CN112158151A - Automatic driving automobile gesture control system and method based on 5G network - Google Patents
Automatic driving automobile gesture control system and method based on 5G network Download PDFInfo
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- CN112158151A CN112158151A CN202011068117.5A CN202011068117A CN112158151A CN 112158151 A CN112158151 A CN 112158151A CN 202011068117 A CN202011068117 A CN 202011068117A CN 112158151 A CN112158151 A CN 112158151A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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Abstract
The invention belongs to the technical field of automatic driving automobile control, and particularly relates to a gesture control system and a gesture control method of an automatic driving automobile based on a 5G network, wherein the gesture control system comprises an in-automobile automatic control system and an out-automobile command sending system, and the in-automobile automatic control system and the out-automobile command sending system are connected through the 5G network; the automatic control system in the automobile comprises a vehicle-mounted binocular camera module, a radar and an automobile behavior control system, wherein the automobile behavior control system comprises an image processing module, a multi-sensor data fusion processing module and an automobile behavior control module; the vehicle exterior instruction sending system is an intelligent device comprising a gesture data acquisition module and a 5G communication module. The invention also discloses a control method of the system, realizes that the automobile is controlled by using intelligent equipment outside the automobile and is connected with the automobile through a 5G network, innovating a man-machine interaction method, and realizing systematization and informatization of automatic automobile driving control.
Description
Technical Field
The invention belongs to the technical field of automatic driving automobile control, and particularly relates to a 5G network-based automatic driving automobile gesture control system and a method thereof.
Background
With the development of the automatic driving technology, automatic driving gradually becomes the future development direction, the automatic driving system above L4 mainly depends on the fusion judgment of various sensors such as laser radar, millimeter wave radar and vision, and the main defects are that the cost of the sensors such as laser radar is high, the moving track is tens of thousands of ten-thousand yuan, and the system identification rate cannot reach the human identification capability due to the limitation of the advantages and disadvantages of the sensors under different conditions.
The existing remote control driving technology mainly comprises a remote control driving technology based on a remote control key and a remote driving technology based on 4G communication, is limited by the time delay of the 4G communication, and is low in control real-time performance and few in application scenes.
Automatic driving inevitably requires safe driving, and particularly aims at solving the problem of how to safely and quickly drive, stop and take vehicles under the scene of a large number of vehicles and people by a novice with low driving level.
Disclosure of Invention
The invention aims to solve the problem of difficulty in parking and taking a car in the prior art, and provides an automatic driving car gesture control system and method based on a 5G network.
The technical scheme of the invention is as follows: an automatic driving automobile gesture control system based on a 5G network comprises an in-automobile automatic control system and an out-automobile command sending system, wherein the in-automobile automatic control system and the out-automobile command sending system are connected through the 5G network; the automatic control system in the automobile comprises a vehicle-mounted binocular camera module, a radar and an automobile behavior control system, wherein the automobile behavior control system comprises an image processing module, a multi-sensor data fusion processing module and an automobile behavior control module; the vehicle exterior instruction sending system is an intelligent device comprising a gesture data acquisition module and a 5G communication module.
Preferably, the image processing module is composed of a system-on-chip a, a memory granule a and an LVDS deserializing chip.
Preferably, the multi-sensor data fusion processing module consists of a system-on-chip B, a memory particle B and a vehicle-mounted Ethernet exchange chip.
Preferably, the car behaviour control module consists of a micro control unit chip, a 5G module, a CAN transceiver and an eMMC chip.
Preferably, the radar includes, but is not limited to, ultrasonic radar, millimeter wave radar, and laser radar.
Preferably, the intelligent device is a smart watch, and the gesture instruction is input through the smart watch and acquired through the gesture data acquisition module.
Preferably, the intelligent device is an intelligent bracelet, and the gesture instruction passes through the input of the intelligent bracelet and is acquired through the gesture data acquisition module.
A gesture control method of an automatic driving automobile based on a 5G network comprises a gesture control system of the automatic driving automobile based on the 5G network, and comprises the following steps:
and S1, the automatic control system in the automobile judges the position of the operator from the automobile by using the base station positioning principle, and the automatic control system in the automobile can make different judgments according to different distances. If the distance is more than 50m, the automatic control system in the automobile continues to detect the gesture command of the user. If the distance is more than 20m and less than 50m, the gesture recognition mode is entered. When the distance is less than 20m, the gesture data of the user can be recognized while the gesture recognition mode is entered;
s2, if the distance between the automobile behavior control module and the smart watch is larger than 20m and smaller than 50m, the automobile behavior control module receives gesture data from the smart watch and transmits the gesture data to the image processing module;
s3, the image processing module analyzes the gesture data, simultaneously detects the surrounding environment by using a radar and a binocular camera arranged on the vehicle body, and transmits various types of data to the multi-sensor data fusion module;
s4, the multi-sensor data fusion module decides the behavior mode of the whole automobile according to the distance information of the radar sensor, the image data of the binocular camera and the gesture data, and finally controls the automobile to automatically run through the automobile behavior control module;
s5: if the average particle size is less than 20m, the process proceeds to S2;
s6: and the image processing module judges the identity of the vehicle owner according to the visual information fed back by the camera. If the vehicle is the owner, the process goes to S3; if the vehicle is not the vehicle owner, the vehicle behavior control module sends an authorization request to the vehicle owner through the 5G and judges whether the request is successful, and if the authorization request is judged to be successful, the step S3 is carried out;
s7: if the authorization fails, the failure times are automatically calculated, if the failure times are less than three times, the gesture can still be recognized, if the failure times are more than three times, the automobile end can automatically give an alarm.
Compared with the prior art, the invention has the following beneficial effects: the intelligent device is used for controlling the automobile outside the automobile and then is connected with the automobile through the 5G network, a man-machine interaction method is innovated, and systematization and informatization are realized. By utilizing the number advantage of the 5G base stations, the positions of the intelligent devices of the users are judged through the base stations, the distance from the vehicles is calculated, and the gesture recognition of the vehicles to the users is effectively improved. The new gesture and face recognition functions are added at the vehicle end, so that the vehicle is more convenient and safer.
Meanwhile, the binocular camera in the vehicle can automatically judge the identity of the user, and if the judgment is unsuccessful for multiple times, the vehicle can be self-locked and give an alarm, so that the worry of the user about the safety of the vehicle owner is solved.
Drawings
FIG. 1 is a schematic diagram of an automatic driving car gesture control system based on a 5G network according to the present invention;
FIG. 2 is a schematic diagram of an in-vehicle control system of an automatic driving vehicle gesture control system based on a 5G network according to the present invention;
FIG. 3 is a schematic diagram of an image processing module of an automatic driving vehicle gesture control system based on a 5G network according to the present invention;
FIG. 4 is a schematic diagram of a multi-sensor data fusion processing module of an automatic driving vehicle gesture control system based on a 5G network according to the present invention;
fig. 5 is a schematic view of a car behavior control module of an automatic driving car gesture control system based on a 5G network according to the present invention.
Fig. 6 is a schematic diagram of an automatic driving car gesture control method based on a 5G network according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person skilled in the art without making any inventive step are within the scope of protection of the present invention.
Referring to fig. 1 to 6, the technical solution of the present invention is: an automatic driving automobile gesture control system based on a 5G network comprises an in-automobile automatic control system and an out-automobile command sending system, wherein the in-automobile automatic control system and the out-automobile command sending system are connected through the 5G network; the automatic control system in the automobile comprises a vehicle-mounted binocular camera module, a radar and an automobile behavior control system, wherein the automobile behavior control system comprises an image processing module, a multi-sensor data fusion processing module and an automobile behavior control module; the vehicle exterior instruction sending system is an intelligent device comprising a gesture data acquisition module and a 5G communication module.
The command sending system outside the vehicle captures gesture commands of a driver outside the vehicle through intelligent equipment such as an intelligent bracelet, a watch and the like, the intelligent watch end carries out encapsulation processing on data, and 5G network transmission is utilized to an automatic control system in the vehicle for processing.
The automatic control system in the automobile mainly receives gesture instructions from external intelligent equipment, and meanwhile, various sensors such as an ultrasonic radar, a binocular camera, a millimeter wave radar and a laser radar arranged on the automobile body are used for assisting a control center to control. When the requirement of the vehicle owner, namely gesture operation, is started, the nearby 5G base station calculates the distance equivalent to the distance of the vehicle from the vehicle end based on the base station positioning principle, and automatically enters a gesture recognition mode when the distance is within the recognition range of the sensor. Based on the consideration of vehicle safety, namely the smart watch is likely to be lost and used by outsiders, the image processing module designs a face recognition function. When a non-vehicle owner starts the vehicle by using the bracelet in the identification range, the background management system in the vehicle requests an authorization code for a preset mobile phone number through the internal communication module. If the user is not authorized, the gesture recognition process is carried out again to prevent false recognition; if the automobile door is identified for many times and the number of times reaches more than three times, the automobile internal system can self-lock the automobile door and give an alarm, so that the overall safety and intelligence of the automobile can be further improved.
Further, the image processing module is composed of a system-on-chip A, a memory granule A and an LVDS deserializing chip. The LVDS deserializing chip receives image LVDS data from the four-way binocular camera, converts the image LVDS data into MIPI signals and sends the MIPI signals to the system-on-chip A; the memory particles A provide RAM space required by program operation for the system-on-chip A; the system-on-chip A receives gesture information from the automobile behavior control module, performs gesture data analysis by combining face information recognized by the camera module, transmits the analyzed gesture data information to the multi-sensor data fusion processing module, and transmits image data around the vehicle provided by the four-way camera to the multi-sensor data fusion processing module to provide image data required by the action decision of the whole automobile for the multi-sensor data fusion processing module.
Furthermore, the multi-sensor data fusion processing module consists of a system-on-chip B, a memory particle B and a vehicle-mounted Ethernet exchange chip. The vehicle-mounted Ethernet exchange chip receives vehicle-mounted Ethernet 100Base-T1 data from five paths of millimeter wave radars and one path of laser radars, converts the data into RGMII signals and sends the RGMII signals to the system-on-chip B; the memory particles B provide RAM space required by program operation for the system-on-chip B; and the system-on-chip B processes RGMII signals from the millimeter wave radar and the laser radar, single-line IO signals from the ultrasonic radar, MIPI signals from the image processing module and the analyzed gesture data to finally determine a vehicle action mode, and transmits the action mode signals to the vehicle action control module so as to decide the whole vehicle action mode.
Furthermore, the automobile behavior control module consists of a micro control unit chip, a 5G module, a CAN transceiver and an eMMC chip. The 5G module acquires position information and gesture data of a gesture operator from the bracelet, transmits the position information and the gesture data to the micro control unit chip, can receive gesture data newly added at the bracelet, and updates a gesture library of the image processing module; the eMMC chip is used for temporarily storing the newly added gesture data content, transmitting the newly added gesture data to the microcontroller unit chip from the 5G module after an update command of the bracelet is acquired, and further transmitting the newly added gesture data to the image processing module; the microcontroller unit chip transmits the gesture data to the image processing module, acquires a vehicle action mode from the multi-sensor data fusion processing module, converts the action mode into a specific CAN command and sends the CAN command to the CAN transceiver; after receiving the specific vehicle action mode, the CAN transceiver converts the vehicle action mode into a CAN signal compatible with a finished vehicle CAN network and then communicates with the finished vehicle, so that the vehicle is operated to act.
Further, radars include, but are not limited to, ultrasonic radars, millimeter wave radars, and laser radars.
Furthermore, the intelligent device is an intelligent watch, and the gesture instruction is input through the intelligent watch and acquired through the gesture data acquisition module.
Furthermore, the intelligent device is an intelligent bracelet, and the gesture instruction passes through the input of the intelligent bracelet and is acquired through the gesture data acquisition module.
An automatic driving automobile gesture control method based on a 5G network comprises the automatic driving automobile gesture control system based on the 5G network in the embodiment, and comprises the following steps:
and S1, the automatic control system in the automobile judges the position of the operator from the automobile by using the base station positioning principle, and the automatic control system in the automobile can make different judgments according to different distances. If the distance is more than 50m, the automatic control system in the automobile continues to detect the gesture command of the user. If the distance is more than 20m and less than 50m, the gesture recognition mode is entered. When the distance is less than 20m, the gesture data of the user can be recognized while the gesture recognition mode is entered;
s2, if the distance between the automobile behavior control module and the smart watch is larger than 20m and smaller than 50m, the automobile behavior control module receives gesture data from the smart watch and transmits the gesture data to the image processing module;
s3, the image processing module analyzes the gesture data, simultaneously detects the surrounding environment by using a radar and a binocular camera arranged on the vehicle body, and transmits various types of data to the multi-sensor data fusion module;
s4, the multi-sensor data fusion module decides the behavior mode of the whole automobile according to the distance information of the radar sensor, the image data of the binocular camera and the gesture data, and finally controls the automobile to automatically run through the automobile behavior control module;
s5: if the average particle size is less than 20m, the process proceeds to S2;
s6: and the image processing module judges the identity of the vehicle owner according to the visual information fed back by the camera. If the vehicle is the owner, the process goes to S3; if the vehicle is not the vehicle owner, the vehicle behavior control module sends an authorization request to the vehicle owner through the 5G and judges whether the request is successful, and if the authorization request is judged to be successful, the step S3 is carried out;
s7: if the authorization fails, the failure times are automatically calculated, if the failure times are less than three times, the gesture can still be recognized, if the failure times are more than three times, the automobile end can automatically give an alarm.
The working principle of the invention is as follows: after a driver with the intelligent watch comes to the position near the vehicle, the 5G base station nearby can automatically capture the 5G signal of the intelligent watch, the signal is matched with vehicle identification, and after a vehicle owner is determined, the vehicle-mounted binocular camera and the radar can be automatically opened. Meanwhile, the vehicle-mounted system judges whether the distance between the person and the vehicle is within the identification range, and if so, the vehicle automatically enters a gesture control mode.
After the car owner has the demand that needs the driving, can operate through finger gesture or the whole gesture of hand, relevant data then can be caught to the intelligence wrist-watch, encapsulates the handling at this end and utilizes 5G signal transmission to car end data fusion processing module to the gesture data. Meanwhile, if the owner has the requirement of a newly-increased gesture, the newly-increased gesture of the intelligent watch can be operated, the gesture function is defined, and the gesture function is transmitted to the automobile behavior control module at the automobile end, so that the purpose of newly increasing is achieved.
The intelligent watch has the advantages that the face recognition function and the automatic alarm function are preset for the vehicle according to the unexpected situation, when the intelligent watch is used by a non-vehicle owner, automatic judgment can be carried out, if the intelligent watch is not authorized by the vehicle owner or the intelligent watch is mistakenly recognized for more than three times, automatic alarm is carried out, and the safety factor of the vehicle is improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides an autopilot car gesture control system based on 5G network which characterized in that: the system comprises an in-vehicle automatic control system and an out-vehicle instruction sending system, wherein the in-vehicle automatic control system and the out-vehicle instruction sending system are connected through a 5G network; the automatic control system in the automobile comprises a vehicle-mounted binocular camera module, a radar and an automobile behavior control system, wherein the automobile behavior control system comprises an image processing module, a multi-sensor data fusion processing module and an automobile behavior control module; the vehicle exterior instruction sending system is an intelligent device comprising a gesture data acquisition module and a 5G communication module.
2. The automatic driving automobile gesture control system based on the 5G network according to claim 1, characterized in that: the image processing module consists of a system-on-chip A, a memory grain A and an LVDS deserializing chip.
3. The automatic driving automobile gesture control system based on the 5G network according to claim 1, characterized in that: the multi-sensor data fusion processing module consists of a system-on-chip B, memory particles B and a vehicle-mounted Ethernet switching chip.
4. The automatic driving automobile gesture control system based on the 5G network according to claim 1, characterized in that: the automobile behavior control module is composed of a micro control unit chip, a 5G module, a CAN transceiver and an eMMC chip.
5. The automatic driving automobile gesture control system based on the 5G network according to claim 1, characterized in that: including but not limited to ultrasonic radar, millimeter wave radar, and laser radar.
6. The automated driving automobile gesture control system based on the 5G network according to any one of claims 1-5, characterized in that: the intelligent device is an intelligent watch, and the gesture instruction is input through the intelligent watch and acquired through the gesture data acquisition module.
7. The automated driving automobile gesture control system based on the 5G network according to any one of claims 1-5, characterized in that: the intelligent device is an intelligent bracelet, and the gesture instruction passes through the input of the intelligent bracelet and is acquired through the gesture data acquisition module.
8. An automatic driving automobile gesture control method based on a 5G network, comprising the automatic driving automobile gesture control system based on the 5G network of any one of claims 1-7, characterized in that: the method comprises the following steps:
s1, the automatic control system in the car judges the position of the operator from the car by using the base station positioning principle, and the automatic control system in the car can make different judgments according to different distances;
if the distance is more than 50m, the automatic control system in the automobile continues to detect the gesture command of the user;
if the distance is more than 20m and less than 50m, entering a gesture recognition mode;
when the distance is less than 20m, the gesture data of the user can be recognized while the gesture recognition mode is entered;
s2, if the distance between the automobile behavior control module and the smart watch is larger than 20m and smaller than 50m, the automobile behavior control module receives gesture data from the smart watch and transmits the gesture data to the image processing module;
s3, the image processing module analyzes the gesture data, simultaneously detects the surrounding environment by using a radar and a binocular camera arranged on the vehicle body, and transmits various types of data to the multi-sensor data fusion module;
s4, the multi-sensor data fusion module decides the behavior mode of the whole automobile according to the distance information of the radar sensor, the image data of the binocular camera and the gesture data, and finally controls the automobile to automatically run through the automobile behavior control module;
s5: if the average particle size is less than 20m, the process proceeds to S2;
s6: the image processing module judges the identity of the vehicle owner according to the visual information fed back by the camera;
if the vehicle is the owner, the process goes to S3; if the vehicle is not the vehicle owner, the vehicle behavior control module sends an authorization request to the vehicle owner through the 5G and judges whether the request is successful, and if the authorization request is judged to be successful, the step S3 is carried out;
s7: if the authorization fails, the failure times are automatically calculated, if the failure times are less than three times, the gesture can still be recognized, if the failure times are more than three times, the automobile end can automatically give an alarm.
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Application publication date: 20210101 |