CN105825713B - The method of operation of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) - Google Patents
The method of operation of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) Download PDFInfo
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- CN105825713B CN105825713B CN201610220211.5A CN201610220211A CN105825713B CN 105825713 B CN105825713 B CN 105825713B CN 201610220211 A CN201610220211 A CN 201610220211A CN 105825713 B CN105825713 B CN 105825713B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096827—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed onboard
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Abstract
The invention mainly relates to a kind of methods of operation of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System), the system includes mainly unmanned plane, unmanned aerial vehicle (UAV) control device, system controller, vehicle-mounted charging device, positioning identity device and multi-medium intelligent terminal, is a kind of DAS (Driver Assistant System) driven based on unmanned plane cooperation；Its method of operation includes mainly reversing auxiliary mode, standard road pattern and limited road pattern based on unmanned plane cooperating operation；With vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) of the present invention, it can help driver is more intuitive more accurately to understand the longer-distance traffic environment image information of longitudinal maneuver vehicle vehicle body, surrounding road traffic conditions are prejudged, more rational driving strategy and traffic route are formulated；Meanwhile vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) can also assist primary driver easily to complete backing parking and the driving operation quickly through limited road.
Description
Technical field
The present invention relates to a kind of method of operation of motor vehicle DAS (Driver Assistant System), it is especially a kind of based on unmanned plane cooperation
The method of operation of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System).
Background technology
Existing motor vehicle DAS (Driver Assistant System) mainly passes through the various sensors installed in motor vehicle body or installation
Signal is acquired in the front camera of driver's cabin, to assist driver to complete the various control work to motor vehicle.Although various
The signal that onboard sensor can acquire is more and more, but conventional motor vehicle observing and controlling mode is exactly its acquisition there are one larger limitation
Sensor signal be only limitted to around vehicle body or vehicle body on the downside of, cannot grasp apart from the longer-distance various traffic letter of vehicle body
Breath.Existing vehicle mounted imaging apparatus limited viewing angle simultaneously can only realize the image information collecting that driver looks squarely in range, work as chance
When having barrier or other vehicles around to vehicle body, the effect of traditional vehicle mounted imaging apparatus but will have a greatly reduced quality, and driver is also very
Hardly possible is grasped during longitudinal maneuver vehicle vehicle body is relatively remote and the traffic environment of visual dead angles if appropriate for passage, and driver is directly resulted in
Driving efficiency reduce, especially primary driver is not because knowing about the driving-environment information around motor vehicle body and the friendship that takes place frequently
Interpreter's event.
Invention content
In view of the deficiencies of the prior art, the present invention provides one kind acquiring motor vehicle driving environment by depression angle
Image information, while the method for operation for the vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) that driver efficiently drives can be assisted again.
The technical solution adopted by the present invention is as follows：A kind of method of operation of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System), including nothing
Man-machine, unmanned aerial vehicle (UAV) control device, system controller, vehicle-mounted charging device, positioning identity device and multi-medium intelligent terminal；The nothing
Photographic device and auxiliary projection arrangement are installed on man-machine；The unmanned aerial vehicle (UAV) control device includes image processing module and flight path
Calculate module；The system controller includes state of motor vehicle detection module, mode selection module, scene display module and control
Signal input module；The vehicle-mounted charging device is installed on motor vehicle roof, power inlet and vehicle electric Force system
Power output is electrically connected；The positioning identity device is installed on motor vehicle head cover diagonal line point of intersection；The unmanned function
It is carried out wireless communication with unmanned aerial vehicle (UAV) control device；The data port of the system controller and the data port energy of unmanned aerial vehicle (UAV) control device
Carried out data transmission by wired mode and wireless mode；The data port of the multi-medium intelligent terminal and system controller
Data port can be carried out data transmission by wired mode and wireless mode；
Flight charging port is additionally provided on the unmanned plane；The vehicle-mounted charging device is additionally provided with charging cable, institute
Stating charging cable can be fastenedly connected on the flight charging port of unmanned plane, make unmanned plane can be by the electricity that charges in flight course
Cable charges；The system controller is the intelligent travelling crane computer on motor vehicle；The photographic device is CCD high-definition cameras
Machine；The auxiliary projection arrangement is laser projection lamp；The multi-medium intelligent terminal is vehicle-mounted projecting device or hand-held number
Equipment；
The system comprises reversing auxiliary mode, standard road pattern and limited road patterns.
The operating procedure of the reversing auxiliary mode is as follows：
A. the mode selection module of the system controller detects that motor vehicle enters state of rolling backward, just starts reversing auxiliary
Pattern, while corresponding control signal is sent to unmanned aerial vehicle (UAV) control device；The unmanned aerial vehicle (UAV) control device controls nothing after receiving signal
Man-machine to take off by the reversing preset initial flight route of secondary mode of operation, unmanned plane is adopted in flight course by photographic device
Collect flight image information, and wirelessly transmits flight image data to unmanned aerial vehicle (UAV) control device；
B. the image processing module in unmanned aerial vehicle (UAV) control device pre-processes flight image data, and will treated fly
Row image data is transferred to flight path measuring and calculating module；Flight path calculates module and uses Goal programming Model and ant group algorithm pair
Flight image data carries out analysis calculating, obtains flight optimization path and countermeasures data, and unmanned aerial vehicle (UAV) control device just controls nothing
The man-machine adjustment line of flight starts the image information of acquisition reversing in real time；
C. the photographic device on unmanned plane is moved backward image information by the angle acquisition of vertical view, and reversing image data is passed
It is sent to image processing module；Image processing module in unmanned aerial vehicle (UAV) control device after reversing pre-processing image data to transferring data to
The scene display module of system controller, scene display module is by parameter preset and movement location algorithm to image data of moving backward
Analysis calculating is carried out, the contextual data information of the warning frontier distance driven about reversing is obtained；
D. scene display module adds the relevant information of warning frontier distance in image data of moving backward, and treated
Reversing image data is transmitted to multi-medium intelligent terminal and is shown, driver can not only see reality by multi-medium intelligent terminal
When depression angle move backward image, moreover it is possible to see the related reversing information of warning frontier distance；Meanwhile the auxiliary projection on unmanned plane
According to parameter preset and warning frontier distance information, the projection car backing position on reversing field ground warns boundary profile to device
Laser graphics, enable driver in low light environment from multiple angles more intuitively from move backward situation, complete reversing operation.
Preferably, the method for operation of the standard road pattern is as follows：
A. driver start drive before by the control signal input module input control signal enabling standard road
The mode selection module of mode signal, the system controller sends corresponding control signal to unmanned aerial vehicle (UAV) control device, the nothing
Human-machine Control device receives the initial flight route that control unmanned plane is set by standard road pattern after signal and takes off, and unmanned plane exists
Flight image information is acquired by photographic device in flight course, and wirelessly transmits flight image data to unmanned plane
Controller；
B. the image processing module in unmanned aerial vehicle (UAV) control device pre-processes flight image data, and will treated fly
Row image data is transferred to flight path measuring and calculating module；Flight path measuring and calculating module passes through the positioning in flight image data first
Identity device information determines accompanying flying position of the unmanned plane relative to motor vehicle, then Goal programming Model and ant group algorithm is used to obtain
To flight optimization path and countermeasures data；During motor-driven vehicle going, the photographic device of unmanned plane is with preset frequency
Acquisition flight image data simultaneously passes unmanned aerial vehicle (UAV) control device back, and simultaneity factor controller is supervised in real time by state of motor vehicle detection module
The state of motor vehicle data about motor vehicle speed, steering angle of wheel are surveyed, and transfer data to unmanned aerial vehicle (UAV) control device；Nobody
State of motor vehicle data are carried out comprehensive analysis with flight graph data and compared by the flight path measuring and calculating module of machine controller, in real time
Adjustment unmanned plane flight optimization path and countermeasures data, control unmanned plane and motor vehicle keep relative position to stablize
Track state of flight；
C. unmanned plane acquires traffic route panoramic picture letter by photographic device in tracking flight course with depression angle
Breath, and traffic panoramic image data is transmitted to the image processing module in unmanned aerial vehicle (UAV) control device；Image processing module is to traffic
Scene display module is transferred data to after panoramic image data pretreatment, scene display module passes through edge detection algorithm pair first
Traffic panoramic image data carries out analysis calculating, obtains traffic route road surface ahead motor vehicle distributed data and about traffic current
The data information of amount, then again by motor-driven vehicle going route-target plan model model and ant group algorithm to motor vehicle distribution number
It is analyzed according to special bus flow, the data information of reasonable traffic route is obtained in conjunction with parameter preset；
D. scene display module adds in traffic panoramic image data about special bus data on flows and reasonable roadway
The auxiliary information of line, and treated, traffic panoramic image data is transmitted to multi-medium intelligent terminal, shows real-time traffic
Road panoramic picture, driver can by multi-medium intelligent terminal from depression angle intuitively from road traffic condition, simultaneously
It obtains digitized special bus flow data information and suggests traffic route.
Preferably, the method for operation of the limited road pattern is as follows：
A. driver passes through the narrow road of the control signal input module input control signal enabling in limited road import
Road mode signal, the corresponding control signal of mode selection module transmission of the system controller are described to unmanned aerial vehicle (UAV) control device
Unmanned aerial vehicle (UAV) control device receives the initial flight route that control unmanned plane is set by limited road pattern after signal and takes off, unmanned plane
In flight course by photographic device acquire flight image information, and wirelessly transmission flight image data to nobody
Machine controller；
B. the image processing module in unmanned aerial vehicle (UAV) control device pre-processes flight image data, and will treated fly
Row image data is transferred to flight path measuring and calculating module；Flight path measuring and calculating module is obtained using Goal programming Model and ant group algorithm
To flight optimization path and countermeasures data, unmanned aerial vehicle (UAV) control device controls unmanned plane prior to motor vehicle quickly through limited road
And it makes a return voyage；In flight course, the photographic device of unmanned plane with preset frequency collection flight image data and passes unmanned plane back
Controller, flight path measuring and calculating module adjust the flight optimization road of unmanned plane according to newest flight image data information in real time
Diameter and countermeasures data, control unmanned plane keep best shooting visual angle in flight course；
C. unmanned plane acquires limited road image information by photographic device in flight course with depression angle, and by road
Road image data is transmitted to the image processing module in unmanned aerial vehicle (UAV) control device；Image processing module is to road image data prediction
The scene display module of system controller is transferred data to afterwards, and scene display module is first by edge detection algorithm to mileage chart
As data carry out analysis calculating, the data information of barrier size in road edge width, road is obtained, then in conjunction with default machine
The analysis of motor-car dimensional parameters show whether motor vehicle can be normal through limited road result or motor vehicle normal through narrow road
The data information of the traffic route on road；
D. scene display module added in limited road image data can passing road edge label and suggest roadway
The relevant information of line, and treated road image data transmission is shown real-time limited road to multi-medium intelligent terminal
Image, driver can by multi-medium intelligent terminal from depression angle intuitively from limited road situation；
E. motor vehicle drives into limited road, and unmanned aerial vehicle (UAV) control device controls unmanned plane and flies in motor vehicle along limited road direction
The positive front of car body, and distance is kept fixed with body of motor vehicle always, the auxiliary projection arrangement on unmanned plane is according to default machine
Motor-car dimensional parameters project the laser graphics of vehicle body security boundary profile on the ground before body of motor vehicle, enable driver
Limited road is passed through by the guiding of laser graphics.
Using vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) of the present invention, it can help driver is more intuitive more accurately to understand
The longer-distance traffic environment information of longitudinal maneuver vehicle vehicle body, prejudges surrounding road traffic conditions, and it is more reasonable to formulate
Driving strategy and traffic route.Meanwhile vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) can also assist primary driver easily to complete
Backing parking and driving operation quickly through limited road.
Description of the drawings
Fig. 1 is the system block diagram of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) of the present invention；
Fig. 2 is the on-the-spot schematic of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) embodiment 1 of the present invention；
Fig. 3 is the on-the-spot schematic of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) embodiment 2 of the present invention；
Fig. 4 is the on-the-spot schematic of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) embodiment 3 of the present invention.
100 unmanned plane in figure, 101 photographic devices, 102 auxiliary projection arrangements, 200 unmanned aerial vehicle (UAV) control devices, 201 image procossings
Module, 202 flight paths calculate module, 300 system controllers, 301 mode selection modules, 302 scene display modules, 303 machines
Motor-car state detection module, 304 control signal input modules, 400 multi-medium intelligent terminals, 500 vehicle-mounted charging devices, 501 fill
Electrical cables, 502 positioning identity devices, 600 warning boundary profiles, 700 security boundary profiles.
Specific implementation mode
Shown in Fig. 1 and Fig. 3, a kind of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) includes mainly unmanned plane 100, unmanned plane control
Device 200, system controller 300, vehicle-mounted charging device 500, positioning identity device 502 and multi-medium intelligent terminal 400 processed；Wherein
Unmanned plane 100 is fitted with wireless communication device with unmanned aerial vehicle (UAV) control device 200, enables unmanned plane 100 and unmanned aerial vehicle (UAV) control device 200
It carries out wireless communication；System controller 300 is also equipped with wireless communication device, can with unmanned aerial vehicle (UAV) control device 200 by wireless
Mode carries out data transmission, and the data port of simultaneity factor controller 300 can pass through with the data port of unmanned aerial vehicle (UAV) control device 200
Wired mode is electrically connected, and carries out wired data transfer；The data port of multi-medium intelligent terminal 400 and system controller 300
Data port can be carried out data transmission by wired mode and wireless mode.
Unmanned plane 100 uses four axis unmanned planes, and is equipped on the downside of 100 fuselage of unmanned plane and can adjust camera angle
Photographic device 101, wherein photographic device 101 use CCD high-definition cameras；Laser throwing is also equipped on unmanned plane 100 simultaneously
Shot-light as auxiliary projection arrangement 102, can earthward projection laser figure, can control by unmanned aerial vehicle (UAV) control device 200 and assist throwing
The projecting direction of image device 102 and the appearance of projecting figure；It is additionally provided with flight charging port on unmanned plane 100, facilitates nothing
Man-machine 100 realize wired charging in flight course, increase the cruise duration of unmanned plane 100.
Unmanned aerial vehicle (UAV) control device 200 includes mainly that image processing module 201 and flight path calculate module 202；Image procossing
Module 201 completes pretreatment to image data, and other in system system operations analysis is carried out based on image data to facilitate
Module can preferably complete data evaluation work；Flight path calculates module 202 by parameter preset and based on from camera shooting dress
The graphic data in real time for setting 101 carries out data operation, to determine the best navigation route of the flight of unmanned plane 100, wherein to complete
Setting and calculating to routeing constrained parameters, including the ultimate run of unmanned plane 100, minimum step, maximum climb angle,
Minimum flying height, min. turning radius and maximum angle of turn etc..
System controller 300 includes mainly state of motor vehicle detection module 303, mode selection module 301, scene display mould
Block 302 and control signal input module 304；Operating status residing for 303 real-time monitoring machine motor-car of state of motor vehicle detection module
It is counted with monitoring data from each sensor of motor vehicle, including speed, vehicle steering angle, gearbox operating status etc. are handled
According to；Mode selection module 301 is according to the monitoring data of state of motor vehicle detection module 303 and control signal input module 304
Input data determines that system will be run with which kind of pattern, and sends corresponding signal to unmanned aerial vehicle (UAV) control device 200；Scene is shown
Module 302 calculates analysis real-time image information according to the different operational mode of system, waits until relevant environmental data, while most
Whole real-time image signal combination Notes of Key Data information is sent to multimedia terminal；It is mainly convenient to control signal input module 304
Driver inputs the default and real-time control of the complete paired systems of instructions.Use the intelligent travelling crane computer on motor vehicle to make here
Entire vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) is realized in the acquisition and operation that various data informations are controlled for system controller 300
Normal operation.
Vehicle-mounted charging device 500 is installed on motor vehicle roof, and the power supply of power inlet and vehicle electric Force system is defeated
Outlet is electrically connected, at the same be additionally provided on vehicle-mounted charging device 500 can automatic deploying and retracting charging cable 501, charging electricity
Cable 501 can be fastenedly connected on the flight charging port of unmanned plane 100, make unmanned plane 100 that can pass through charging in flight course
Cable 501 charges；It is also equipped with positioning identity device 502 in motor vehicle head cover diagonal line point of intersection, unmanned plane 100 passes through
Positioning identity device 502 take off the positioning of destination and camera angle, and simultaneity factor controller 300 is carrying out image data meter
Point counting can establish the reference frame of actual environment size by positioning identity device 502 during analysing.
Multi-medium intelligent terminal 400 is vehicle-mounted projecting device or handheld digital device, and driver can be helped to overlook
Angle observes the case where around motor vehicle body and the longer-distance traffic route real-time road environmental information of longitudinal maneuver vehicle, together
When multi-medium intelligent terminal 400 related data can also be added on realtime graphic in a manner of word or figure and shown,
It helps driver to understand more detailed driving situation, makes rational drive and prejudge.
The method of operation of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) of the present invention includes mainly reversing auxiliary mode, standard road mould
Formula and limited road pattern are described in further detail each method of operation with reference to specific embodiment：
Embodiment 1：As shown in Figure 2, the present embodiment will illustrate vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) in reversing auxiliary mode
The method of operation of state, specific operating procedure are as follows：
A. the mode selection module 301 of system controller 300 detects that motor vehicle enters state of rolling backward, and it is auxiliary just to start reversing
Pattern is helped, while sending corresponding control signal to unmanned aerial vehicle (UAV) control device 200；Unmanned aerial vehicle (UAV) control device 200 is controlled after receiving signal
Unmanned plane 100 processed takes off by the reversing preset initial flight route of secondary mode of operation, and unmanned plane 100 passes through in flight course
Photographic device 101 acquires flight image information, and wirelessly transmits flight image data to unmanned aerial vehicle (UAV) control device 200；
B. the image processing module 201 in unmanned aerial vehicle (UAV) control device 200 pre-processes flight image data, and will processing
Flight image data afterwards are transferred to flight path measuring and calculating module 202；Flight path calculates module 202 and uses Goal programming Model
Analysis calculating is carried out to flight image data with ant group algorithm, obtains flight optimization path and countermeasures data, unmanned plane control
Device 200 processed just controls unmanned plane 100 and adjusts the line of flight, starts the image information of acquisition reversing in real time；Wherein in goal programming mould
The setting and calculating to various routeing constrained parameters, including the ultimate run of unmanned plane 100, most small step are completed in type
Long, maximum is climbed angle, minimum flying height, min. turning radius and maximum angle of turn etc.；
C. the photographic device 101 on unmanned plane 100 is moved backward image information, and the image that will move backward by the angle acquisition of vertical view
Data transmission is to image processing module 201；Image processing module 201 in unmanned aerial vehicle (UAV) control device 200 is pre- to reversing image data
Transfer data to the scene display module 302 of system controller 300 after processing, scene display module 302 by parameter preset and
Movement location algorithm carries out analysis calculating to reversing image data, obtains the contextual datas such as the warning frontier distance that reversing drives letter
Breath；
D. scene display module 302 adds the relevant informations such as warning frontier distance in image data of moving backward, and processing
Reversing image data afterwards is transmitted to multi-medium intelligent terminal 400 and is shown, driver by multi-medium intelligent terminal 400 not
It is only capable of seeing real-time depression angle reversing image, moreover it is possible to see the related reversing information such as warning frontier distance；Meanwhile unmanned plane
Auxiliary projection arrangement 102 on 100 is according to the parameter presets such as vehicle body length and width and warning frontier distance information in reversing field ground
The laser graphics of upper projection car backing position warning boundary profile 600, keep driver more straight from multiple angles in low light environment
The observation reversing situation of sight, completes reversing operation.
Embodiment 2：As shown in Figure 3, the present embodiment will illustrate vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) in standard road pattern
The method of operation of state, specific operating procedure are as follows：
A. driver start drive before by 304 input control signal enabling standard track of the control signal input module
Road mode signal, the mode selection module 301 of system controller 300 send corresponding control signal to unmanned aerial vehicle (UAV) control device 200,
Control unmanned plane 100 takes off by the initial flight route that standard road pattern is set after unmanned aerial vehicle (UAV) control device 200 receives signal,
Unmanned plane 100 acquires flight image information in flight course by photographic device 101, and wirelessly transmits flight map
As data to unmanned aerial vehicle (UAV) control device 200；
B. the image processing module 201 in unmanned aerial vehicle (UAV) control device 200 pre-processes flight image data, and will processing
Flight image data afterwards are transferred to flight path measuring and calculating module 202；Flight path measuring and calculating module 202 passes through flight image first
502 information of positioning identity device in data determines accompanying flying position of the unmanned plane 100 relative to motor vehicle, then target is used to advise
It draws model and ant group algorithm obtains flight optimization path and countermeasures data；It to be completed to each wherein in Goal programming Model
The setting and calculating of kind of routeing constrained parameters, including the ultimate run of unmanned plane 100, minimum step, maximum climb angle,
Minimum flying height, min. turning radius and maximum angle of turn etc.；During motor-driven vehicle going, the camera shooting of unmanned plane 100
Device 101 is with preset frequency collection flight image data and passes unmanned aerial vehicle (UAV) control device 200 back, and simultaneity factor controller 300 is logical
The state of motor vehicle data such as monitoring motor vehicle speed, steering angle of wheel in real time of state of motor vehicle detection module 303 are crossed, and will be counted
According to sending unmanned aerial vehicle (UAV) control device 200 to；The flight path of unmanned aerial vehicle (UAV) control device 200 calculates module 202 state of motor vehicle data
Comprehensive analysis is carried out with flight graph data to compare, and adjusts flight optimization path and the countermeasures number of unmanned plane 100 in real time
According to control unmanned plane 100 keeps the tracking state of flight that relative position is stablized with motor vehicle；
C. unmanned plane 100 acquires traffic route panorama by photographic device 101 in tracking flight course with depression angle
Image information, and traffic panoramic image data is transmitted to the image processing module 201 in unmanned aerial vehicle (UAV) control device 200；At image
Reason module 201 transfers data to scene display module 302, scene display module 302 after being pre-processed to traffic panoramic image data
Calculating analysis is carried out to traffic panoramic image data by edge detection algorithm first, tells motor vehicle image and road markings
Image information finally obtains the data informations such as traffic route road surface ahead motor vehicle distributed data and special bus flow, then again
Motor vehicle distributed data and special bus data on flows are carried out by motor-driven vehicle going route-target plan model and ant group algorithm
Analysis, the information such as reasonable traffic route data are obtained in conjunction with parameter preset；
D. scene display module 302 adds special bus data on flows and reasonable traffic route in traffic panoramic image data
Etc. auxiliary informations, and traffic panoramic image data is transmitted to multi-medium intelligent terminal 400 treated, shows real-time traffic
Road panoramic picture, driver can by multi-medium intelligent terminal 400 from depression angle intuitively from road traffic condition, together
When obtain digitized special bus flow data information and suggest traffic route.
Embodiment 3：As shown in Figure 4, the present embodiment will illustrate vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) in limited road pattern
The method of operation of state, specific operating procedure are as follows：
A. driver is narrow by the 304 input control signal enabling of control signal input module in limited road import
The mode selection module 301 of road mode signal, the system controller 300 sends corresponding control signal to unmanned aerial vehicle (UAV) control
Device 200, unmanned aerial vehicle (UAV) control device 200 control the initial flight road that unmanned plane 100 is set by limited road pattern after receiving signal
Line takes off, and unmanned plane 100 acquires flight image information in flight course by photographic device 101, and wirelessly passes
Defeated flight image data is to unmanned aerial vehicle (UAV) control device 200；
B. the image processing module 201 in unmanned aerial vehicle (UAV) control device 200 pre-processes flight image data, and will processing
Flight image data afterwards are transferred to flight path measuring and calculating module 202；Flight path calculates module 202 and uses Goal programming Model
Flight optimization path and countermeasures data are obtained with ant group algorithm, unmanned aerial vehicle (UAV) control device 200 controls unmanned plane 100 prior to motor-driven
Vehicle is quickly through limited road and makes a return voyage；It to complete to set various routeing constrained parameters wherein in Goal programming Model
It sets and calculates, including the ultimate run of unmanned plane 100, minimum step, maximum are climbed angle, minimum flying height, minimum turning
Radius and maximum angle of turn etc.；In flight course, the photographic device 101 of unmanned plane 100 is flown with preset frequency collection
Image data simultaneously passes unmanned aerial vehicle (UAV) control device 200 back, and flight path calculates module 202 according to newest flight image data information reality
When adjustment unmanned plane 100 flight optimization path and countermeasures data, control unmanned plane 100 kept most in flight course
Good shooting visual angle；
C. unmanned plane 100 acquires limited road image information by photographic device 101 in flight course with depression angle,
And by road image data transmission to the image processing module 201 in unmanned aerial vehicle (UAV) control device 200；Image processing module 201 is to road
The scene display module 302 of system controller 300 is transferred data to after the pre-processing image data of road, scene display module 302 is first
It first passes through edge detection algorithm and analysis calculating is carried out to road image data, obtain barrier ruler in road edge width, road
Very little equal data informations show whether motor vehicle can be normal through limited road knot then in conjunction with the analysis of default motor vehicle dimensional parameters
Fruit or motor vehicle are normal through data informations such as the traffic routes of limited road；
D. scene display module 302 added in limited road image data can passing road edge label and suggest driving
The relevant informations such as route, and treated road image data transmission is arrived multi-medium intelligent terminal 400, display is real-time narrow
Road image, driver can by multi-medium intelligent terminal 400 from depression angle intuitively from limited road situation；
E. motor vehicle drives into limited road, unmanned aerial vehicle (UAV) control device 200 control unmanned plane 100 along limited road direction fly in
The positive front of body of motor vehicle, and distance is kept fixed with body of motor vehicle always, the auxiliary projection arrangement on unmanned plane 100
102 project vehicle body security boundary profile 700 according to the parameters such as motor vehicle size are preset on the ground before body of motor vehicle
Laser graphics enable driver to pass through limited road by the guiding of laser graphics.
In conclusion using vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) of the present invention, driver can not only be made to pass through and bowed
Depending on angle observe the motion state of body of motor vehicle, moreover it is possible to help driver is more intuitive accurately to understand longitudinal maneuver vehicle vehicle body
Longer-distance traffic environment information, prejudges surrounding road traffic conditions, formulates more rational driving strategy and row
Bus or train route line.Vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) can also assist primary driver easily to complete backing parking and quickly lead to simultaneously
The driving operation of limited road is crossed, the generation that extension accident is wiped in traffic is reduced.
The above embodiment of the present invention is only example to illustrate the invention, and is not the implementation to the present invention
The restriction of mode.For those of ordinary skill in the art, other can also be made not on the basis of the above description
With the variation and variation of form.Here can not all embodiments be exhaustive.It is every to belong to technical scheme of the present invention institute
Row of the obvious changes or variations amplified out still in protection scope of the present invention.
Claims (3)
1. a kind of method of operation of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System), which is characterized in that including unmanned plane, unmanned aerial vehicle (UAV) control
Device, system controller, vehicle-mounted charging device, positioning identity device and multi-medium intelligent terminal；It is equipped with and takes the photograph on the unmanned plane
As device and auxiliary projection arrangement；The unmanned aerial vehicle (UAV) control device includes image processing module and flight path measuring and calculating module；It is described
System controller includes state of motor vehicle detection module, mode selection module, scene display module and control signal input module；
The vehicle-mounted charging device is installed on motor vehicle roof, and the power output of power inlet and vehicle electric Force system is electrical
Connection；The positioning identity device is installed on motor vehicle head cover diagonal line point of intersection；The unmanned function and unmanned aerial vehicle (UAV) control device
It carries out wireless communication；The data port of the system controller and the data port of unmanned aerial vehicle (UAV) control device can by wired mode and
Wireless mode carries out data transmission；The data port of the multi-medium intelligent terminal and the data port of system controller can pass through
Wired mode and wireless mode carry out data transmission；
Flight charging port is additionally provided on the unmanned plane；The vehicle-mounted charging device is additionally provided with charging cable, described to fill
Electrical cables can be fastenedly connected on the flight charging port of unmanned plane, make unmanned plane in flight course can by charging cable into
Row charging；The system controller is the intelligent travelling crane computer on motor vehicle；The photographic device is CCD high-definition cameras；Institute
It is laser projection lamp to state auxiliary projection arrangement；The multi-medium intelligent terminal is vehicle-mounted projecting device or handheld digital device；
The system comprises reversing auxiliary mode, standard road pattern and limited road patterns；
The operating procedure of the reversing auxiliary mode is as follows：
A. the mode selection module of the system controller detects that motor vehicle enters state of rolling backward, just starts reversing auxiliary mould
Formula, while corresponding control signal is sent to unmanned aerial vehicle (UAV) control device；The unmanned aerial vehicle (UAV) control device controls nobody after receiving signal
Machine takes off by the reversing preset initial flight route of secondary mode of operation, and unmanned plane is acquired in flight course by photographic device
Flight image information, and flight image data is wirelessly transmitted to unmanned aerial vehicle (UAV) control device；
B. the image processing module in unmanned aerial vehicle (UAV) control device pre-processes flight image data, and will treated flight map
Calculate module as data are transferred to flight path；Flight path calculates module using Goal programming Model and ant group algorithm to flight
Image data carries out analysis calculating, obtains flight optimization path and countermeasures data, and unmanned aerial vehicle (UAV) control device just controls unmanned plane
The line of flight is adjusted, the image information of acquisition reversing in real time is started；
C. the photographic device on unmanned plane is moved backward image information by the angle acquisition of vertical view, and reversing image data is transmitted to
Image processing module；Image processing module in unmanned aerial vehicle (UAV) control device after reversing pre-processing image data to transferring data to system
The scene display module of controller, scene display module carry out reversing image data by parameter preset and movement location algorithm
Analysis calculates, and obtains the contextual data information of the warning frontier distance driven about reversing；
D. scene display module added in image data of moving backward warning frontier distance relevant information, and treated reversing
Image data is transmitted to multi-medium intelligent terminal and is shown, driver can not only be seen by multi-medium intelligent terminal to bow in real time
Angle reversing image, moreover it is possible to see the related reversing information of warning frontier distance；Meanwhile the auxiliary projection arrangement on unmanned plane
According to parameter preset and warning frontier distance information, projection car backing position warns the laser of boundary profile on reversing field ground
Figure, enable driver in low light environment from multiple angles more intuitively from move backward situation, complete reversing operation.
2. the method for operation of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) according to claim 1, which is characterized in that the standard
The method of operation of road mode is as follows：
A. driver start drive before by the control signal input module input control signal enabling standard road pattern
The mode selection module of signal, the system controller sends corresponding control signal to unmanned aerial vehicle (UAV) control device, the unmanned plane
Controller receives the initial flight route that control unmanned plane is set by standard road pattern after signal and takes off, and unmanned plane is flying
Flight image information is acquired by photographic device in the process, and wirelessly transmits flight image data to unmanned aerial vehicle (UAV) control
Device；
B. the image processing module in unmanned aerial vehicle (UAV) control device pre-processes flight image data, and will treated flight map
Calculate module as data are transferred to flight path；Flight path is calculated module and is identified first by the positioning in flight image data
Device information determines accompanying flying position of the unmanned plane relative to motor vehicle, then Goal programming Model and ant group algorithm is used to obtain most
Good flight path and countermeasures data；During motor-driven vehicle going, the photographic device of unmanned plane is with preset frequency collection
Flight image data simultaneously passes unmanned aerial vehicle (UAV) control device back, and simultaneity factor controller monitors pass in real time by state of motor vehicle detection module
In the state of motor vehicle data of motor vehicle speed, steering angle of wheel, and transfer data to unmanned aerial vehicle (UAV) control device；Unmanned plane control
State of motor vehicle data are carried out comprehensive analysis with flight graph data and compared by the flight path measuring and calculating module of device processed, are adjusted in real time
The flight optimization path of whole unmanned plane and countermeasures data, control unmanned plane keep the tracking that relative position is stablized with motor vehicle
State of flight；
C. unmanned plane acquires traffic route panorama image information by photographic device in tracking flight course with depression angle, and
Traffic panoramic image data is transmitted to the image processing module in unmanned aerial vehicle (UAV) control device；Image processing module is to traffic panorama sketch
As transferring data to scene display module after data prediction, scene display module is complete to traffic by edge detection algorithm first
Scape image data carries out analysis calculating, obtains traffic route road surface ahead motor vehicle distributed data and the number about special bus flow
It is believed that breath, then again by motor-driven vehicle going route-target plan model model and ant group algorithm to motor vehicle distributed data and friendship
The flow that is open to traffic is analyzed, and the data information of reasonable traffic route is obtained in conjunction with parameter preset；
D. scene display module is added in traffic panoramic image data about special bus data on flows and reasonable traffic route
Auxiliary information, and treated, traffic panoramic image data is transmitted to multi-medium intelligent terminal, shows real-time traffic route
Panoramic picture, driver can by multi-medium intelligent terminal from depression angle intuitively from road traffic condition, obtain simultaneously
Digitized special bus flow data information and suggestion traffic route.
3. the method for operation of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) according to claim 1 or 2, which is characterized in that described
The method of operation of limited road pattern is as follows：
A. driver passes through the control signal input module input control signal enabling limited road mould in limited road import
Formula signal, the mode selection module of the system controller send corresponding control signal to unmanned aerial vehicle (UAV) control device, it is described nobody
Machine controller receives the initial flight route that control unmanned plane set by limited road pattern after signal and takes off, and unmanned plane is winged
Flight image information is acquired by photographic device during row, and wirelessly transmits flight image data to unmanned plane control
Device processed；
B. the image processing module in unmanned aerial vehicle (UAV) control device pre-processes flight image data, and will treated flight map
Calculate module as data are transferred to flight path；Flight path measuring and calculating module is obtained most using Goal programming Model and ant group algorithm
Good flight path and countermeasures data, unmanned aerial vehicle (UAV) control device control unmanned plane quickly through limited road and are returned prior to motor vehicle
Boat；In flight course, the photographic device of unmanned plane with preset frequency collection flight image data and passes unmanned aerial vehicle (UAV) control back
Device, flight path calculate module according to newest flight image data information adjust in real time unmanned plane flight optimization path and
Countermeasures data, control unmanned plane keep best shooting visual angle in flight course；
C. unmanned plane acquires limited road image information by photographic device in flight course with depression angle, and by mileage chart
As data transmission to the image processing module in unmanned aerial vehicle (UAV) control device；Image processing module after road image data prediction to passing
The scene display module of system controller is transmitted data to, scene display module is first by edge detection algorithm to road image number
According to analysis calculating is carried out, the data information of barrier size in road edge width, road is obtained, then in conjunction with default motor vehicle
Dimensional parameters analysis show whether motor vehicle can be normal through limited road result or motor vehicle normal through limited road
The data information of traffic route；
D. scene display module, which adds in limited road image data, passing road edge label and to suggest traffic route
Relevant information, and treated road image data transmission is shown real-time limited road image to multi-medium intelligent terminal,
Driver can by multi-medium intelligent terminal from depression angle intuitively from limited road situation；
E. motor vehicle drives into limited road, and unmanned aerial vehicle (UAV) control device controls unmanned plane and flies in body of motor vehicle along limited road direction
Positive front, and distance is kept fixed with body of motor vehicle always, the auxiliary projection arrangement on unmanned plane is according to default motor vehicle
Dimensional parameters project the laser graphics of vehicle body security boundary profile on the ground before body of motor vehicle, and driver is enable to pass through
The guiding of laser graphics passes through limited road.
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