CN112837553A - Road right attribution warning system for automatic driving vehicle - Google Patents
Road right attribution warning system for automatic driving vehicle Download PDFInfo
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- CN112837553A CN112837553A CN202110067605.2A CN202110067605A CN112837553A CN 112837553 A CN112837553 A CN 112837553A CN 202110067605 A CN202110067605 A CN 202110067605A CN 112837553 A CN112837553 A CN 112837553A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
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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
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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
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The invention relates to the technical field of automatic driving of vehicles, and discloses a road right attribution warning system for an automatic driving vehicle, which has the technical scheme that the road right attribution warning system comprises a plurality of vehicle-mounted cameras and a plurality of vehicle-mounted position sensors, wherein the vehicle-mounted cameras are respectively positioned at the periphery of the outer surface of a vehicle body and respectively face the periphery of the vehicle body, the vehicle-mounted position sensors are respectively positioned at the periphery of the outer surface of the vehicle body, the safety of the vehicle and a target object is ensured through a position comparison unit and a motion analysis unit, the safety of the vehicle and the target object is ensured, the double-insurance algorithm mechanism can reduce the occurrence of accidents to a certain extent, meanwhile, the vehicle state is analyzed through a judgment unit and a scene analysis module, correct information can be given to a vehicle control module, the driving behavior of the vehicle which threatens the target object is prevented, the vehicle can be clearly known by the target object in time and dynamic, and the vehicle and the target object are prevented from moving and stopping.
Description
Technical Field
The invention relates to the technical field of automatic driving of vehicles, in particular to a road right attribution warning system for an automatic driving vehicle.
Background
The development of intelligent automobiles equipped with an automatic driving function is gradual, and the conditions of pedestrians, non-automatic driving vehicles and automatic driving vehicles are frequently in common running on public roads and areas.
When the co-driving condition occurs, the automatic driving vehicle and the pedestrian or the non-automatic driving vehicle need to face the problem of road right attribution, namely who should have the priority at present on the current road, so as to avoid the problem of stumbling or contending for the road right under the condition that the two parties do not have interactive communication, which causes the reduction of traffic efficiency and the occurrence of collision accidents. Therefore, the main problem to be solved by the present invention is how to make an autonomous vehicle and a human or non-autonomous vehicle effectively interact with each other, so that when a road right conflict occurs, dangerous behaviors that both parties are stiff or rob the road right are not generated, and in practice, various situations occur, and for these various situations, the autonomous driving needs more processing capability to deal with the situations.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an automatic driving vehicle road right attribution warning system, which is used for overcoming the defects in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: a road right attribution warning system for an automatic driving vehicle comprises a plurality of vehicle-mounted cameras and a plurality of vehicle-mounted position sensors, wherein the vehicle-mounted cameras are respectively positioned on the periphery of the outer surface of a vehicle body and respectively face the periphery of the vehicle body;
the data analysis module comprises an information presetting unit, a position comparison unit, a motion analysis unit, a scene analysis unit and a judgment unit;
the information presetting unit is used for acquiring image information shot by a plurality of vehicle-mounted cameras and position information measured by the position sensor, sending the position information to the position comparison unit and the judgment unit, and sending the image information to the scene analysis unit;
the position comparison unit is configured with a comparison distance, acquires position information sent by the information presetting unit for comparison, sends starting information to the vehicle control module if the distance between the target object and the front or two sides of the vehicle is greater than the comparison distance, and sends comparison information to the motion analysis unit if the distance between the target object and the front or two sides of the vehicle is greater than the comparison distance;
the motion analysis unit acquires and analyzes the comparison information sent by the position comparison unit, and sends starting information to the vehicle control module if the advancing direction of the target object is not crossed or overlapped with the advancing direction of the head of the vehicle, and sends analysis information to the scene analysis unit if the advancing line of the target object is crossed or overlapped with the advancing direction of the head of the vehicle;
the scene analysis unit is used for receiving the analysis information sent by the motion analysis unit, receiving the image information sent by the information presetting unit, analyzing the vehicle state and the target object model according to the image information, generating ex-warehouse information if the vehicle is in a parking state in a garage and the target object model is a person or other vehicles, sending the ex-warehouse information to the vehicle control module and the judgment unit, generating steering information if the vehicle is in a right-turn lane in front of a zebra crossing and the target object model is a person, sending the steering information to the vehicle control module and the judgment unit, generating congestion information if the vehicle is in a driving state and the target object is a vehicle, and sending the congestion information to the vehicle control module and the judgment unit;
the judgment unit is configured with a designated time and a judgment distance, receives the ex-warehouse information or the steering information or the congestion information sent by the scene analysis unit, receives the position information sent by the information presetting unit, sends a starting information to the vehicle control module if the distance between the vehicle and the target object is greater than the judgment distance or exceeds the designated time within the designated time, and circularly judges a command if the distance between the vehicle and the target object is less than the judgment distance within the designated time;
and the vehicle control module controls the vehicle to run in an accelerated mode if the starting information is received, controls the vehicle to run in a decelerated mode if the congestion information is received, and controls the vehicle to stop if the steering information or the garage-out information is received.
As a further improvement of the present invention, the warning system further includes a plurality of display screens, the plurality of display screens are all located on the roof of the vehicle, a display module is disposed in the display screens, and the display module acquires the start information, the warehouse-out information, the steering information, and the jam information, and generates corresponding reminding information to display on the display screens.
As a further improvement of the present invention, the warning system further includes a plurality of speakers, the plurality of speakers are respectively located around the outer surface of the vehicle body, voice modules are disposed in the speakers, and the voice modules acquire the start information, the jam information, the steering information, and the delivery information, and generate corresponding voice information to broadcast through the speakers.
As a further improvement of the present invention, the information presetting unit is provided with a storage subunit, stores the image information and the location information in a time sequence, and is configured with an expiration time limit, deletes the image information or the location information if the image information or the location information exceeds the expiration time limit, and retains the image information or the location information if the image information or the location information does not exceed the expiration time limit.
As a further improvement of the present invention, the scene analysis unit is provided with a garage exit subunit, the image information received by the scene analysis unit is synchronously acquired, the image information is analyzed, if there is a target object in the image information and the vehicle is in a garage, no information is generated, and if there is no target object in the image information and the vehicle is in the garage, start information is generated, and the start information is sent to the display module, the voice module and the vehicle control module.
As a further improvement of the present invention, the warning system further includes a time presetting module, and the user modifies the specified time and the expiration date through the time presetting module.
As a further improvement of the present invention, the expiration date is preset to 7 days, and the specified time is preset to 10 seconds.
As a further improvement of the invention, the warning system comprises a fault reminding module, fault information is generated if a fault occurs in the automatic driving process of the vehicle, and the fault information is sent to the display module and the voice module.
As a further improvement of the present invention, the display module receives the fault information, generates corresponding reminding information, and displays the reminding information on a display screen; and the voice module receives the fault information, generates corresponding voice information and broadcasts the voice information through a loudspeaker.
As a further improvement of the present invention, both the judgment distance and the comparison distance are equal to 2 meters.
The invention has the beneficial effects that: the invention can reduce the occurrence of accidents to a certain extent by the aid of a position comparison unit and a motion analysis unit, and meanwhile, the vehicle state is analyzed by the aid of a judgment unit and a scene analysis module, so that correct information can be given to a vehicle control module to prevent the vehicle from threatening the driving behavior of the target object.
Drawings
FIG. 1 is a flow chart of the architecture of the present invention;
FIG. 2 is a schematic view of the module of FIG. 1 of the present invention;
fig. 3 is a structural diagram of an information presetting unit;
fig. 4 is a structural diagram of the scene analysis unit.
Reference numerals: 1. a warning system; 2. a data analysis module; 21. an information presetting unit; 211. a storage subunit; 22. a position comparison unit; 23. a motion analysis unit; 24. a scenario analysis unit; 241. a delivery subunit; 25. a judgment unit; 3. a vehicle control module; 4. a display module; 5. a voice module; 6. a time presetting module; 7. and a fault reminding module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Referring to fig. 1-4, an automatic driving vehicle right-of-way attribution warning system 1 of the embodiment includes a plurality of vehicle-mounted cameras, a plurality of vehicle-mounted position sensors, a plurality of display screens and a plurality of speakers, the number of the cameras and the vehicle-mounted position sensors generally exceeds more than six, the vehicle can be guaranteed to run in a safe distance all the time, the plurality of vehicle-mounted cameras are respectively located around the outer surface of a vehicle body, the plurality of vehicle-mounted position sensors are respectively located around the outer surface of the vehicle body, the plurality of display screens are located on the roof and respectively face around the vehicle body, display modules 4 are arranged in the display screens, the plurality of speakers are respectively located around the outer surface of the vehicle body, voice modules 5 are arranged in the speakers, and the warning;
in one embodiment, the warning system 1 generally includes four display screens disposed on the roof of the vehicle, and the four display screens respectively face the direction of the front of the vehicle, the direction of the rear of the vehicle, and the directions of the two sides of the vehicle, so as to ensure that pedestrians or drivers at any positions can see the text displayed on the display screens.
The data analysis module 2 comprises an information presetting unit 21, a position comparison unit 22, a motion analysis unit 23, a scene analysis unit 24 and a judgment unit 25;
the information presetting unit 21 is used for acquiring image information shot by a plurality of vehicle-mounted cameras and position information measured by a position sensor, sending the position information to the position comparison unit 22 and the judgment unit 25, and sending the image information to the scene analysis unit 24;
the position comparison unit 22 is configured with a comparison distance, acquires position information sent by the information presetting unit 21, compares the position information, and sends starting information to the vehicle control module 3, the display module 4 and the voice module 5 if the distance between the target object and the front side or the two sides of the vehicle is greater than the comparison distance, and sends comparison information to the motion analysis unit 23 if the distance between the target object and the front side or the two sides of the vehicle is greater than the comparison distance;
the motion analysis unit 23 is configured to acquire the comparison information sent by the position comparison unit 22 for analysis, send start information to the vehicle control module 3, the display module 4 and the voice module 5 if the advancing direction of the target object is not crossed or overlapped with the advancing direction of the head of the vehicle, and send analysis information to the scene analysis unit 24 if the advancing line of the target object is crossed or overlapped with the advancing direction of the head of the vehicle;
a scene analysis unit 24 for receiving the analysis information from the motion analysis unit 23, receiving the image information from the information presetting unit 21, and analyzing the vehicle state and the target object model according to the image information, if the vehicle is in a parking state in the garage and the target object model is a person or other vehicles, the outbound information is generated and sent to the vehicle control module 3, the judgment unit 25, the display module 4 and the voice module 5, if the vehicle is in a right-turn lane in front of the zebra crossing and the target object model is a person, the steering information is generated and transmitted to the vehicle control module 3, the judgment unit 25, the display module 4 and the voice module 5, and if the vehicle is in a driving state and the target object is the vehicle, generating congestion information and transmitting the congestion information to the vehicle control module 3, the judgment unit 25, the display module 4 and the voice module 5;
a judgment unit 25 configured with a designated time and a judgment distance, receiving the ex-warehouse information or the steering information or the congestion information sent by the scene analysis unit 24, receiving the position information sent by the information presetting unit 21, sending start information to the voice module 5, the display module 4 and the vehicle control module 3 if the distance between the vehicle and the target object is greater than the judgment distance or exceeds the designated time within the designated time, and if the distance between the vehicle and the target object is less than the judgment distance within the designated time, circularly judging an instruction by the judgment unit 25;
the vehicle control module 3 controls the vehicle to run at an accelerated speed if the start information is received, controls the vehicle to run at a decelerated speed if the congestion information is received, and controls the vehicle to stop if the steering information or the garage leaving information is received;
the display module 4 is used for receiving the starting information, the plugging information, the steering information and the ex-warehouse information, generating corresponding reminding information and displaying the reminding information on a display screen;
and the voice module 5 receives the starting information, the plugging information, the steering information and the ex-warehouse information, generates corresponding voice information and broadcasts the voice information through a loudspeaker.
The safety of the vehicle and the target object is ensured through the safety of the position comparison unit 22 and the motion analysis unit 23, the safety of the vehicle and the target object can be ensured, the double-insurance algorithm mechanism can reduce the occurrence of accidents to a certain extent, meanwhile, the vehicle state is analyzed through the judgment unit 25 and the scene analysis module, correct information can be given to reach the vehicle control module 3, the driving behavior of the vehicle threatening the target object is prevented, the display module 4 and the voice module 5 are arranged, the target object can clearly know the timely dynamic state of the vehicle, the vehicle and the target object are prevented from stopping, and the voice module 5 and the display module 4 can timely remind the blind and the deaf-mute.
In one embodiment, if the voice module 5 receives the start information, it sends out a "automatically driving the vehicle to start, please pay attention to the safety" voice message through the speaker; if the rotation information is received, sending out voice information of 'giving up the pedestrian and asking you to walk' through a loudspeaker; if the information of adding the jam is received, sending out voice information of 'agreeing to cut in, asking you to walk first' through a loudspeaker; if the information of leaving the warehouse is received, the voice information of 'waiting for parking and asking you to walk first' is sent out through a loudspeaker; and if the fault information is received, sending out voice information of 'apology very and automatic driving vehicle fault' through a loudspeaker.
In one embodiment, if the display module 4 receives the start information, it sends a text message of "automatically driving the vehicle to start, please pay attention to safety" through the display; if the rotation information is received, the display sends out character information of 'giving the best to the pedestrian, asking you to walk first'; if the information of adding the jam is received, the text information of 'agreeing to cut in and asking you to walk first' is sent out through the display; if the information of leaving the warehouse is received, the text information of 'waiting for parking and asking you to walk first' is sent out through the display; and if the fault information is received, sending out character information of 'apology very and automatic driving vehicle fault' through the display.
In one embodiment, during the running process of the vehicle, the display sends out 'the vehicle is an automatic driving vehicle and please note', and meanwhile, the loudspeaker sends out 'the vehicle is an automatic driving vehicle and please note'.
Referring to fig. 3, the information presetting unit 21 is provided with a storage subunit 211, which stores the image information and the position information in time sequence, and is configured with an expiration date, deletes the image information or the position information if the image information or the position information exceeds the expiration date, and retains the image information or the position information if the image information or the position information does not exceed the expiration date.
In one embodiment, a certain storage space is reserved in the storage subunit 211, when the occupied amount of the stored image information or the stored position information reaches the storage space, the storage subunit 211 automatically deletes the earliest reserved image information and position information, and through the setting of the storage subunit 211, the requirement of a user for installing a vehicle recorder can be eliminated, and meanwhile, the image information generated by the vehicle-mounted camera is the all-around image information of the vehicle, so that the vehicle recorder can only record the driving information of the head of the vehicle more comprehensively compared with a common vehicle recorder.
Referring to fig. 4, the scenario analysis unit 24 is provided with a delivery sub-unit 241, which is configured to synchronously acquire image information received by the scenario analysis unit 24, analyze the image information, if there is a target object in the image information and the vehicle is in the garage, no information is generated, if there is no target object in the image information and the vehicle is in the garage, start information is generated, and the start information is sent to the display module 4, the voice module 5 and the vehicle control module 3, and the delivery sub-unit 241 can enable the vehicle to be delivered normally even if there is no target object, and the display module 4 and the voice module 5 can also correctly issue a prompt to some distant target objects or target objects that are not detected.
Referring to fig. 2, the warning system 1 further includes a time presetting module 6, and the user modifies the specified time and the expiration date through the time presetting module 6.
In one embodiment, the specified time is preset to 10 seconds.
In one embodiment, the expiration date is preset to 7 days.
Referring to fig. 2, the warning system 1 includes a fault reminding module 7, and if a fault occurs in the automatic driving process of the vehicle, fault information is generated and sent to the display module 4 and the voice module 5.
Referring to fig. 1-2, the display module 4 receives the fault information, generates corresponding reminding information and displays the reminding information on the display screen; and the voice module 5 receives the fault information, generates corresponding voice information and broadcasts the voice information through a loudspeaker.
In one embodiment, the judgment distance and the comparison distance are both equal to 2 meters.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. The utility model provides an automatic drive vehicle right of way attribution warning system which characterized in that: the warning system comprises a plurality of vehicle-mounted cameras and a plurality of vehicle-mounted position sensors, wherein the vehicle-mounted cameras are respectively positioned on the periphery of the outer surface of a vehicle body and respectively face the periphery of the vehicle body, the vehicle-mounted position sensors are respectively positioned on the periphery of the outer surface of the vehicle body, and the warning system (1) further comprises a data analysis module (2) and a vehicle control module (3);
the data analysis module (2) comprises an information presetting unit (21), a position comparison unit (22), a motion analysis unit (23), a scene analysis unit (24) and a judgment unit (25);
the information presetting unit (21) acquires image information shot by a plurality of vehicle-mounted cameras and position information measured by the position sensors, sends the position information to the position comparison unit (22) and the judgment unit (25), and sends the image information to the scene analysis unit (24);
the position comparison unit (22) is configured with a comparison distance, acquires position information sent by the information presetting unit (21) and compares the position information, if the distance between the target object and the front or two sides of the vehicle is greater than the comparison distance, the position comparison unit sends starting information to the vehicle control module (3), and if the distance between the target object and the front or two sides of the vehicle is greater than the comparison distance, the position comparison unit sends comparison information to the motion analysis unit (23);
the motion analysis unit (23) is used for acquiring comparison information sent by the position comparison unit (22) for analysis, if the advancing direction of the target object is not crossed or overlapped with the advancing direction of the head of the vehicle, starting information is sent to the vehicle control module (3), and if the advancing paying-off line of the target object is crossed or overlapped with the advancing direction of the head of the vehicle, analysis information is sent to the scene analysis unit (24);
the scene analysis unit (24) receives the analysis information sent by the motion analysis unit (23), receives the image information sent by the information presetting unit (21), and analyzing the vehicle state and the target object model according to the image information, if the vehicle is in a parking state in the garage and the target object model is a person or other vehicles, generating warehouse-out information, sending the warehouse-out information to a vehicle control module (3) and the judging unit (25), if the vehicle is positioned in a right-turn lane in front of the zebra crossing and the target object model is a person, generating steering information, sending the steering information to a vehicle control module (3) and the judging unit (25), if the vehicle is in a running state and the target object is the vehicle, generating congestion information and sending the congestion information to a vehicle control module (3) and the judgment unit (25);
the judging unit (25) is configured with a designated time and a judging distance, receives the ex-warehouse information or the steering information or the congestion information sent by the scene analyzing unit (24), receives the position information sent by the information presetting unit (21), sends starting information to the vehicle control module (3) if the distance between the vehicle and the target object in the designated time is greater than the judging distance or exceeds the designated time, and the judging unit (25) circularly judges an instruction if the distance between the vehicle and the target object in the designated time is less than the judging distance;
and the vehicle control module (3) controls the vehicle to run in an accelerated mode if the starting information is received, controls the vehicle to run in a decelerated mode if the congestion information is received, and controls the vehicle to stop if the steering information or the garage-out information is received.
2. The system according to claim 1, wherein the system comprises: the warning system (1) further comprises a plurality of display screens, the display screens are located on the roof, display modules (4) are arranged in the display screens, the display modules (1) acquire the starting information, the warehouse-out information, the steering information and the plugging information, and generate corresponding reminding information to be displayed on the display screens.
3. The system according to claim 1, wherein the system comprises: the warning system (1) further comprises a plurality of loudspeakers, the loudspeakers are located on the periphery of the outer surface of the vehicle body respectively, a voice module (5) is arranged in the loudspeakers, the voice module (5) acquires the starting information, the plug information, the steering information and the warehouse-out information, and corresponding voice information is generated and broadcasted through the loudspeakers.
4. The system according to claim 1, wherein the system comprises: the information presetting unit (21) is provided with a storage subunit (211) which stores the image information and the position information according to a time sequence and is configured with an expiration time limit, if the image information or the position information exceeds the expiration time limit, the image information or the position information is deleted, and if the image information or the position information does not exceed the expiration time limit, the image information or the position information is reserved.
5. The system according to claim 1, wherein the system comprises: the scene analysis unit (24) is provided with a garage-exiting subunit (241) which is used for synchronously acquiring the image information received by the scene analysis unit (24) and analyzing the image information, if the image information contains a target object and the vehicle is in a garage, no information is generated, if the image information contains no target object and the vehicle is in the garage, starting information is generated and sent to the display module (4), the voice module (5) and the vehicle control module (3).
6. The system according to claim 4, wherein the system comprises: the warning system (1) further comprises a time presetting module (6), and a user modifies the designated time and the expiration date through the time presetting module (6).
7. The system of claim 6, wherein the system comprises: the expiration date is preset to 7 days, and the designated time is preset to 10 seconds.
8. The system according to claim 1, wherein the system comprises: the warning system (1) comprises a fault reminding module (7), if a fault occurs in the automatic driving process of the vehicle, fault information is generated, and the fault information is sent to the display module (4) and the voice module (5).
9. The system according to claim 8, wherein the system further comprises: the display module (4) receives the fault information, generates corresponding reminding information and displays the reminding information on a display screen; and the voice module (5) receives the fault information, generates corresponding voice information and broadcasts the voice information through a loudspeaker.
10. The system according to claim 1, wherein the system comprises: the judgment distance and the comparison distance are both equal to 2 meters.
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|---|---|
| CN112837553B (en) | 2022-06-17 |
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