CN107831762A - The path planning system and method for a kind of new-energy automobile - Google Patents
The path planning system and method for a kind of new-energy automobile Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
- G06V20/63—Scene text, e.g. street names
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Abstract
The present invention provides a kind of path planning system and method for new-energy automobile, and it is applied in the Unmanned Systems of new-energy automobile, and the path planning system includes：Image capture module, path-generating module and recognition detection module.The present invention new-energy automobile path planning system can obtain more comprehensively with accurate traffic information, and generate the driving path of automobile, and then ensure that it is unmanned during security and accuracy, fully meet the actual demand of new-energy automobile intelligent driving.
Description
Technical field
The present invention relates to technical field of new energy, more particularly to a kind of path planning system of new-energy automobile and side
Method.
Background technology
New-energy automobile refer to using unconventional vehicle fuel as power resources (or using routine vehicle fuel,
Using novel on-vehicle power set), the advanced technology in terms of the dynamic Control of comprehensive vehicle and driving, the technical principle of formation is first
Enter, there is new technology, the automobile of new construction.At present, the unmanned technology on new-energy automobile relies primarily on radar, distance meter
Carry out recognition detection road environment with equipment such as imaging sensors, however it is incomplete by the road environment information obtained by the said equipment
Face, it is impossible to meet the needs of new-energy automobile intelligent driving.
Therefore, in view of the above-mentioned problems, being necessary to propose further solution.
The content of the invention
It is an object of the invention to provide a kind of path planning system of new-energy automobile and method, to overcome prior art
Present in deficiency.
For achieving the above object, the present invention provides a kind of path planning system of new-energy automobile, and it is applied to new
In the Unmanned Systems of energy automobile, the path planning system includes：Image capture module, path-generating module and knowledge
Other detection module；
Described image acquisition module includes：First camera, second camera, the first video frequency collection card and the second video
Capture card, first camera and the first video frequency collection card data transfer, the second camera regard with described second
Frequency capture card data transfer；
The path-generating module includes：Main frame, decision-making scheduler module and path planning module, the main frame with it is described
First video frequency collection card and the second video frequency collection card data transfer, and the data after processing are sent to the recognition detection mould
Block, the decision-making scheduler module carry out decision-making scheduling to motor vehicle behavior according to the data of the recognition detection module feedback, and by
The driving path of the path planning module generation automobile；
The recognition detection module includes：Obstacle recognition detection unit, traffic signals recognition detection unit, traffic mark
Recognition detection unit, road edge recognition detection unit, road radian recognition detection unit, the distance detection of surrounding vehicles speed are single
Member, road depression gradient recognition detection unit, each unit receives the view data that the main frame is sent respectively, according to the figure of reception
As the road conditions that data recognition detection travels, and feed back to the path-generating module.
As the improvement of the path planning system of the new-energy automobile of the present invention, the first camera collection first via letter
Number image, the relatively described first camera synchronous acquisition second road signal image of the second camera.
As the improvement of the path planning system of the new-energy automobile of the present invention, first video frequency collection card is received and located
The signal pattern of the first camera collection is managed, and is sent to the main frame, second video frequency collection card synchronously receives simultaneously
The signal pattern of the second camera collection is handled, and is sent to the main frame.
As the improvement of the path planning system of the new-energy automobile of the present invention, the traffic mark recognition detection unit pair
Text information in the view data that the main frame is sent is extracted and analyzed.
As the improvement of the path planning system of the new-energy automobile of the present invention, the road edge recognition detection unit pair
The view data that the main frame is sent carries out binary conversion treatment, and extracts the marginal information of road, meanwhile, the road edge is known
The view data that other detection unit is sent to the main frame carries out matching treatment, and extracts the width information of road.
For achieving the above object, the present invention provides a kind of paths planning method of new-energy automobile, and it is applied to new
Energy automobile it is unmanned in, the paths planning method comprises the following steps：
S1, the first via signal image and second road signal image for gathering road conditions, to the first via signal image of collection and
Second road signal image is respectively processed；
S2, according to the first via signal image and second road signal image after processing, the barrier of recognition detection road conditions, hand over
Messenger, traffic mark, road edge, road radian, surrounding vehicles speed distance and depression and the gradient in road；
S3, the road condition data according to recognition detection, decision-making scheduling is carried out to motor vehicle behavior, and plan and generate the row of automobile
Sail path.
As the improvement of the paths planning method of the new-energy automobile of the present invention, in the step S1, collection first via letter
During number image, synchronous acquisition second road signal image.
As the improvement of the paths planning method of the new-energy automobile of the present invention, in the step S1, processing first via letter
During number image, synchronization process second road signal image.
As the improvement of the paths planning method of the new-energy automobile of the present invention, the paths planning method also includes：It is right
The text information in first via signal image and second road signal image after processing is extracted and analyzed.
As the improvement of the paths planning method of the new-energy automobile of the present invention, the paths planning method also includes：It is right
First via signal image and second road signal image after processing carry out binary conversion treatment, and extract the marginal information of road, together
When, matching treatment is carried out to the first via signal image after processing and second road signal image, and extract the width information of road.
Compared with prior art, the beneficial effects of the invention are as follows：The path planning system energy of the new-energy automobile of the present invention
It is enough to obtain more comprehensively with accurate traffic information, and generate the driving path of automobile, and then ensure that it is unmanned during
Security and accuracy, fully meet the actual demand of new-energy automobile intelligent driving.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments described in invention, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the module diagram of an embodiment of the path planning system of the new-energy automobile of the present invention.
Embodiment
The present invention is described in detail for shown each embodiment below in conjunction with the accompanying drawings, but it should explanation, these
Embodiment is not limitation of the present invention, those of ordinary skill in the art according to these embodiment institute work energy, method,
Or equivalent transformation or replacement in structure, belong within protection scope of the present invention.
As shown in figure 1, the path planning system of new-energy automobile of the present invention is applied to the unmanned system of new-energy automobile
In system.The path planning system includes：Image capture module 1, recognition detection module 2 and path-generating module 3.
Described image acquisition module 1 is used for the collection for realizing the image information of road conditions.Specifically, described image acquisition module
1 includes：First camera 11, second camera 12, the first video frequency collection card 13 and the second video frequency collection card 14.
Wherein, first camera 11 and the data transfer of the first video frequency collection card 13, the second camera 12
With the data transfer of the second video frequency collection card 14, the video frequency collection card 14 of the first video frequency collection card 13 and second respectively with institute
State the data transfer of path-generating module 3.
In one embodiment, first camera 11 gathers first via signal image, the second camera 12
The relatively described synchronous acquisition second road signal image of first camera 11.To achieve these goals, from first camera
Synchronous transmission of signal is sent in 11 synchronous circuit into the synchronous circuit of second camera 12, so as to ensure the figure of two-way collection
As keeping real-time synchronization.
In above-mentioned embodiment, first video frequency collection card 13 receives and handled the letter that first camera 11 gathers
Number image, and the path-generating module 3 is sent to, second video frequency collection card 14 synchronously receives and handles described second and takes the photograph
As the signal pattern of first 12 collections, and it is sent to the path-generating module 3.
The path-generating module 3 includes：Main frame 31, decision-making scheduler module 32 and path planning module 33.
Wherein, the main frame 31 and the data transfer of 13 and second video frequency collection card of the first video frequency collection card 14, and
Data after processing are sent to the recognition detection module 2.The decision-making scheduler module is anti-according to the recognition detection module 3
The data of feedback carry out decision-making scheduling to motor vehicle behavior, and the driving path of automobile is generated by the path planning module；
The recognition detection module 2 is used to detection be identified to the actual environment of road conditions.Specifically, the recognition detection
Module 2 includes：Obstacle recognition detection unit 21, traffic signals recognition detection unit 22, traffic mark recognition detection unit 23,
Road edge recognition detection unit 24, road radian recognition detection unit 25, surrounding vehicles speed are apart from detection unit 26, road
Be recessed gradient recognition detection unit 27.
Each unit receives the view data that the main frame 31 is sent respectively, and according to the view data recognition detection row of reception
The road conditions sailed.Wherein, the word letter in the view data that the traffic mark recognition detection unit 23 is sent to the main frame 31
Breath is extracted and analyzed.
Further, the view data that the road edge recognition detection unit 24 is sent to the main frame 31 carries out two-value
Change is handled, and extracts the marginal information of road, meanwhile, the road edge recognition detection unit 24 is sent to the main frame 31
View data carries out matching treatment, and extracts the width information of road.
Based on identical technical concept, the present invention also provides a kind of paths planning method of new-energy automobile, and it is applied to
New-energy automobile it is unmanned in, the paths planning method comprises the following steps：
S1, the first via signal image and second road signal image for gathering road conditions, to the first via signal image of collection and
Second road signal image is respectively processed.
Wherein, when gathering first via signal image, synchronous acquisition second road signal image.Handle first via signal image
When, synchronization process second road signal image.
S2, according to the first via signal image and second road signal image after processing, the barrier of recognition detection road conditions, hand over
Messenger, traffic mark, road edge, road radian, surrounding vehicles speed distance and depression and the gradient in road.
Wherein, in recognition detection traffic mark, the paths planning method also includes：To the first via signal after processing
Text information in image and second road signal image is extracted and analyzed.In recognition detection road edge, the path
Planing method also includes：Binary conversion treatment is carried out to the first via signal image after processing and second road signal image, and extracted
The marginal information of road, meanwhile, matching treatment is carried out to the first via signal image after processing and second road signal image, and carry
By way of the width information on road.
S3, the road condition data according to recognition detection, decision-making scheduling is carried out to motor vehicle behavior, and plan and generate the row of automobile
Sail path.
In summary, the path planning system of new-energy automobile of the invention can obtain more comprehensively believes with accurate road conditions
Breath, and generates the driving path of automobile, so ensure that it is unmanned during security and accuracy, fully meet new
The actual demand of energy automobile intelligent driving.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (10)
1. a kind of path planning system of new-energy automobile, it is applied in the Unmanned Systems of new-energy automobile, its feature
It is, the path planning system includes：Image capture module, path-generating module and recognition detection module；
Described image acquisition module includes：First camera, second camera, the first video frequency collection card and the second video acquisition
Card, first camera and the first video frequency collection card data transfer, the second camera are adopted with second video
Truck data transfer；
The path-generating module includes：Main frame, decision-making scheduler module and path planning module, the main frame and described first
Video frequency collection card and the second video frequency collection card data transfer, and the data after processing are sent to the recognition detection module,
The decision-making scheduler module carries out decision-making scheduling according to the data of the recognition detection module feedback to motor vehicle behavior, and by described
Path planning module generates the driving path of automobile；
The recognition detection module includes：Obstacle recognition detection unit, traffic signals recognition detection unit, traffic mark identification
Detection unit, road edge recognition detection unit, road radian recognition detection unit, surrounding vehicles speed apart from detection unit,
Road depression gradient recognition detection unit, each unit receives the view data that the main frame is sent respectively, according to the image of reception
The road conditions of data recognition detection traveling, and feed back to the path-generating module.
2. the path planning system of new-energy automobile according to claim 1, it is characterised in that first camera is adopted
Collect first via signal image, the relatively described first camera synchronous acquisition second road signal image of the second camera.
3. the path planning system of new-energy automobile according to claim 1, it is characterised in that first video acquisition
Clamping is received and handles the signal pattern of the first camera collection, and is sent to the main frame, second video frequency collection card
Synchronously receive and handle the signal pattern of the second camera collection, and be sent to the main frame.
4. the path planning system of new-energy automobile according to claim 1, it is characterised in that the traffic mark identification
Text information in the view data that detection unit is sent to the main frame is extracted and analyzed.
5. the path planning system of new-energy automobile according to claim 1, it is characterised in that the road edge identification
The view data that detection unit is sent to the main frame carries out binary conversion treatment, and extracts the marginal information of road, meanwhile, it is described
The view data that road edge recognition detection unit is sent to the main frame carries out matching treatment, and extracts the width letter of road
Breath.
6. a kind of paths planning method of new-energy automobile, its be applied to new-energy automobile it is unmanned in, it is characterised in that
The paths planning method comprises the following steps：
S1, the first via signal image and second road signal image for gathering road conditions, to the first via signal image of collection and second
Road signal pattern is respectively processed；
S2, according to the first via signal image and second road signal image after processing, barrier, the traffic letter of recognition detection road conditions
Number, traffic mark, road edge, road radian, surrounding vehicles speed distance and depression and the gradient in road；
S3, the road condition data according to recognition detection, decision-making scheduling is carried out to motor vehicle behavior, and plan and generate the traveling road of automobile
Footpath.
7. the paths planning method of new-energy automobile according to claim 6, it is characterised in that in the step S1, adopt
When collecting first via signal image, synchronous acquisition second road signal image.
8. the paths planning method of new-energy automobile according to claim 6, it is characterised in that in the step S1, place
When managing first via signal image, synchronization process second road signal image.
9. the paths planning method of new-energy automobile according to claim 6, it is characterised in that the paths planning method
Also include：Text information in first via signal image and second road signal image after processing is extracted and analyzed.
10. the paths planning method of new-energy automobile according to claim 6, it is characterised in that the path planning side
Method also includes：Binary conversion treatment is carried out to the first via signal image after processing and second road signal image, and extracts road
Marginal information, meanwhile, matching treatment is carried out to the first via signal image after processing and second road signal image, and extract road
Width information.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109827587A (en) * | 2019-02-25 | 2019-05-31 | 广州信沃达电子科技有限公司 | A kind of intelligent route planning system of new-energy automobile |
| CN113200052A (en) * | 2021-05-06 | 2021-08-03 | 上海伯镭智能科技有限公司 | Intelligent road condition identification method for unmanned driving |
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Application publication date: 20180323 |