CN105760822B

CN105760822B - A kind of vehicle drive control method and system

Info

Publication number: CN105760822B
Application number: CN201610070331.1A
Authority: CN
Inventors: 徐黎卿
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-02-01
Filing date: 2016-02-01
Publication date: 2019-01-15
Anticipated expiration: 2036-02-01
Also published as: CN105760822A

Abstract

The present invention provides a kind of vehicle drive control method and system, this method includes when detecting driver's both hands information in default tracing area, and real-time tracking acquires the first image information of multiframe of driver's both hands；The first image information analysis of multiframe is handled to obtain the first running track of driver's both hands；And multiframe second image information of the real-time tracking acquisition steering wheel for vehicle in default tracing area；The second image information analysis of multiframe is handled to obtain the second running track of steering wheel for vehicle；Further according to the control vehicle implementation pattern switching of the matching degree of the first running track and the second running track, its trace information for extracting driver's hand and vehicle steering wheel simultaneously, and driver intention corresponding to the interaction of the two trace information can be used to be applied on vehicle and the vehicle is controlled, so that the switch safety of driving mode is higher, and the flexible switching and harmonious interaction of automatic Pilot and pilot steering are realized, but also practicability is stronger.

Description

A kind of vehicle drive control method and system

Technical field

The present invention relates to vehicle drive control technology fields, in particular to a kind of vehicle drive control method and are System.

Background technique

With vehicle intellectualized development, attention of the automatic Pilot technology increasingly by vast automobile manufacturing company.Make For commercial earlier utilization, ADAS (Advanced Driver Assistant System, advanced driving assistance system) skill Sufficient development has been obtained in art at present, and has the example of many applications.For example, have automatic cruising on many automobiles, Automatic parking, the application of the relevant technologies of functions such as lane holding.

Requirement of the automatic Pilot technology for safety is very harsh, and the switching between pilot steering is with greater need for complete Security Techniques.Above-mentioned switching is two-way, that is, includes: that pilot steering pattern switching is automatic driving mode and drives automatically Sailing pattern switching is artificial driving mode.When switching from pilot steering to automatic Pilot, automobile is firstly the need of acquisition driver's phase Hope the intention for carrying out automatic Pilot to carry out corresponding pattern switching, wherein above-mentioned intention can be pressed by the way that certain pressings are certain Button is achieved, can also be by being achieved after both hands off-direction disk several seconds simultaneously；And from automatic Pilot to manually driving It is more increasingly complex than the former switching when sailing switching, especially in the case where certain urgent, for example, driver has found to drive rail Mark has there are problem carries out the intention of pilot steering immediately to carry out corresponding pattern switching, it is seen then that how to guarantee to drive Intentions of member can be incuded by automobile and can further obtain to weigh with release automobile manipulation and urgently to be resolved ask as one Topic.

In view of the ability that driver discharges and obtain manipulation power should correspond to the switching of above-mentioned mode, and steering system is made For the important link in automotive control system, and corresponds to driver's release and obtain the ability of manipulation power.Currently, passing through mainstream Steering system product E PS (Electrical Power Steering, electronic power assist steering system) carry out automobile control, Whether apply the state of hand-power on the steering wheel using the available driver of torque sensor in EPS to carry out driver's meaning The judgement of figure.But the intention by torque sensor as driver, it is not enough to cutting by above-mentioned state control model It changes.For example, automobile is switched to from pilot steering and is driven automatically when torque sensor senses without hand-power is applied on the steering wheel It sails, however generates steering wheel when the above-mentioned state without application hand-power may be straight trip and do not represented without rotating without torsional forces Driver it is expected to carry out above-mentioned switching, in addition, if pilot steering and the switching of automatic Pilot are indefinite, when pilot steering is misjudged When for automatic Pilot, there are security risks for itself, and the behavior of both hands off-direction disk is also that law is clear in pilot steering Forbid.

Inventor has found under study for action, carries out the control of mode motor switching by the way of torque sensor in the prior art System, the cold cut of the one or the other of above-mentioned switching regulator changes, and security reliability is poor, and for automatic Pilot and pilot steering how into The flexible switching of row, harmonious interactive control system there is no perfect scheme.

Summary of the invention

In view of this, passing through direction of traffic the purpose of the present invention is to provide a kind of vehicle drive control method and system Information exchange between disk and driver's both hands intention realizes the flexible switching of automatic Pilot and pilot steering, ensure that and cut Safety during changing.

In a first aspect, this method specifically includes the embodiment of the invention provides a kind of vehicle drive control method:

When detecting driver's both hands information in default tracing area, real-time tracking acquire driver's both hands it is default with The first image information of multiframe in track region；

The first image information of multiframe of acquisition is analyzed and processed, the first running track of driver's both hands is obtained；

Real-time tracking acquires multiframe second image information of the steering wheel for vehicle in default tracing area；

The second image information of multiframe of acquisition is analyzed and processed, the second running track of steering wheel for vehicle is obtained；

Mould is realized according to the corresponding switch mode control vehicle of the matching degree of the first running track and the second running track Formula switching；Wherein, mode includes automatic driving mode and pilot steering mode.

With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein real When multiframe first image information of the tracking acquisition driver's both hands in default tracing area include:

Acquire first frame first image information of driver's both hands in default tracing area；

When detecting first frame first image information of driver's both hands in default tracing area, the first image is extracted Fisrt feature information in information；Fisrt feature information includes the following information of driver's both hands: the first color characteristic information and First body dynamics information；First body dynamics information includes at least the first position point of driver's both hands；

It is carried out according to fisrt feature information of the particle filter algorithm in multiple characteristics space to the first image information of first frame Calculation processing obtains the first position point of the first image information of next frame；

When often receiving first image information of frame, the fisrt feature information in the first image information is extracted, and according to more The particle filter algorithm of weight feature space carries out calculation processing to fisrt feature information, obtains the first image information of next frame First position point exports the first all image information and the of acquisition until when collecting the first image information of last frame The corresponding first position point of one image information.

The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides second of first aspect Possible embodiment, wherein according to the particle filter algorithm in multiple characteristics space to the first of the first image information of first frame Characteristic information carries out calculation processing, and the first position point for obtaining the first image information of next frame includes:

In the preset range region of the first image information of next frame, multiple target search particles for meeting Gaussian Profile are set； Wherein, each target search particle respectively corresponds different search images, and search image is in the first image information of next frame The image of different zones；

Extract the second feature information of each search image；Second feature information includes searching for the following information of image: Second color characteristic information and the second body dynamics information；Second body dynamics information includes at least the second position of search image Point；

Color similarity calculating is carried out to the first color characteristic information and the second color characteristic information, is obtained and the first color The highest second color characteristic information of characteristic information similarity；

The second position point of the corresponding search image of the second color characteristic information that will acquire is determined as the first figure of next frame As the first position point of driver's both hands in information.

The possible embodiment of second with reference to first aspect, the embodiment of the invention provides the third of first aspect Possible embodiment, wherein real-time tracking acquires multiframe second image information of the steering wheel for vehicle in default tracing area Include:

Acquire first frame second image information of the steering wheel for vehicle in default tracing area；

In the second image information of first frame, the absolute coordinate of the desired guiding trajectory starting point of steering wheel for vehicle is calculated；

According to Kalman filtering algorithm to the absolute coordinate of the desired guiding trajectory starting point in the second image information of first frame into Row calculation processing obtains the absolute coordinate of the second image information of next frame；

When often receiving second image information of frame, the absolute seat of the desired guiding trajectory starting point in the second image information is extracted Mark, obtains the absolute coordinate of the desired guiding trajectory starting point in the second image information of next frame, until collecting last frame second When image information, the absolute of the desired guiding trajectory starting point in all the second image informations and the second image information of acquisition is exported Coordinate.

The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 4th kind of first aspect Possible embodiment, wherein according to the corresponding switch mode control of the matching degree of the first running track and the second running track Vehicle implementation pattern processed switches

According to the first matching degree of the first running track and the second running track, generate corresponding with the first matching degree First driving mode switching signal；First driving mode switching signal is switched to manually for controlling vehicle by automatic driving mode Driving mode；

According to the second matching degree of the first running track and the second running track, generate corresponding with the second matching degree Second driving mode switching signal；Second driving mode switching signal is for controlling vehicle by pilot steering pattern switching to automatic Driving mode.

Second aspect, the embodiment of the invention also provides a kind of vehicle drive control system, which includes:

First image information tracks acquisition module, when for detecting driver's both hands information in default tracing area, Real-time tracking acquires multiframe first image information of driver's both hands in default tracing area；

First analysis and processing module, for the first image information of multiframe to the tracking acquisition module acquisition of the first image information It is analyzed and processed, obtains the first running track of driver's both hands；

Second image information tracks acquisition module, for real-time tracking acquisition steering wheel for vehicle in default tracing area The second image information of multiframe；

Second analysis and processing module, for the second image information of multiframe to the tracking acquisition module acquisition of the second image information It is analyzed and processed, obtains the second running track of steering wheel for vehicle；

Pattern switching control module, the first running track and second for being handled according to the first analysis and processing module The corresponding switch mode control vehicle implementation pattern of the matching degree for the second running track that analysis and processing module is handled is cut It changes；Wherein, mode includes automatic driving mode and pilot steering mode.

In conjunction with second aspect, the embodiment of the invention provides the first possible embodiments of second aspect, wherein the One image information tracks acquisition module

First image information collecting unit, for acquiring first frame first figure of driver's both hands in default tracing area As information；

Fisrt feature information extraction unit, for collecting the first image of first frame letter in the first image information collecting unit When breath, the fisrt feature information in the first image information is extracted；Fisrt feature information includes the following information of driver's both hands: the One color characteristic information and the first body dynamics information；First body dynamics information includes at least the first position of driver's both hands Point；

Location point computing unit, for the particle filter algorithm according to multiple characteristics space to fisrt feature information extraction list The fisrt feature information that member is extracted carries out calculation processing, obtains the first position point of the first image information of next frame；

Fisrt feature information extraction unit is also used to, and when often receiving first image information of frame, extracts the first image Fisrt feature information in information；Location point computing unit is also used to, according to the particle filter algorithm pair in multiple characteristics space The fisrt feature information that fisrt feature information extraction unit is extracted carries out calculation processing, obtains the of the first image information of next frame One location point, until exporting all the first image informations and first of acquisition when collecting the first image information of last frame The corresponding first position point of image information.

In conjunction with the first possible embodiment of second aspect, the embodiment of the invention provides second of second aspect Possible embodiment, wherein location point computing unit includes:

Subelement is arranged in target search particle, multiple for being arranged in the preset range region of the first image information of next frame Meet the target search particle of Gaussian Profile；Wherein, each target search particle respectively corresponds different search images, search Image is the image of different zones in the first image information of next frame；

Second feature information extraction subelement, for extracting the second feature information of each search image；Second feature Information includes searching for the following information of image: the second color characteristic information and the second body dynamics information；Second motion feature letter Breath includes at least the second position point of search image；

Color similarity computation subunit, the first color characteristic information for being extracted to fisrt feature information extraction unit Color similarity calculating is carried out with the second color characteristic information that second feature information extraction subelement extracts, is obtained and the first face The highest second color characteristic information of color characteristic information similarity；

Location point computation subunit, the second color characteristic information for obtaining color similarity computation subunit are corresponding The second position point of search image be determined as the first position points of driver's both hands in the first image information of next frame.

In conjunction with second of possible embodiment of second aspect, the embodiment of the invention provides the third of second aspect Possible embodiment, wherein the second image information tracks acquisition module and includes:

Second image information collecting unit, for acquiring first frame second figure of the steering wheel for vehicle in default tracing area As information；

First absolute coordinate computing unit, the second image of first frame letter for being acquired in the second image information collecting unit In breath, the absolute coordinate of the desired guiding trajectory starting point of steering wheel for vehicle is calculated；

Second absolute coordinate computing unit, for being calculated according to Kalman filtering algorithm the first absolute coordinate computing unit Absolute coordinate carry out calculation processing, obtain the absolute coordinate of the desired guiding trajectory starting point of the second image information of next frame；

First absolute coordinate computing unit is also used to, and when often receiving second image information of frame, extracts the second image The absolute coordinate of desired guiding trajectory starting point in information；Second absolute coordinate computing unit is also used to, according to the first absolute coordinate The absolute coordinate that computing unit calculates is handled, and the absolute of the desired guiding trajectory starting point in the second image information of next frame is obtained Coordinate, until exporting all the second image informations and the second image of acquisition when collecting the second image information of last frame The absolute coordinate of desired guiding trajectory starting point in information.

In conjunction with the third possible embodiment of second aspect, the embodiment of the invention provides the 4th kind of second aspect Possible embodiment, wherein pattern switching control module include:

First switching signal generation unit, the first running track for being handled according to the first analysis and processing module and First matching degree of the second running track that the second analysis and processing module is handled generates corresponding with the first matching degree First driving mode switching signal；First driving mode switching signal is switched to manually for controlling vehicle by automatic driving mode Driving mode；

Second switching signal generation unit, the first running track for being handled according to the first analysis and processing module and Second matching degree of the second running track that the second analysis and processing module is handled generates corresponding with the second matching degree Second driving mode switching signal；Second driving mode switching signal is for controlling vehicle by pilot steering pattern switching to automatic Driving mode.

Vehicle drive control method and system provided in an embodiment of the present invention, first real-time tracking acquire driver's both hands with And steering wheel for vehicle corresponding the first image information of multiframe and second image information of multiframe in default tracing area, and it is right respectively Above-mentioned the first image information of multiframe and the second image information of multiframe carry out calculation processing and obtain corresponding first running track and the Two running tracks；Then the switching of vehicle implementation pattern is controlled according to the matching degree of the first running track and the second running track, With the control mode in the prior art for carrying out mode motor switching using torque sensor, security reliability is poor to be compared, The trace information of driver's hand and vehicle steering wheel is extracted simultaneously, and can will be driven corresponding to the interaction of the two trace information The person of sailing is intended for being applied on vehicle and controls the vehicle, so that the switch safety of driving mode is higher, and real The flexible switching and harmonious interaction for having showed automatic Pilot and pilot steering, but also practicability is stronger.

To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate Appended attached drawing, is described in detail below.

Detailed description of the invention

In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this A little attached drawings obtain other relevant attached drawings.

Fig. 1 shows a kind of method flow diagram of vehicle drive control provided by the embodiment of the present invention；

Fig. 2 shows the method flow diagrams of the control of another kind vehicle drive provided by the embodiment of the present invention；

Fig. 3 shows the method flow diagram of the control of another kind vehicle drive provided by the embodiment of the present invention；

Fig. 4 shows the method flow diagram of the control of another kind vehicle drive provided by the embodiment of the present invention；

Fig. 5 shows the method flow diagram of the control of another kind vehicle drive provided by the embodiment of the present invention；

Fig. 6 shows a kind of structural schematic diagram of vehicle drive control system provided by the embodiment of the present invention；

Fig. 7 shows the first image information tracking in a kind of vehicle drive control system provided by the embodiment of the present invention and adopts Collect the structural schematic diagram of module；

Fig. 8 shows the knot of location point computing unit in a kind of vehicle drive control system provided by the embodiment of the present invention Structure schematic diagram；

Fig. 9 shows the second image information tracking in a kind of vehicle drive control system provided by the embodiment of the present invention and adopts Collect the structural schematic diagram of module；

Figure 10 shows pattern switching control module in a kind of vehicle drive control system provided by the embodiment of the present invention Structural schematic diagram.

Main element symbol description:

11, the first image information tracks acquisition module；22, the first analysis and processing module；33, the second image information tracking is adopted Collect module；44, the second analysis and processing module；55, pattern switching control module；111, the first image information collecting unit；112, Fisrt feature information extraction unit；113, location point computing unit；331, the second image information collecting unit；332, first absolutely Coordinate calculating unit；333, the second absolute coordinate computing unit；551, the first switching signal generation unit；552, the second switching letter Number generation unit；1131, subelement is arranged in target search particle；1132, second feature information extraction subelement；1133, color Similarity measures subelement；1134, location point computation subunit.

Specific embodiment

Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.

In view of in the related technology use torque sensor carry out mode motor switching control mode, security reliability compared with Difference and can not carry out the flexible switching between automatic Pilot and pilot steering, harmonious interaction and the problems such as poor practicability, this hair Bright embodiment provides a kind of vehicle drive control method and system, driver intention can be applied to vehicle control itself, Security reliability is higher, and realizes the flexible switching of automatic Pilot and pilot steering, harmonious interaction, and practicability is stronger.Referring to The flow chart of vehicle drive control method provided by the embodiment of the present invention shown in FIG. 1, the method specifically include following step It is rapid:

S101, when detecting driver's both hands information in default tracing area, real-time tracking acquisition driver's both hands exist The first image information of multiframe in default tracing area；

S102, the first image information of multiframe of acquisition is analyzed and processed, obtains the first operation rail of driver's both hands Mark.

Specifically, in view of during judging driver's driving intention, core point is driver's both hands the most Track algorithm, vehicle drive control method provided in an embodiment of the present invention detect that driver's both hands are believed in default tracing area When breath, real-time tracking acquires multiframe first image information of the driver's both hands in default tracing area, first image Information may include the histogram frame of driver's both hands, can also be the irregular image including driver's both hands profile；It will The first image information of multiframe of acquisition carry out the extraction of corresponding tracing point with combine, obtain the first operation rail of driver's both hands Mark.

Wherein, above-mentioned default tracing area is to drive both hands and vehicle side comprising the region including steering wheel for vehicle When having interactive to disk, driver's both hands are also preset in tracing area at this；In driver's both hands and steering wheel for vehicle no interactions, Driver's both hands leave above-mentioned default tracing area.Wherein, presetting the corresponding image of tracing area can be by being loaded into vehicle Monitored video camera system above driver's compartment is acquired in real time, based on the image procossing that these images are initialized, is extracted Corresponding initialization information when both hands first appear, and driver is carried out by particle filter according to the initialization information in real time The tracking of both hands obtains corresponding the first image information of multiframe of each tracing point of tracking acquisition both hands and the position of the tracing point Information is to obtain the first running track corresponding to driver's both hands.Wherein, the tracking of driver's both hands can be driver's list The tracking respectively of hand, is also possible to tracking while driver's both hands.

The second image information of multiframe of S103, real-time tracking acquisition steering wheel for vehicle in default tracing area；

S104, the second image information of multiframe of acquisition is analyzed and processed, obtains the second operation rail of steering wheel for vehicle Mark.

Specifically, in order to preferably carry out the judgement of driver's driving intention, vehicle provided by the embodiment of the present invention is driven Control method also multiframe second image information of the real-time tracking acquisition steering wheel for vehicle in default tracing area is sailed, by above-mentioned Preset track initial point carries out the extraction of corresponding absolute coordinate in second image information, to obtain corresponding and each absolute seat Second running track of the target steering wheel for vehicle.Wherein, above-mentioned steering wheel for vehicle comes across above-mentioned default tracing area always In corresponding monitored video camera system.

S105, the corresponding switch mode control vehicle reality of matching degree according to the first running track and the second running track Existing pattern switching；Wherein, mode includes automatic driving mode and pilot steering mode.

Specifically, vehicle drive control method provided in an embodiment of the present invention passes through above-mentioned first running track and the second fortune The matching degree of row track controls the pattern switching of vehicle.

Wherein, it is contemplated that the second running track of steering wheel for vehicle always exists in the control of entire vehicle drive, and drives Therefore first running track of the person's of the sailing both hands only ability when driver is with the presence of Driving control intention is carrying out automatic Pilot Mode to pilot steering mode switching when, above-mentioned matching degree is to enter monitored video camera system with driver's both hands of extraction Matching initial moment of the initial track point moment as reference, at this point, passing through of the first running track and the second running track It realizes with the control vehicle of switch mode corresponding to degree from automatic driving mode and switches to pilot steering mode；It is carrying out manually Driving mode to automatic driving mode switching when, above-mentioned matching degree is to leave monitoring camera system with driver's both hands of extraction Matching initial moment of the final track point moment of system as reference, at this point, passing through the first running track and the second running track Matching degree corresponding to switch mode control vehicle realize switching from pilot steering mode to automatic driving mode.

Vehicle drive control method provided in an embodiment of the present invention, first real-time tracking acquire driver's both hands and vehicle Steering wheel corresponding the first image information of multiframe and second image information of multiframe in default tracing area, and respectively to above-mentioned more The first image information of frame and the second image information of multiframe carry out calculation processing and obtain corresponding first running track and the second operation Track；Then the switching of vehicle implementation pattern is controlled according to the matching degree of the first running track and the second running track, and it is existing The control mode that mode motor switching is carried out using torque sensor in technology, security reliability is poor to be compared, and is mentioned simultaneously The trace information of driver's hand and vehicle steering wheel is taken, and driver corresponding to the interaction of the two trace information can be anticipated Figure is for being applied on vehicle and controlling the vehicle, so that the switch safety of driving mode is higher, and realizes certainly The dynamic flexible switching and harmonious interaction driven with pilot steering, but also practicability is stronger.

In order to preferably realize the trajectory extraction to driver's both hands, the tracking collection process of aforementioned present invention S101, tool Body is achieved by the steps of, flow chart shown in Figure 2, the method also includes:

The first image information of first frame of S201, acquisition driver's both hands in default tracing area；

S202, when detecting first frame first image information of driver's both hands in default tracing area, extract the Fisrt feature information in one image information；Wherein, fisrt feature information includes the following information of driver's both hands: the first color Characteristic information and the first body dynamics information；First body dynamics information includes at least the first position point of driver's both hands.

Specifically, when appearing in the corresponding default tracing area of monitored video camera system driver's both hands, the present invention The vehicle drive control method that embodiment provides can accurately track corresponding first image information of acquisition driver's both hands.

Wherein, monitored video camera system acquires the first frame of current drivers' both hands when capturing driver's both hands for the first time Driver's both hands can be split identification by the methods of pattern-recognition by the first image information, above-mentioned collection process, can also To pass through driver's both hands of moving object segmentation acquisition movement.Above-mentioned the first image of first frame is believed by feature extraction mode Breath is analyzed and processed, and obtains the fisrt feature information corresponding to the first image information.

In order to improve the robustness of subsequent tracking processing, extracted in vehicle drive control method provided in an embodiment of the present invention The first image information fisrt feature information be driver's both hands double characteristic information, the double characteristic information include first Color characteristic information and body dynamics information, wherein the first color characteristic information is the image feature space based on rgb space With the features of skin colors space based on HSV space；Above-mentioned body dynamics information is the motion feature space based on before and after frames, and at least Location point including driver's both hands.

Specifically, in the image of monitored video camera system real time shooting, for the extraction of the first color characteristic information, After being converted into HSV space by the rgb space of original image, reuses HSV feature space and carry out threshold values judgement, it is possible thereby to more effectively Ground extracts the Skin Color Information of driver's both hands, then obtains the general of hand central point by using BC (Bhattacharyya) coefficient Rate distribution, wherein high probability region is driver's both hands and low probability region is to preset in tracing area except driver's both hands Other parts；For motion feature space, extracts the information (being based on gray space) of two frames of front and back and carry out difference calculating Motion feature space is obtained, the corresponding gray scale difference value in motion feature space can extract the area of all high differences by corresponding algorithm The information in domain, including the hand exercise probability distribution of steer direction disk.Since there are hand exercises, deposited at both hands It is distributed in high probability, and only exists low probability distribution at static place.

In addition, the fisrt feature information is the first color characteristic information of set and body dynamics information and passes through features described above The total information that information weight distribution obtains, wherein after the total information can be a specific feature vector, and the total information is Continuous robust tracking handles the condition that provides the foundation.

S203, according to the particle filter algorithm in multiple characteristics space to the fisrt feature information of the first image information of first frame Calculation processing is carried out, the first position point of the first image information of next frame is obtained.

In view of driver's both hands are as flexible motion target, during carrying out relevant image procossing, it is easy to It is limited by soft objectives self character and the situations such as tracking loss occurs, vehicle drive control provided by the embodiment of the present invention Method processed preferably carries out the tracking of subsequent driver's both hands using the particle filter algorithm based on above-mentioned double characteristic information Processing.From the first position point of fisrt feature information prediction the first image information of next frame of current the first image information of first frame Detailed process, referring to Fig. 3.

S301, multiple target searches for meeting Gaussian Profile are set in the preset range region of the first image information of next frame Particle；Wherein, each target search particle respectively corresponds different search images, searches for image as the first image of next frame letter The image of different zones in breath；

S302, the second feature information for extracting each search image；Second feature information includes the following of search image Information: the second color characteristic information and the second body dynamics information；Second body dynamics information includes at least the of search image Two location points；

S303, color similarity calculating is carried out to the first color characteristic information and the second color characteristic information, obtained and the The one highest second color characteristic information of color characteristic information similarity；

The second position point of the corresponding search image of S304, the second color characteristic information that will acquire is determined as next frame the The first position point of driver's both hands in one image information.

In view of traditional particle filter mainly passes through Gauss prediction or Gauss prediction plus mobile speed in forecast period Degree is judged that although calculation amount is small tracking mistake often occurs in a practical situation for these prediction techniques.The present invention The vehicle drive control method that embodiment provides is based on double characteristic information and carries out corresponding precomputation, to improve forecast period More intended particles are located at high probability region.

Specifically, compared to the setting target search particle in the entire default corresponding whole image uniform plane of tracing area And subsequent characteristics extraction process is caused to take a long time, the present invention is set in the preset range region of the first image information of next frame first Multiple target search particles for meeting Gaussian Profile are set, are in the more settings in place by close-target (i.e. driver's both hands) Some target search particles are arranged at separate target, wherein each target search particle is right respectively in target search particle less Different search images is answered, search image is the image of different zones in the first image information of next frame, then extracts each Search for the second feature information of image；Likewise, above-mentioned second feature information includes searching for the second color characteristic information of image With the second body dynamics information, wherein the second body dynamics information includes at least the second position point of search image；Then basis The first color histogram (corresponding first color characteristic information) and mesh for the first image information of first frame that initial phase obtains The similarity calculation of the second color histogram (corresponding second color characteristic information) of mark search image, obtains straight with the first color Square highest second color histogram of figure similarity finally will be also arranged at the corresponding target search particle of similarity highest point More search particles, less search particle is arranged at the corresponding target search particle in similarity lowest point, continues to calculate It is double to realize driver in the first image information of next frame by stochastical sampling and importance resampling for similitude, iterative cycles The first position point of hand completes a step dynamically track of driver's both hands.

S204, when often receiving first image information of frame, the fisrt feature information in the first image information, and root are extracted Calculation processing is carried out to fisrt feature information according to the particle filter algorithm in multiple characteristics space, obtains the first image of next frame letter The first position point of breath, until exporting the first all image informations of acquisition when collecting the first image information of last frame And the first corresponding first position point of image information.

Specifically, based on above-mentioned fisrt feature information prediction the first figure of next frame from current the first image information of first frame As the detailed process of the first position point of information can realize that driver's both hands go out in monitored video camera system by endless form Lasting real-time tracking during the entire process of existing, after increasing the acceptable precomputation in part, search particle will be more effective In the pixel for appearing in more high probability, after comparing comparatively fast so as to avoid certain hand motions, particle filter can lose tracking Target, by the position of the correlated characteristic information real-time update target of target search particle, until collecting last When the first image information of frame, the first all image informations and the corresponding first position of the first image information of acquisition are exported Point, it is contemplated that the irregular phenomenon of the profile of both hands, the embodiment of the present invention preferably choose the center of driver's both hands as first The corresponding location point of image information.

In addition, driver's both hands are as soft objectives, posture, profile etc. are in dynamic change, and the moment exists in the scene Illumination variation, can also bring challenges to the tracking of driver's both hands, it is also contemplated that in the driving intention for judging driver, most The function of core is the track algorithm of driver's both hands, and the embodiment of the present invention preferably chooses multiple characteristics space and carries out particle filter Wave tracking, additionally it is possible to bring following effect:

1, can accurately obtain the tracing point of both hands, and when guaranteeing the confidence level of tracing point, can by with steering wheel Arc point comparison obtain state description；

2, has both hands robust tracking, track algorithm robustness provided in an embodiment of the present invention is stronger, exists in both hands and connects The case where closely and covering, also can be without the lasting tracking of loss；

3, has the function of detecting both hands again, after both hands disappear out of image pickup scope, the embodiment of the present invention has again The secondary function of obtaining two-hand positions.

To sum up, it after extracting the first image information and its first position point, by track combination, can easily obtain To the first running track for corresponding to driver's both hands.

In order to preferably realize the information exchange of driver's both hands and steering wheel for vehicle, vehicle provided in an embodiment of the present invention Driving control method further includes for the second operation rail corresponding to the absolute coordinate of desired guiding trajectory starting point on steering wheel for vehicle The extraction of mark point, referring to fig. 4.The detailed process that the absolute coordinate extracts includes the following steps:

The second image information of first frame of S401, acquisition steering wheel for vehicle in default tracing area；

S402, in the second image information of first frame, calculate the absolute coordinate of the desired guiding trajectory starting point of steering wheel for vehicle；

S403, according to Kalman filtering algorithm to the absolute seat of the desired guiding trajectory starting point in the second image information of first frame Mark carries out calculation processing, obtains the absolute coordinate of the second image information of next frame；

S404, when often receiving second image information of frame, the desired guiding trajectory starting point in the second image information is extracted Absolute coordinate obtains the absolute coordinate of the desired guiding trajectory starting point in the second image information of next frame, until collecting last When the second image information of frame, the desired guiding trajectory starting point in all the second image informations and the second image information of acquisition is exported Absolute coordinate.

Likewise, by track combination, can easily be obtained after extracting the second image information and its absolute coordinate To the second running track for corresponding to steering wheel for vehicle.

Vehicle drive control method provided by the embodiment of the present invention passes through corresponding first running track of driver's both hands The interactive information of the second running track corresponding with steering wheel for vehicle carries out corresponding vehicle driving model switching, should referring to Fig. 5 Mode handover procedure specifically comprises the following steps:

S501, according to the first matching degree of the first running track and the second running track, generate and the first matching degree Corresponding first driving mode switching signal；First driving mode switching signal is switched for controlling vehicle by automatic driving mode To pilot steering mode；

S502, according to the second matching degree of the first running track and the second running track, generate and the second matching degree Corresponding second driving mode switching signal；Second driving mode switching signal is for controlling vehicle by pilot steering pattern switching To automatic driving mode.

Wherein, vehicle is controlled by the corresponding driving mode switching signal of above-mentioned matching degree and carries out corresponding driving mode Switching.

In addition, under pilot steering mode, by analyzing the first running track and the second running track driving driver The behavior of sailing is divided into:

1, turning to has controlling behavior, at this point, the first running track is existed simultaneously with the second running track and is rendered as Ellipse；

2, there is controlling behavior without steering, at this point, the first running track exists simultaneously with the second running track and is approximately A bit；

3, without controlling behavior, at this point, the first running track is not present, there are the second running tracks.

Under automatic driving mode, by analyzing the first running track and the second running track for the driving behavior of driver It is divided into:

1, entirely without control intention behavior, at this point, the first running track is not present；

2, have control to be intended to, at this point, there are the first running tracks, but first running track and the second running track without Apparent track intersection；

3, it is intended to control, the first running track and the second running track exist simultaneously.

By the further analysis of above-mentioned driver's driving behavior, the intention of driver, the driving are accurately understood in real time The intention of member cooperates corresponding control bus to control the switching and maintenance of above-mentioned driving mode.

The embodiment of the invention also provides a kind of vehicle drive control system, the system is for executing above-mentioned vehicle drive Control method, referring to Fig. 6, the system comprises:

First image information tracks acquisition module 11, for detecting driver's both hands information in default tracing area When, real-time tracking acquires multiframe first image information of driver's both hands in default tracing area；

First analysis and processing module 22, the first image of multiframe for being acquired to the first image information tracking acquisition module 11 Information is analyzed and processed, and obtains the first running track of driver's both hands；

Second image information tracks acquisition module 33, for real-time tracking acquisition steering wheel for vehicle in default tracing area The second image information of multiframe；

Second analysis and processing module 44, the second image of multiframe for being acquired to the second image information tracking acquisition module 33 Information is analyzed and processed, and obtains the second running track of steering wheel for vehicle；

Pattern switching control module 55, for according to the first analysis and processing module 22 handle obtained the first running track and The corresponding switch mode control vehicle of the matching degree for the second running track that the processing of second analysis and processing module 44 obtains is realized Pattern switching；Wherein, mode includes automatic driving mode and pilot steering mode.

Further, in order to preferably realize the trajectory extraction to driver's both hands, referring to Fig. 7, above-mentioned first image letter Breath tracking acquisition module 11 includes the first image information collecting unit 111, fisrt feature information extraction unit 112 and location point meter Calculate unit 113, wherein

First image information collecting unit 111, for acquiring first frame of driver's both hands in default tracing area the One image information；

Fisrt feature information extraction unit 112, for collecting first frame first in the first image information collecting unit 111 When image information, the fisrt feature information in the first image information is extracted；Fisrt feature information includes the following of driver's both hands Information: the first color characteristic information and the first body dynamics information；It is double that first body dynamics information includes at least the driver The first position point of hand；

Location point computing unit 113, for being mentioned according to the particle filter algorithm in multiple characteristics space to fisrt feature information The fisrt feature information for taking unit 112 to extract carries out calculation processing, obtains the first position point of the first image information of next frame；

Fisrt feature information extraction unit 112 is also used to, and when often receiving first image information of frame, extracts the first figure As the fisrt feature information in information；Location point computing unit 113 is also used to, and is calculated according to the particle filter in multiple characteristics space Method carries out calculation processing to the fisrt feature information that fisrt feature information extraction unit 112 is extracted, and obtains the first image of next frame The first position point of information, until exporting all the first image letters of acquisition when collecting the first image information of last frame Breath and the corresponding first position point of the first image information.

Further, it is contemplated that driver's both hands are as flexible motion target, in the process for carrying out relevant image procossing In, it is easy to it is limited by soft objectives self character and the situations such as tracking loss occurs, provided by the embodiment of the present invention Vehicle drive control system preferably carries out subsequent driver using the particle filter algorithm based on above-mentioned double characteristic information The tracking of both hands is handled.Then above-mentioned location point computing unit 113 includes that subelement 1131, second feature is arranged in target search particle Information extraction subelement 1132, color similarity computation subunit 1133 and location point computation subunit 1134, referring to Fig. 8, In,

Subelement 1131 is arranged in target search particle, for being arranged in the preset range region of the first image information of next frame Multiple target search particles for meeting Gaussian Profile；Wherein, each target search particle respectively corresponds different search images, Search for the image that image is different zones in the first image information of next frame；

Second feature information extraction subelement 1132, for extracting the second feature information of each search image；Second Characteristic information includes the following information for searching for image: the second color characteristic information and the second body dynamics information；Second movement is special Reference breath includes at least the second position point of search image；

Color similarity computation subunit 1133, the first color for being extracted to fisrt feature information extraction unit 112 The second color characteristic information that characteristic information and second feature information extraction subelement 1132 extract carries out color similarity calculating, It obtains and the first highest second color characteristic information of color characteristic information similarity；

Location point computation subunit 1134, the second color characteristic for obtaining color similarity computation subunit 1133 The second position point of the corresponding search image of information is determined as the first position of driver's both hands in the first image information of next frame Point.

Further, in order to preferably realize the information exchanges of driver's both hands and steering wheel for vehicle, referring to Fig. 9, this hair The second image information tracking acquisition module 33 in the vehicle drive control system that bright embodiment provides includes the second image information Acquisition unit 331, the first absolute coordinate computing unit 332 and the second absolute coordinate computing unit 333, wherein

Second image information collecting unit 331, for acquiring first frame of the steering wheel for vehicle in default tracing area the Two image informations；

First absolute coordinate computing unit 332, the first frame second for being acquired in the second image information collecting unit 331 In image information, the absolute coordinate of the desired guiding trajectory starting point of steering wheel for vehicle is calculated；

Second absolute coordinate computing unit 333 is used for according to Kalman filtering algorithm to the first absolute coordinate computing unit 332 absolute coordinates calculated carry out calculation processing, obtain the absolute seat of the desired guiding trajectory starting point of the second image information of next frame Mark；

First absolute coordinate computing unit 332 is also used to, and when often receiving second image information of frame, extracts the second figure As the absolute coordinate of the desired guiding trajectory starting point in information；Second absolute coordinate computing unit 333 is also used to, absolutely according to first The absolute coordinate that coordinate calculating unit 332 calculates is handled, and the desired guiding trajectory starting in the second image information of next frame is obtained The absolute coordinate of point, until when collecting the second image information of last frame, export acquisition the second all image informations and The absolute coordinate of desired guiding trajectory starting point in second image information.

Vehicle drive control system provided by the embodiment of the present invention is carried out accordingly by pattern switching control module 55 Vehicle driving model switching, referring to Figure 10, which includes the first switching signal generation unit 551 and the Two switching signal generation units 552, wherein

First switching signal generation unit 551, for handling the obtain first operation according to the first analysis and processing module 22 First matching degree of the second running track that track and the processing of the second analysis and processing module 44 obtain, generates and matches journey with first Spend corresponding first driving mode switching signal；First driving mode switching signal is cut for controlling vehicle by automatic driving mode Shift to pilot steering mode；

Second switching signal generation unit 552, for handling the obtain first operation according to the first analysis and processing module 22 Second matching degree of the second running track that track and the processing of the second analysis and processing module 44 obtain, generates and matches journey with second Spend corresponding second driving mode switching signal；Second driving mode switching signal is cut for controlling vehicle by pilot steering mode Shift to automatic driving mode.

Vehicle drive control system provided in an embodiment of the present invention, first real-time tracking acquire driver's both hands and vehicle Steering wheel corresponding the first image information of multiframe and second image information of multiframe in default tracing area, and respectively to above-mentioned more The first image information of frame and the second image information of multiframe carry out calculation processing and obtain corresponding first running track and the second operation Track；Then the switching of vehicle implementation pattern is controlled according to the matching degree of the first running track and the second running track, and it is existing The control mode that mode motor switching is carried out using torque sensor in technology, security reliability is poor to be compared, and is mentioned simultaneously The trace information of driver's hand and vehicle steering wheel is taken, and driver corresponding to the interaction of the two trace information can be anticipated Figure is for being applied on vehicle and controlling the vehicle, so that the switch safety of driving mode is higher, and realizes certainly The dynamic flexible switching and harmonious interaction driven with pilot steering, but also practicability is stronger.

In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect Coupling or communication connection can be electrical property, mechanical or other forms.

The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.

It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.

It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention. And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.

The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.

Claims

1. a kind of vehicle drive control method characterized by comprising

When detecting driver's both hands information in default tracing area, real-time tracking acquires driver's both hands described pre- If the first image information of multiframe in tracing area；

The first image information of the multiframe of acquisition is analyzed and processed, the first operation rail of driver's both hands is obtained Mark；

Real-time tracking acquires multiframe second image information of the steering wheel for vehicle in the default tracing area；

The second image information of the multiframe of acquisition is analyzed and processed, the second operation rail of the steering wheel for vehicle is obtained Mark；

The vehicle is controlled according to the corresponding switch mode of the matching degree of first running track and second running track The switching of implementation pattern；Wherein, the mode includes automatic driving mode and pilot steering mode；

Wherein, the corresponding switch mode control of the matching degree according to first running track and second running track Making the vehicle implementation pattern switching includes:

According to the first matching degree of first running track and second running track, generates and match journey with described first Spend corresponding first driving mode switching signal；The first driving mode switching signal is for controlling the vehicle by driving automatically Pattern switching is sailed to pilot steering mode；

According to the second matching degree of first running track and second running track, generates and match journey with described second Spend corresponding second driving mode switching signal；The second driving mode switching signal is for controlling the vehicle by manually driving Pattern switching is sailed to automatic driving mode.

2. vehicle drive control method according to claim 1, which is characterized in that the real-time tracking acquires the driving Multiframe first image information of person's both hands in the default tracing area include:

Acquire first frame first image information of the driver's both hands in the default tracing area；

When detecting first frame first image information of the driver's both hands in the default tracing area, described in extraction Fisrt feature information in first image information；The fisrt feature information includes the following information of driver's both hands: the One color characteristic information and the first body dynamics information；First body dynamics information includes at least driver's both hands First position point；

It is carried out according to fisrt feature information of the particle filter algorithm in multiple characteristics space to first image information of first frame Calculation processing obtains the first position point of the first image information of next frame；

When often receiving first image information of frame, the fisrt feature information in the first image information, and root are extracted Calculation processing is carried out to the fisrt feature information according to the particle filter algorithm in multiple characteristics space, obtains the first figure of next frame As the first position point of information, until exporting the first all images of acquisition when collecting the first image information of last frame Information and the corresponding first position point of the first image information.

3. vehicle drive control method according to claim 2, which is characterized in that the grain according to multiple characteristics space Sub- filtering algorithm carries out calculation processing to the fisrt feature information of first image information of first frame, obtains the first figure of next frame As the first position point of information includes:

In the preset range region of the first image information of next frame, multiple target search particles for meeting Gaussian Profile are set；Its In, each described target search particle respectively corresponds different search images, and described search image is the next frame first The image of different zones in image information；

Extract the second feature information of each described search image；The second feature information include described search image with Lower information: the second color characteristic information and the second body dynamics information；Second body dynamics information includes at least described search The second position point of rope image；

Color similarity calculating is carried out to the first color characteristic information and the second color characteristic information, obtain with it is described The first highest second color characteristic information of color characteristic information similarity；

4. vehicle drive control method according to claim 3, which is characterized in that the real-time tracking acquires the vehicle Multiframe second image information of the steering wheel in the default tracing area include:

Acquire first frame second image information of the steering wheel for vehicle in the default tracing area；

In second image information of first frame, the absolute coordinate of the desired guiding trajectory starting point of the steering wheel for vehicle is calculated；

According to Kalman filtering algorithm to the absolute seat of the desired guiding trajectory starting point in second image information of first frame Mark carries out calculation processing, obtains the absolute coordinate of the second image information of next frame；

When often receiving second image information of frame, the exhausted of the desired guiding trajectory starting point in second image information is extracted To coordinate, the absolute coordinate of the desired guiding trajectory starting point in the second image information of next frame is obtained, until acquisition is to the end When one the second image information of frame, export described default in the second all image informations and second image information of acquisition The absolute coordinate of track initial point.

5. a kind of vehicle drive control system characterized by comprising

First image information tracks acquisition module, when for detecting driver's both hands information in default tracing area, in real time Tracking acquires multiframe first image information of the driver's both hands in the default tracing area；

First analysis and processing module, the first image of the multiframe for being acquired to the first image information trace acquisition module Information is analyzed and processed, and obtains the first running track of driver's both hands；

Second image information tracks acquisition module, acquires the steering wheel for vehicle in the default tracing area for real-time tracking Interior the second image information of multiframe；

Second analysis and processing module, for the second image of the multiframe to second image information tracking acquisition module acquisition Information is analyzed and processed, and obtains the second running track of the steering wheel for vehicle；

Pattern switching control module, first running track for being handled according to first analysis and processing module and The corresponding switch mode of the matching degree for second running track that second analysis and processing module is handled controls institute State the switching of vehicle implementation pattern；Wherein, the mode includes automatic driving mode and pilot steering mode；

Wherein, the pattern switching control module includes:

First switching signal generation unit, the first operation rail for being handled according to first analysis and processing module First matching degree of second running track that mark and second analysis and processing module are handled generates and described the The corresponding first driving mode switching signal of one matching degree；The first driving mode switching signal is for controlling the vehicle Pilot steering mode is switched to by automatic driving mode；

Second switching signal generation unit, the first operation rail for being handled according to first analysis and processing module Second matching degree of second running track that mark and second analysis and processing module are handled generates and described the The corresponding second driving mode switching signal of two matching degrees；The second driving mode switching signal is for controlling the vehicle By pilot steering pattern switching to automatic driving mode.

6. vehicle drive control system according to claim 5, which is characterized in that the acquisition of the first image information trace Module includes:

First image information collecting unit, for acquiring first frame of the driver's both hands in the default tracing area One image information；

Fisrt feature information extraction unit, for collecting first figure of first frame in the first image information acquisition unit When as information, the fisrt feature information in the first image information is extracted；The fisrt feature information includes the driver The following information of both hands: the first color characteristic information and the first body dynamics information；First body dynamics information at least wraps Include the first position point of driver's both hands；

Location point computing unit, for the particle filter algorithm according to multiple characteristics space to the fisrt feature information extraction list The fisrt feature information that member is extracted carries out calculation processing, obtains the first position point of the first image information of next frame；

The fisrt feature information extraction unit is also used to, and when often receiving first image information of frame, extracts described first The fisrt feature information in image information；The location point computing unit is also used to, according to the particle in multiple characteristics space Algorithm filter carries out calculation processing to the fisrt feature information that the fisrt feature information extraction unit is extracted, and obtains down The first position point of one the first image information of frame, until exporting all of acquisition when collecting the first image information of last frame The first image information and the corresponding first position point of the first image information.

7. vehicle drive control system according to claim 6, which is characterized in that the location point computing unit includes:

Subelement is arranged in target search particle, for multiple meet to be arranged in the preset range region of the first image information of next frame The target search particle of Gaussian Profile；Wherein, each described target search particle respectively corresponds different search images, described Search for the image that image is different zones in first image information of next frame；

Second feature information extraction subelement, for extracting the second feature information of each described search image；Described second Characteristic information includes the following information of described search image: the second color characteristic information and the second body dynamics information；Described Two body dynamics informations include at least the second position point of described search image；

Color similarity computation subunit, first color characteristic for being extracted to the fisrt feature information extraction unit The second color characteristic information that information and the second feature information extraction subelement extract carries out color similarity calculating, It obtains and the highest second color characteristic information of the first color characteristic information similarity；

Location point computation subunit, the second color characteristic information for obtaining the color similarity computation subunit The second position point of corresponding search image is determined as the first position point of driver's both hands in the first image information of next frame.

8. vehicle drive control system according to claim 7, which is characterized in that the second image information tracking acquisition Module includes:

Second image information collecting unit, for acquiring first frame of the steering wheel for vehicle in the default tracing area Two image informations；

First absolute coordinate computing unit, the second figure of the first frame for being acquired in the second image information collecting unit As calculating the absolute coordinate of the desired guiding trajectory starting point of the steering wheel for vehicle in information；

The first absolute coordinate computing unit is also used to, and when often receiving second image information of frame, extracts described second The absolute coordinate of the desired guiding trajectory starting point in image information；The second absolute coordinate computing unit is also used to, according to The absolute coordinate that the first absolute coordinate computing unit calculates is handled, and is obtained described in the second image information of next frame The absolute coordinate of desired guiding trajectory starting point exports all the of acquisition until when collecting the second image information of last frame The absolute coordinate of the desired guiding trajectory starting point in two image informations and second image information.