CN103625367A - Road obstacle recognition device and recognition method thereof - Google Patents
Road obstacle recognition device and recognition method thereof Download PDFInfo
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- CN103625367A CN103625367A CN201310669235.5A CN201310669235A CN103625367A CN 103625367 A CN103625367 A CN 103625367A CN 201310669235 A CN201310669235 A CN 201310669235A CN 103625367 A CN103625367 A CN 103625367A
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Abstract
The invention discloses a road obstacle recognition device and a recognition method thereof used for automobile auxiliary safety or automatic driving. The road obstacle recognition device comprises a laser emission device, which is arranged on a headstock and is used for projecting a design pattern to the road surface in front of the automobile; an image capture device, which is arranged on the headstock and is used for capturing a laser real-time pattern on the road surface in front of the automobile; a processor, which is used for receiving data transmitted by the image capture device, analyzing the design pattern and the real-time pattern, and transmitting an analysis result to an automobile automatic driving system. The recognition method comprises the following steps of projecting the design pattern to the road surface in front of the automobile; capturing the laser real-time pattern on the road surface in front of the automobile; analyzing the design pattern and the real-time pattern, and transmitting the analysis result to the automobile automatic driving system. The road obstacle recognition device and the recognition method thereof have the beneficial effects that the road condition in front of the automobile can be analyzed in a real-time manner, an obstacle which is likely to cause driving safety hazard is obtained, and driving safety is ensured.
Description
Technical field
The present invention relates to automobile auxiliary security or automatic Pilot field, be specifically related to a kind of road barricade means of identification and recognition methods thereof.
Background technology
One of automatic driving technical issues that need to address are road Identification problems, and the technological means that prior art adopts has image recognition, infrared pickoff identification and radar identification.These technology are long-range by electronic chart and GPS programme path, catch the obstacles such as vehicle, pedestrian, traffic lights and direction board, and calculate distance by radar near vehicle by pick up camera and infrared pickoff.The defect of prior art is, above-mentioned which kind of recognition technology no matter, and equal identical or close projection and grooves of some colors on None-identified road surface, while there are these unfairness road conditions in vehicle course, vehicle can not hidden, thereby affects traffic safety.
Summary of the invention
In view of this, a kind of road barricade means of identification provided by the invention and recognition methods thereof, can effectively identify projection and groove on road.
For achieving the above object, the technical solution used in the present invention is:
A road barricade means of identification, this means of identification comprises:
Be installed on headstock, for layout being projected to the laser beam emitting device on the front road surface of car;
Be installed on headstock, for catching the image capture device of laser real-time pattern on the front road surface of car;
And, accept the data that image capture device transmits, analyze layout and real-time pattern the treater to automatic vehicle control system by analysis result real-time Transmission.By the difference between contrast layout and real-time pattern, can obtain certain region, the place ahead is projection or groove, the route running of degree minimum thereby the selection of commander's automobile is jolted.
Preferably, laser beam emitting device is laser projecting apparatus, and image capture device is pick up camera.The equipment that other have above-mentioned functions of the prior art all can.
Further, laser beam emitting device and image capture device are all installed on headstock inside by angle regulator.Before making laser beam emitting device and image capture device can select car, road surface how far is for projection road surface, to meet different condition of road surfaces and Vehicle Speed.
A road barricade recognition methods, comprises the following steps:
401, laser layout is projected on the front road surface of car;
402, catch the laser real-time pattern on the front road surface of car;
403, analyze layout and real-time pattern and analysis result is transferred to automatic vehicle control system.
Preferably, in step 401, layout is spot figure or grid chart.More easily analyze and distinguish.
Preferably, in step 401, laser is black light.That while avoiding passenger to hope to road surface, can not remove sees road surface clearly.
Beneficial effect of the present invention is: the condition of road surface before real-time analysis car, obtains the obstacle that may cause traffic safety, guarantee driving safety.
Accompanying drawing explanation
Fig. 1 is the structure diagram of road barricade means of identification of the present invention;
Fig. 2 is the schematic diagram of road barricade recognition methods of the present invention;
Fig. 3 is layout of the present invention;
Fig. 4 is real-time pattern of the present invention.
1, laser beam emitting device; 2, image capture device; 3, treater; 4, theoretical hot spot drop point; 5, actual hot spot drop point.
The specific embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described, obviously, accompanying drawing is described is only a part of the present invention rather than whole embodiment.
As illustrated in fig. 1 and 2, a kind of road barricade means of identification provided by the invention, this means of identification comprises and is installed on headstock, for layout being projected to the laser beam emitting device 1 on the front road surface of car; Be installed on headstock, for catching the image capture device 2 of laser real-time pattern on the front road surface of car; And, accept the data that image capture device 2 transmits, analyze layout and real-time pattern the treater 3 to automatic vehicle control system by analysis result real-time Transmission.Here, headstock refers to and can give projection full-view front position, road surface before laser beam emitting device 1 and image capture device 2 cars.
Laser beam emitting device 1 and image capture device 2 are preferably mounted at headstock inside so that protect and strengthen car body aesthetic feeling, but should be without barrier between the catch end of the transmitting terminal of laser beam emitting device 1 and image capture device 2 and road surface.
The in the situation that of known laser feedway 1 setting height(from bottom) and crevice projection angle, if the front road surface of car is complete plane, the laser real-time pattern forming after layout projection is so unique with computable.After projection, image capture device 2 catches and is transferred to treater 3 by laser real-time pattern, and what treater 3 should contrast when contrast is actual laser real-time pattern and theoretic laser real-time pattern.As shown in Figure 3 and Figure 4, while there is projection and groove on road surface, actual real-time pattern can deform, now, and according to the size of distortion, and aforesaid laser beam emitting device 1 setting height(from bottom) and crevice projection angle, according to geometric knowledge, can draw projection and the size of groove, personal vehicle system is again in conjunction with the moving velocity of vehicle, can control accurately vehicle avoiding obstacles, guarantee driving safety.Obviously, for ascents and descents, the present invention also has discernibility.
In order to change the time to the enough routes of vehicle, when road conditions better, when the speed of a motor vehicle is very fast, for example, on expressway, preferably by laser projection to longer-distance road surface.And on the poor road of the road conditions such as back road, select to be incident upon on the road surface by vehicle closer distance, therefore, laser beam emitting device 1 and image capture device 2 should be that angle is adjustable and can automatically control.It should be noted that, laser beam emitting device 1 is in different angles simultaneously, and identical layout should present different theoretical real-time patterns, and treater 3 is synchronous this pattern that upgrades when regulating laser beam emitting device 1 and image capture device 2.
In the selection of concrete layout, preferred spot figure and grid chart, concrete pattern should consider the setting height(from bottom) of laser beam emitting device 1 and the size of crevice projection angle and vehicle tyre on selecting, to guarantee, when projection distance farthest, the projection and the groove that are enough to affect passenger safety should be able to be detected by arbitrary secondary real-time pattern, and therefore, the blank parts of real-time pattern should be not excessive.
Road barricade recognition methods provided by the invention, comprises the following steps:
401, laser layout is projected on the front road surface of car;
402, catch the laser real-time pattern on the front road surface of car;
403, analyze layout and real-time pattern and analysis result is transferred to automatic vehicle control system.
In order to guarantee that passenger checks the accuracy of the place ahead road conditions, preferably project black light, as ultraviolet ray, infrared ray, far-infrared rays etc.
Road barricade means of identification provided by the invention, is preferably used in conjunction with other existing road obstacle means of identification during actual use, jointly to complete the auxiliary function of driving.
Except automobile, the present invention is also applicable to other the prior art field that need to identify road barricade.
The description of technique scheme has only embodied the preferred technical solution of the present invention, and is not exhaustively, or limit the invention to disclosed form.Based on embodiments of the invention, the other forms of technical scheme that anyone obtains under the prerequisite of not making creative work, no matter it is in structure or which kind of is made change in form, within all belonging to protection scope of the present invention.
Claims (6)
1. a road barricade means of identification, is characterized in that, this means of identification comprises:
Be installed on headstock, for layout being projected to the laser beam emitting device (1) on the front road surface of car;
Be installed on headstock, for catching the image capture device (2) of laser real-time pattern on the front road surface of car;
And, accept the data that image capture device transmits, analyze layout and real-time pattern the treater (3) to automatic vehicle control system by analysis result real-time Transmission.
2. road barricade means of identification according to claim 1, is characterized in that, laser beam emitting device is laser projecting apparatus, and image capture device is pick up camera.
3. road barricade means of identification according to claim 1, is characterized in that, laser beam emitting device and image capture device are all installed on headstock inside by angle regulator.
4. a road barricade recognition methods, is characterized in that, comprises the following steps:
401, laser layout is projected on the front road surface of car;
402, catch the laser real-time pattern on the front road surface of car;
403, analyze layout and real-time pattern and analysis result is transferred to automatic vehicle control system.
5. road barricade means of identification according to claim 4, is characterized in that, in step 401, layout is spot figure or grid chart.
6. road barricade means of identification according to claim 4, is characterized in that, in step 401, laser is black light.
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| CN201310669235.5A CN103625367A (en) | 2013-12-11 | 2013-12-11 | Road obstacle recognition device and recognition method thereof |
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| CN201310669235.5A CN103625367A (en) | 2013-12-11 | 2013-12-11 | Road obstacle recognition device and recognition method thereof |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104309533A (en) * | 2014-10-31 | 2015-01-28 | 成都众易通科技有限公司 | Vehicle driver assistance system |
| CN104354644A (en) * | 2014-08-26 | 2015-02-18 | 孟世民 | Reverse monitoring device and vehicle employing same |
| CN104678383A (en) * | 2015-02-13 | 2015-06-03 | 李兴虎 | Laser projector for reversing |
| CN104742830A (en) * | 2015-04-20 | 2015-07-01 | 吉林大学 | Laser grid based road surface monitoring system |
| CN105185160A (en) * | 2015-10-09 | 2015-12-23 | 卢庆港 | Pavement detection system and detection method |
| CN105662798A (en) * | 2016-03-22 | 2016-06-15 | 昆山市工研院智能制造技术有限公司 | Blind person navigation device based on laser and image processing and walking and obstacle avoidance method based on laser and image processing |
| CN105842746A (en) * | 2016-04-15 | 2016-08-10 | 中天建设集团浙江安装工程有限公司 | Auxiliary tool for the mounting of an active infrared fire detector |
| CN106585526A (en) * | 2016-12-07 | 2017-04-26 | 厦门大学 | Recognition device of objects in front of automobile and recognition method thereof |
| CN106951862A (en) * | 2017-03-20 | 2017-07-14 | 广东工业大学 | A kind of road barrier recognition methods and system |
| CN107664502A (en) * | 2016-07-28 | 2018-02-06 | 奥迪股份公司 | The method, apparatus and system of dynamic programming path |
| CN108116311A (en) * | 2017-12-29 | 2018-06-05 | 吉林雄飞科技有限公司 | A kind of driving at night pavement monitoring device |
| CN108369778A (en) * | 2015-11-19 | 2018-08-03 | 华为技术有限公司 | A kind of air navigation aid and equipment |
| CN108701232A (en) * | 2018-05-09 | 2018-10-23 | 深圳阜时科技有限公司 | Method and device, identity recognition device and the electronic equipment of the three-dimensional mapping of target |
| CN110133624A (en) * | 2019-05-14 | 2019-08-16 | 北京百度网讯科技有限公司 | Method for detecting abnormality, device, equipment and medium |
| CN112009356A (en) * | 2015-04-10 | 2020-12-01 | 麦克赛尔株式会社 | Image projection apparatus and method |
| WO2021047034A1 (en) * | 2019-09-13 | 2021-03-18 | 朱宏 | Automated driving system for motor vehicle |
| CN113147579A (en) * | 2015-04-10 | 2021-07-23 | 麦克赛尔株式会社 | System mounted on vehicle |
| CN113500995A (en) * | 2021-05-24 | 2021-10-15 | 云度新能源汽车有限公司 | Enhanced mark identification method and system applied to automatic driving |
| CN114056226A (en) * | 2021-11-26 | 2022-02-18 | 江苏科技大学 | Automatic control method for irradiation height of automobile LED headlamp |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104354644A (en) * | 2014-08-26 | 2015-02-18 | 孟世民 | Reverse monitoring device and vehicle employing same |
| CN104309533A (en) * | 2014-10-31 | 2015-01-28 | 成都众易通科技有限公司 | Vehicle driver assistance system |
| CN104678383A (en) * | 2015-02-13 | 2015-06-03 | 李兴虎 | Laser projector for reversing |
| CN113147579A (en) * | 2015-04-10 | 2021-07-23 | 麦克赛尔株式会社 | System mounted on vehicle |
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| CN112092724A (en) * | 2015-04-10 | 2020-12-18 | 麦克赛尔株式会社 | Vehicle with a steering wheel |
| CN112009356A (en) * | 2015-04-10 | 2020-12-01 | 麦克赛尔株式会社 | Image projection apparatus and method |
| CN104742830A (en) * | 2015-04-20 | 2015-07-01 | 吉林大学 | Laser grid based road surface monitoring system |
| CN104742830B (en) * | 2015-04-20 | 2016-09-28 | 吉林大学 | Roadway monitoring system based on laser network |
| CN105185160A (en) * | 2015-10-09 | 2015-12-23 | 卢庆港 | Pavement detection system and detection method |
| CN105185160B (en) * | 2015-10-09 | 2017-11-24 | 卢庆港 | The pavement detection method that distorted region mobile trend identifies in virtual grid |
| CN108369778A (en) * | 2015-11-19 | 2018-08-03 | 华为技术有限公司 | A kind of air navigation aid and equipment |
| CN105662798A (en) * | 2016-03-22 | 2016-06-15 | 昆山市工研院智能制造技术有限公司 | Blind person navigation device based on laser and image processing and walking and obstacle avoidance method based on laser and image processing |
| CN105842746A (en) * | 2016-04-15 | 2016-08-10 | 中天建设集团浙江安装工程有限公司 | Auxiliary tool for the mounting of an active infrared fire detector |
| CN107664502A (en) * | 2016-07-28 | 2018-02-06 | 奥迪股份公司 | The method, apparatus and system of dynamic programming path |
| CN106585526A (en) * | 2016-12-07 | 2017-04-26 | 厦门大学 | Recognition device of objects in front of automobile and recognition method thereof |
| CN113232647A (en) * | 2016-12-07 | 2021-08-10 | 厦门大学 | Method and device for identifying vehicle front object |
| CN106951862A (en) * | 2017-03-20 | 2017-07-14 | 广东工业大学 | A kind of road barrier recognition methods and system |
| CN108116311A (en) * | 2017-12-29 | 2018-06-05 | 吉林雄飞科技有限公司 | A kind of driving at night pavement monitoring device |
| CN108701232A (en) * | 2018-05-09 | 2018-10-23 | 深圳阜时科技有限公司 | Method and device, identity recognition device and the electronic equipment of the three-dimensional mapping of target |
| WO2019213863A1 (en) * | 2018-05-09 | 2019-11-14 | 深圳阜时科技有限公司 | Three-dimensional target mapping method and apparatus, personal identification apparatus and electronic device |
| CN110133624A (en) * | 2019-05-14 | 2019-08-16 | 北京百度网讯科技有限公司 | Method for detecting abnormality, device, equipment and medium |
| WO2021047034A1 (en) * | 2019-09-13 | 2021-03-18 | 朱宏 | Automated driving system for motor vehicle |
| CN113500995A (en) * | 2021-05-24 | 2021-10-15 | 云度新能源汽车有限公司 | Enhanced mark identification method and system applied to automatic driving |
| CN113500995B (en) * | 2021-05-24 | 2023-08-29 | 云度新能源汽车有限公司 | Enhancement mark recognition method and system applied to automatic driving |
| CN114056226A (en) * | 2021-11-26 | 2022-02-18 | 江苏科技大学 | Automatic control method for irradiation height of automobile LED headlamp |
| CN114056226B (en) * | 2021-11-26 | 2024-03-26 | 江苏科技大学 | Automatic control method for illumination height of automobile LED headlight |
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Application publication date: 20140312 |