-16 | 2019-03-12 | 北汽福田汽车股份有限公司 | The control device and system of vehicle |
| CN111469839A (en) * | 2019-01-22 | 2020-07-31 | 上海汽车集团股份有限公司 | Method and device for automatic following driving |
| JP6949288B2 (en) * | 2019-08-01 | 2021-10-13 | 三菱電機株式会社 | Driving support device, driving support system and driving support method |
| CN110766747B (en) * | 2019-09-30 | 2023-05-09 | 江苏大学 | Positioning method of front vehicle based on thermal imaging technology |
| CN112215209B (en) * | 2020-11-13 | 2022-06-21 | 中国第一汽车股份有限公司 | Car following target determining method and device, car and storage medium |
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