CN112349093A - Vehicle early warning method and device fused with V2X sensor - Google Patents
Vehicle early warning method and device fused with V2X sensor Download PDFInfo
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- CN112349093A CN112349093A CN202011031193.9A CN202011031193A CN112349093A CN 112349093 A CN112349093 A CN 112349093A CN 202011031193 A CN202011031193 A CN 202011031193A CN 112349093 A CN112349093 A CN 112349093A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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Abstract
The embodiment of the invention provides a vehicle early warning method and device fused with a V2X sensor. The method comprises the following steps: acquiring information captured by a basic sensor and a V2X sensor; and early warning the vehicle running condition according to the information captured by the basic sensor and the V2X sensor. According to the vehicle early warning method and device fusing the V2X sensor, provided by the embodiment of the invention, the basic sensor and the V2X sensor are subjected to system integration, so that the difficulty in obtaining peripheral data is greatly reduced, the identification precision is improved, the braking distance can be calculated in a self-adaptive manner, and collision accidents caused by early warning lag are avoided.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle early warning, in particular to a vehicle early warning method and device with a V2X sensor.
Background
The current environmental sensing technology of vehicles mainly detects the surrounding environment through autonomous sensing, i.e. its own sensor, which is similar to "human eyes". The autonomous sensing has stronger identification capability on objects in a visible range through sensors such as a camera, a microwave radar and a laser radar, the problems of communication delay, packet loss and the like do not exist, and a decision mechanism can quickly and timely acquire data; however, the early warning may be delayed or failed due to the short sight distance and the complex road condition information. Therefore, it is an urgent technical problem in the art to develop a vehicle warning method and apparatus to effectively overcome the above-mentioned drawbacks in the related art.
Disclosure of Invention
In order to solve the above problems in the prior art, embodiments of the present invention provide a vehicle early warning method and apparatus incorporating a V2X sensor.
In a first aspect, an embodiment of the present invention provides a vehicle warning method incorporating a V2X sensor, including: acquiring information captured by a basic sensor and a V2X sensor; and early warning the vehicle running condition according to the information captured by the basic sensor and the V2X sensor.
On the basis of the content of the embodiment of the method, the vehicle early warning method fusing the V2X sensor provided in the embodiment of the present invention includes that the acquiring of the information captured by the basic sensor includes: acquiring a visual object and a lane boundary captured by a visual sensor; obtaining unclassified non-vehicle observation objects captured by a laser radar sensor; and acquiring the vehicle positioning, speed and turning speed captured by the inertial navigation sensor.
On the basis of the content of the above method embodiment, the vehicle early warning method fusing the V2X sensor provided in the embodiment of the present invention, where the acquiring information captured by the V2X sensor includes: weather conditions, road surface conditions, vehicle speeds of surrounding vehicles, positions, braking and/or steering information captured by the V2X sensor are obtained.
On the basis of the content of the above method embodiment, the method for warning a vehicle by fusing a V2X sensor provided in the embodiment of the present invention, where the warning is performed on the driving condition of the vehicle according to the information captured by the basic sensor and the V2X sensor, includes: the information that the basic sensor snatched thereby obtains peripheral obstacle distance and relative velocity, combines the information that V2X sensor snatched, carries out the weighting to safe distance and realizes dynamic distance early warning.
On the basis of the content of the embodiment of the method, the vehicle early warning method fusing the V2X sensor provided by the embodiment of the invention for weighting the safe distance to realize dynamic distance early warning comprises the following steps:
S＝V2/(2gu)
W＝S-S1
wherein S is an early warning distance; v is the relative speed of the vehicle and the target obstacle; g is the acceleration of gravity; u is a weighting coefficient; s1 is the actual distance; w is an early warning index; and if W is less than zero, giving out an early warning.
In a second aspect, embodiments of the present invention provide a vehicle warning system incorporating a V2X sensor,
the method comprises the following steps:
the basic sensor is used for grabbing a visual object, a lane boundary, an unclassified non-vehicle observation object, vehicle positioning, speed and turning speed;
a V2X sensor for capturing weather conditions, road surface conditions, speed, position, braking and/or steering information of surrounding vehicles;
a controller for implementing a vehicle warning method incorporating a V2X sensor as claimed in any one of claims 1 to 5.
On the basis of the content of the system embodiment, the vehicle early warning method fusing the V2X sensor provided in the embodiment of the present invention includes:
the visual sensor is used for grabbing a visual object and a lane boundary;
the laser radar sensor is used for grabbing unclassified non-vehicle observation objects;
the inertial navigation sensor is used for capturing vehicle positioning, speed and turning speed;
and the wireless sensor is used for detecting the accurate distance between the peripheral object and the vehicle in cooperation with the vision sensor.
In a third aspect, an embodiment of the present invention provides a vehicle warning device incorporating a V2X sensor, including:
the information acquisition module is used for acquiring information captured by the basic sensor and the V2X sensor;
and the early warning module is used for early warning the running condition of the vehicle according to the information captured by the basic sensor and the V2X sensor.
In a fourth aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor to invoke the program instructions to perform the vehicle warning method incorporating the V2X sensor provided in any of the various implementations of the first aspect.
In a fifth aspect, embodiments of the invention provide a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform a vehicle warning method incorporating a V2X sensor as provided in any of the various implementations of the first aspect.
According to the vehicle early warning method and device fusing the V2X sensor, provided by the embodiment of the invention, the basic sensor and the V2X sensor are subjected to system integration, so that the difficulty in obtaining peripheral data is greatly reduced, the identification precision is improved, the braking distance can be calculated in a self-adaptive manner, and collision accidents caused by early warning lag are avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below to the drawings required for the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a vehicle warning method incorporating a V2X sensor according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a vehicle warning system incorporating a V2X sensor according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a vehicle warning device incorporating a V2X sensor according to an embodiment of the present invention;
fig. 4 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, technical features of various embodiments or individual embodiments provided by the present invention may be arbitrarily combined with each other to form a feasible technical solution, and such combination is not limited by the sequence of steps and/or the structural composition mode, but must be realized by a person skilled in the art, and when the technical solution combination is contradictory or cannot be realized, such a technical solution combination should not be considered to exist and is not within the protection scope of the present invention.
In order to achieve the aim of forward warning (such as forward collision warning) of the vehicle, data information of a front vision sensor and a radar sensor of the vehicle needs to be collected. In order to improve the probability of accurate early warning and reduce the probability of false early warning, sensor fusion is required. Specifically, the forward warning of the vehicle is performed by fusing data of the basic sensor and the V2X sensor to track a target in front of the vehicle. Based on the idea, the embodiment of the invention provides a vehicle early warning method fused with a V2X sensor, and referring to FIG. 1, the method comprises the following steps:
101. acquiring information captured by a basic sensor and a V2X sensor;
102. and early warning the vehicle running condition according to the information captured by the basic sensor and the V2X sensor.
Based on the content of the above method embodiment, as an optional embodiment, the vehicle early warning method fusing the V2X sensor provided in the embodiment of the present invention, where the acquiring information captured by the basic sensor includes: acquiring a visual object and a lane boundary captured by a visual sensor; obtaining unclassified non-vehicle observation objects captured by a laser radar sensor; and acquiring the vehicle positioning, speed and turning speed captured by the inertial navigation sensor. In particular, the visual sensor provides a list of visual observables, as well as a classification of the visual observables and information about lane boundaries. The list of objects is reported 10 times per second. Lane boundaries are reported 20 times per second; the laser radar sensor collects unclassified non-vehicle observation objects, and an object list reports 20 times per second; the inertial navigation sensor collects the high-precision positioning, speed and turning speed of the vehicle 20 times per second.
Based on the content of the above method embodiment, as an optional embodiment, the vehicle early warning method fusing the V2X sensor provided in the embodiment of the present invention includes that the acquiring information captured by the V2X sensor includes: weather conditions, road surface conditions, vehicle speeds of surrounding vehicles, positions, braking and/or steering information captured by the V2X sensor are obtained. Specifically, the V2X sensor provides information about the speed, position, status (braking, steering, etc.) of the surrounding vehicle and weather conditions and road conditions by communicating with the surrounding vehicle, and the V2X sensor information is updated 20 times per second.
Based on the content of the foregoing method embodiment, as an optional embodiment, the method for warning a vehicle by fusing a V2X sensor provided in the embodiment of the present invention, where the warning is performed on the driving condition of the vehicle according to the information captured by the basic sensor and the V2X sensor, includes: the information that the basic sensor snatched thereby obtains peripheral obstacle distance and relative velocity, combines the information that V2X sensor snatched, carries out the weighting to safe distance and realizes dynamic distance early warning.
Based on the content of the above method embodiment, as an optional embodiment, the vehicle early warning method with the fused V2X sensor provided in the embodiment of the present invention, where weighting is performed on the safe distance to implement dynamic distance early warning, includes:
S＝V2/(2gu)
W＝S-S1
wherein S is an early warning distance; v is the relative speed of the vehicle and the target obstacle; g is the acceleration of gravity; u is a weighting coefficient; s1 is the actual distance; w is an early warning index; and if W is less than zero, giving out an early warning. In another embodiment, the weighting factor u may take the data in table 1, where K is the thickness of the snow.
TABLE 1
| Weighting coefficient u | Heavy Rain | Light rain | All-weather | Snow (snow) | Moisture content | Front accident |
| Numerical value | 0.2 | 0.4 | 0.8 | 0.2/K | Humidity/7.9 | 0.001 |
According to the vehicle early warning method fusing the V2X sensor, provided by the embodiment of the invention, the basic sensor and the V2X sensor are subjected to system integration, so that the difficulty in obtaining peripheral data is greatly reduced, the identification precision is improved, the braking distance can be calculated in a self-adaptive manner, and collision accidents caused by early warning lag are avoided.
The embodiment of the invention provides a vehicle early warning system fused with a V2X sensor, which is shown in figure 2 and comprises the following components: the basic sensor is used for grabbing a visual object, a lane boundary, an unclassified non-vehicle observation object, vehicle positioning, speed and turning speed; a V2X sensor for capturing weather conditions, road surface conditions, speed, position, braking and/or steering information of surrounding vehicles; a controller for implementing the vehicle early warning method incorporating the V2X sensor according to any of the foregoing method embodiments.
Specifically, referring to fig. 2, the V2X sensor obtains information such as traffic light phase, road congestion condition and the like in real time through the road Side device rsu (road Side unit); in the signal coverage range of 500 meters, road information in a non-line-of-sight range can be obtained in advance; meanwhile, weather and road surface state information can be acquired through the RSU. The controller is usually located in the trunk of the car and is used to process the sensing signals of various sensors and to evaluate the real-time condition of the vehicle in comparison with map data previously stored in the system.
Based on the content of the above system embodiment, as an optional embodiment, the vehicle early warning system incorporating the V2X sensor provided in the embodiment of the present invention, the basic sensor includes: the visual sensor is used for grabbing a visual object and a lane boundary; the laser radar sensor is used for grabbing unclassified non-vehicle observation objects; the inertial navigation sensor is used for capturing vehicle positioning, speed and turning speed; and the wireless sensor is used for detecting the accurate distance between the peripheral object and the vehicle in cooperation with the vision sensor.
Specifically, referring to fig. 2, the laser radar sensor rotates all the time during the working process, and 360-degree imaging information of the surrounding environment of the automobile is generated in a laser beam detection mode; the vision sensor adopts imaging parallax of multiple cameras to measure and calculate the distance between surrounding objects and an automobile, and is also used for identifying traffic lights, various traffic signboards, surrounding pedestrians, bicycles and other objects; the wireless sensor and the vision sensor work cooperatively, and the accurate distance between the surrounding object and the automobile is directly detected through a wireless signal.
According to the vehicle early warning system fused with the V2X sensor, the V2X sensor is used for acquiring the speed position steering related information of the related vehicle body of the surrounding vehicle and accurately calculating the relative position; the forward collision early warning of the whole environment is realized through the fusion of the V2X sensor, the vision and the radar sensor, and the problem that the identification of the single vision radar is easily interfered by the environment is solved; the actual road condition information is introduced through the V2X sensor, and dynamic early warning can be performed according to the road condition; the over-the-horizon early warning in the range of 500 meters can be realized through the V2X sensor.
The implementation basis of the various embodiments of the present invention is realized by programmed processing performed by a device having a processor function. Therefore, in engineering practice, the technical solutions and functions thereof of the embodiments of the present invention can be packaged into various modules. Based on the actual situation, on the basis of the above embodiments, the embodiment of the invention provides a vehicle early warning device fusing a V2X sensor, which is used for executing the vehicle early warning method fusing a V2X sensor in the above method embodiment. Referring to fig. 3, the apparatus includes:
the information acquisition module 301 is configured to acquire information captured by a basic sensor and a V2X sensor;
and the early warning module 302 is used for early warning the driving condition of the vehicle according to the information captured by the basic sensor and the V2X sensor.
According to the vehicle early warning device fusing the V2X sensor, the information acquisition module and the early warning module are adopted, the basic sensor and the V2X sensor are integrated in a system, the difficulty in acquiring peripheral data is greatly reduced, the recognition accuracy is improved, the braking distance can be calculated in a self-adaptive mode, and collision accidents caused by early warning lag are avoided.
It should be noted that, the apparatus in the apparatus embodiment provided by the present invention may be used for implementing methods in other method embodiments provided by the present invention, except that corresponding function modules are provided, and the principle of the apparatus embodiment provided by the present invention is basically the same as that of the apparatus embodiment provided by the present invention, so long as a person skilled in the art obtains corresponding technical means by combining technical features on the basis of the apparatus embodiment described above, and obtains a technical solution formed by these technical means, on the premise of ensuring that the technical solution has practicability, the apparatus in the apparatus embodiment described above may be modified, so as to obtain a corresponding apparatus class embodiment, which is used for implementing methods in other method class embodiments. For example:
based on the content of the above device embodiment, as an optional embodiment, the vehicle warning device incorporating the V2X sensor provided in the embodiment of the present invention further includes: and the fusion early warning module is used for fusing information captured by the basic sensor so as to obtain the distance and the relative speed of the peripheral obstacles, and weighting the safety distance by combining the information captured by the V2X sensor so as to realize dynamic distance early warning.
The method of the embodiment of the invention is realized by depending on the electronic equipment, so that the related electronic equipment is necessarily introduced. To this end, an embodiment of the present invention provides an electronic apparatus, as shown in fig. 4, including: at least one processor (processor)401, a communication Interface (Communications Interface)404, at least one memory (memory)402 and a communication bus 403, wherein the at least one processor 401, the communication Interface 404 and the at least one memory 402 are configured to communicate with each other via the communication bus 403. The at least one processor 401 may invoke logic instructions in the at least one memory 402 to perform all or a portion of the steps of the methods provided by the various method embodiments described previously.
Furthermore, the logic instructions in the at least one memory 402 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the method embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. Based on this recognition, each block in the flowchart or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In this patent, 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 … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A vehicle early warning method fused with a V2X sensor is characterized by comprising the following steps:
acquiring information captured by a basic sensor and a V2X sensor;
and early warning the vehicle running condition according to the information captured by the basic sensor and the V2X sensor.
2. The vehicle early warning method fused with the V2X sensor according to claim 1, wherein the acquiring the information captured by the basic sensor comprises: acquiring a visual object and a lane boundary captured by a visual sensor; obtaining unclassified non-vehicle observation objects captured by a laser radar sensor; and acquiring the vehicle positioning, speed and turning speed captured by the inertial navigation sensor.
3. The vehicle warning method fused with the V2X sensor according to claim 2, wherein the obtaining the information captured by the V2X sensor comprises: weather conditions, road surface conditions, vehicle speeds of surrounding vehicles, positions, braking and/or steering information captured by the V2X sensor are obtained.
4. The vehicle warning method fused with the V2X sensor according to claim 3, wherein the warning of the vehicle driving condition according to the information captured by the basic sensor and the V2X sensor comprises: the information that the basic sensor snatched thereby obtains peripheral obstacle distance and relative velocity, combines the information that V2X sensor snatched, carries out the weighting to safe distance and realizes dynamic distance early warning.
5. The vehicle early warning method fused with the V2X sensor according to claim 4, wherein the weighting the safety distance realizes dynamic distance early warning, comprising:
S＝V2/(2gu)
W＝S-S1
wherein S is an early warning distance; v is the relative speed of the vehicle and the target obstacle; g is the acceleration of gravity; u is a weighting coefficient; s1 is the actual distance; w is an early warning index; and if W is less than zero, giving out an early warning.
6. A vehicle warning system incorporating a V2X sensor, comprising:
the basic sensor is used for grabbing a visual object, a lane boundary, an unclassified non-vehicle observation object, vehicle positioning, speed and turning speed;
a V2X sensor for capturing weather conditions, road surface conditions, speed, position, braking and/or steering information of surrounding vehicles;
a controller for implementing a vehicle warning method incorporating a V2X sensor as claimed in any one of claims 1 to 5.
7. The vehicle warning system of claim 6, wherein the base sensor comprises:
the visual sensor is used for grabbing a visual object and a lane boundary;
the laser radar sensor is used for grabbing unclassified non-vehicle observation objects;
the inertial navigation sensor is used for capturing vehicle positioning, speed and turning speed;
and the wireless sensor is used for detecting the accurate distance between the peripheral object and the vehicle in cooperation with the vision sensor.
8. A vehicle early warning device fused with a V2X sensor, comprising:
the information acquisition module is used for acquiring information captured by the basic sensor and the V2X sensor;
and the early warning module is used for early warning the running condition of the vehicle according to the information captured by the basic sensor and the V2X sensor.
9. An electronic device, comprising:
at least one processor, at least one memory, and a communication interface; wherein the content of the first and second substances,
the processor, the memory and the communication interface are communicated with each other;
the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1 to 5.
10. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 5.
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