CN106080397A - Self-adaption cruise system and mobile unit - Google Patents
Self-adaption cruise system and mobile unit Download PDFInfo
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- CN106080397A CN106080397A CN201610729887.7A CN201610729887A CN106080397A CN 106080397 A CN106080397 A CN 106080397A CN 201610729887 A CN201610729887 A CN 201610729887A CN 106080397 A CN106080397 A CN 106080397A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2710/00—Output or target parameters relating to a particular sub-units
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Abstract
The invention provides a kind of self-adaption cruise system and mobile unit.This system includes: cloud data harvester, for during motor-driven vehicle going, gathers multiple somes clouds in road ahead scene；Multidimensional vehicle alternative area determines device, for the plurality of some cloud based on the output of described cloud data harvester, determines the ground level in described road ahead scene；According to preset vehicle dimension, described ground level generates multiple multidimensional region；Determine whether each multidimensional region is multidimensional vehicle alternative area；Range unit, for determining, according to described multidimensional vehicle alternative area, the described multidimensional vehicle alternative area that device is determined, detects the distance between described motor vehicles and described multidimensional vehicle alternative area；And controller, for described motor vehicles being carried out control of cruising according to described distance.The embodiment of the present invention can identify and position the vehicle in road ahead scene quickly and accurately, and carries out adaptive learning algorithms.
Description
Technical field
The present invention relates to intelligent vehicle technical field of environmental perception, particularly a kind of self-adaption cruise system and vehicle-mounted set
Standby.
Background technology
In automotive safety problem, car collision problem should cause enough attention.Current vehicle anticollision technology
Concentrating in the crash protection research of direct route vehicle rear-end collision, its core is the calculating to vehicle safety spacing.
In correlation technique, mainly utilizing the method that GPS carries out vehicle odometry, concrete application GPS information obtains the warp of vehicle
The information such as latitude, speed and course, carry out calculated braking distance with this.But there are two problems in current GPS method, one is
Positioning precision problem, general error is at the order of magnitude of 10 meters, and this is inadequate for collision prevention of vehicle precision；Another is acquisition of information
Integrity issue, such as, is only capable of obtaining, by GPS, this vehicle speed that precision is the highest, not only has problems in terms of precision, and
Information for other vehicles then can only be obtained by estimation.Thus, it would be highly desirable to solve this problem.
Summary of the invention
In view of the above problems, it is proposed that the present invention in case provide one overcome the problems referred to above or at least in part solve on
State self-adaption cruise system and the mobile unit of problem.
According to an aspect of of the present present invention, it is provided that a kind of self-adaption cruise system, including:
Cloud data harvester, for during motor-driven vehicle going, gathers multiple somes clouds in road ahead scene；
Multidimensional vehicle alternative area determines device, for the plurality of point based on the output of described cloud data harvester
Cloud, determines the ground level in described road ahead scene；According to preset vehicle dimension, described ground level generate multiple many
Dimension region；The first solid comprising the plurality of some cloud is divided into the set of the second solid of specified quantity, determines each
One or more described second solid that individual multidimensional region comprises；According to each multidimensional region described comprise one or more
Described second solid, determines whether this multidimensional region is multidimensional vehicle alternative area；
According to described multidimensional vehicle alternative area, range unit, for determining that the described multidimensional vehicle that device is determined is alternative
Region, detects the distance between described motor vehicles and described multidimensional vehicle alternative area；And
Controller, for carrying out, according to described distance, control of cruising to described motor vehicles.
Alternatively, described controller is additionally operable to:
Judge that whether described distance is less than the safe distance set；
The most then control described motor vehicles to carry out slowing down or braking.
Alternatively, described cloud data harvester includes at least one following:
Laser radar, binocular camera.
Alternatively, when described cloud data harvester is laser radar, described laser radar is at described motor vehicles
During traveling, gather multiple somes clouds in road ahead scene.
Alternatively, when described cloud data harvester is binocular camera, described binocular camera is at described motor vehicles
During traveling, multiple images in picked-up road ahead scene, from multiple images described, obtain multiple somes clouds.
Alternatively, described multidimensional vehicle alternative area determines that device is additionally operable to:
By stochastic sampling concordance RANSAC algorithm, determine in the plurality of some cloud and belong in described road ahead scene
The some cloud of ground level, and then determine the ground level in described road ahead scene.
Alternatively, described multidimensional vehicle alternative area determines that device is additionally operable to:
According to preset vehicle dimension, in the described multiple multidimensional region of ground level stochastic generation, wherein, described multidimensional region
By specifying parameter determination.
Alternatively, described appointment parameter includes at least one following:
The three-dimensional coordinate of vehicle center, vehicle dimension, vehicle on described ground level towards angle.
Alternatively, described multidimensional vehicle alternative area determines that device is additionally operable to:
By comprising the cuboid of the plurality of some cloud according to fixed interval discretization, it is divided into the cubical of specified quantity
Set.
Alternatively, described multidimensional vehicle alternative area determines that device is additionally operable to:
One or more described second solid comprised according to each multidimensional region described, utilizes three-dimensional integral figure to calculate
Point cloud quantity that each multidimensional region described comprises and/or some cloud average height；
The point cloud quantity comprised according to each multidimensional region described and/or some cloud average height, determine that this multidimensional region is
No for multidimensional vehicle alternative area.
Alternatively, described multidimensional vehicle alternative area determines that device is additionally operable to:
The point cloud quantity each multidimensional region described comprised according to the weight specified and some cloud average height summation weighting,
Obtain the comprehensive grading value of each multidimensional region described；
Comprehensive grading value according to each multidimensional region described, determines whether this multidimensional region is multidimensional vehicle candidate area
Territory.
Alternatively, described multidimensional vehicle alternative area determines that device is additionally operable to:
The comprehensive grading value of each multidimensional region described is ranked up from big to small；
Choose the multidimensional region of the forward specified quantity of sequence as multidimensional vehicle alternative area.
According to another aspect of the present invention, additionally provide a kind of mobile unit, including any of the above-described described self adaptation
Cruise system.
Embodiments provide a kind of novel self-adaption cruise system, this system include cloud data harvester,
Multidimensional vehicle alternative area determines device, range unit and controller, wherein, cloud data harvester, at motor vehicles
During traveling, gather multiple somes clouds in road ahead scene；Multidimensional vehicle alternative area determines device, for based on point
The plurality of some cloud of cloud data acquisition unit output, determines the ground level in road ahead scene；According to preset vehicle dimension,
Ground level generates multiple multidimensional region；The first solid comprising multiple somes clouds is divided into the second geometry of specified quantity
The set of body, determines one or more second solids that each multidimensional region comprises；One comprised according to each multidimensional region
Individual or multiple second solids, determine whether this multidimensional region is multidimensional vehicle alternative area；Range unit, for according to multidimensional
Vehicle alternative area determines the multidimensional vehicle alternative area that device is determined, between testing machine motor-car and multidimensional vehicle alternative area
Distance；And controller, for motor vehicles being carried out control of cruising according to this distance.As can be seen here, embodiment of the present invention profit
It is positioned at the priori near ground level with vehicle, utilizes the template of known vehicle size simultaneously, be greatly reduced to be searched
The number of multidimensional region, improves search efficiency, meets the requirement of real-time in reality application.Further, due to each more than the second
What body comprises at least one the some cloud in road scene, the embodiment of the present invention based on each multidimensional region comprise one or more
Second solid, determines whether this multidimensional region is multidimensional vehicle alternative area, it is ensured that the recall rate of multidimensional region.Meanwhile,
Based on a determination that the multidimensional vehicle alternative area gone out, the distance between testing machine motor-car and multidimensional vehicle alternative area, according to this away from
From motor vehicles being carried out control of cruising, it is effectively improved usability and the motility of cruise system.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, and in order to allow above and other objects of the present invention, the feature and advantage can
Become apparent, below especially exemplified by the detailed description of the invention of the present invention.
According to below in conjunction with the accompanying drawing detailed description to the specific embodiment of the invention, those skilled in the art will be brighter
Above-mentioned and other purposes, advantage and the feature of the present invention.
Accompanying drawing explanation
By reading the detailed description of hereafter preferred implementation, various other advantage and benefit common for this area
Technical staff will be clear from understanding.Accompanying drawing is only used for illustrating the purpose of preferred implementation, and is not considered as the present invention
Restriction.And in whole accompanying drawing, it is denoted by the same reference numerals identical parts.In the accompanying drawings:
Fig. 1 shows the structural representation of self-adaption cruise system according to an embodiment of the invention；
Fig. 2 shows the structural representation of mobile unit according to an embodiment of the invention；And
Fig. 3 shows the function classification schematic diagram of motor vehicles according to an embodiment of the invention.
Detailed description of the invention
It is more fully described the exemplary embodiment of the disclosure below with reference to accompanying drawings.Although accompanying drawing shows the disclosure
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure and should be by embodiments set forth here
Limited.On the contrary, it is provided that these embodiments are able to be best understood from the disclosure, and can be by the scope of the present disclosure
Complete conveys to those skilled in the art.
For solving above-mentioned technical problem, embodiments provide a kind of self-adaption cruise system.Fig. 1 shows basis
The structural representation of the self-adaption cruise system of one embodiment of the invention.As it is shown in figure 1, this system at least can include a cloud number
Device 120, range unit 130 and controller 140 is determined according to harvester 110, multidimensional vehicle alternative area.
Now introduce between each composition of the self-adaption cruise system 100 of the embodiment of the present invention or the function of device and each several part
Annexation:
Cloud data harvester 110, for during motor-driven vehicle going, gathers the multiple points in road ahead scene
Cloud；
Multidimensional vehicle alternative area determines device 120, is coupled with cloud data harvester 110, for based on a cloud number
According to multiple somes clouds of harvester output, determine the ground level in road ahead scene；According to preset vehicle dimension, at ground level
The multiple multidimensional region of upper generation；The first solid comprising multiple somes clouds is divided into the collection of the second solid of specified quantity
Close, determine one or more second solids that each multidimensional region comprises；One or many comprised according to each multidimensional region
Individual second solid, determines whether this multidimensional region is multidimensional vehicle alternative area；
With multidimensional vehicle alternative area, range unit 130, determines that device 120 is coupled, for alternative according to multidimensional vehicle
The multidimensional vehicle alternative area that area determining device 120 is determined, between testing machine motor-car and multidimensional vehicle alternative area away from
From；And
Controller 140, is coupled with range unit 130, for motor vehicles carrying out control of cruising according to this distance.
The multidimensional region that the embodiment of the present invention is mentioned can be two dimension, 3D region etc., the invention is not limited in this regard.
Embodiments provide a kind of novel self-adaption cruise system, this system include cloud data harvester,
Multidimensional vehicle alternative area determines device, range unit and controller, wherein, cloud data harvester, at motor vehicles
During traveling, gather multiple somes clouds in road ahead scene；Multidimensional vehicle alternative area determines device, for based on point
The plurality of some cloud of cloud data acquisition unit output, determines the ground level in road ahead scene；According to preset vehicle dimension,
Ground level generates multiple multidimensional region；The first solid comprising multiple somes clouds is divided into the second geometry of specified quantity
The set of body, determines one or more second solids that each multidimensional region comprises；One comprised according to each multidimensional region
Individual or multiple second solids, determine whether this multidimensional region is multidimensional vehicle alternative area；Range unit, for according to multidimensional
Vehicle alternative area determines the multidimensional vehicle alternative area that device is determined, between testing machine motor-car and multidimensional vehicle alternative area
Distance；And controller, for motor vehicles being carried out control of cruising according to this distance.As can be seen here, embodiment of the present invention profit
It is positioned at the priori near ground level with vehicle, utilizes the template of known vehicle size simultaneously, be greatly reduced to be searched
The number of multidimensional region, improves search efficiency, meets the requirement of real-time in reality application.Further, due to each more than the second
What body comprises at least one the some cloud in road scene, the embodiment of the present invention based on each multidimensional region comprise one or more
Second solid, determines whether this multidimensional region is multidimensional vehicle alternative area, it is ensured that the recall rate of multidimensional region.Meanwhile,
Based on a determination that the multidimensional vehicle alternative area gone out, the distance between testing machine motor-car and multidimensional vehicle alternative area, according to this away from
From motor vehicles being carried out control of cruising, it is effectively improved usability and the motility of cruise system.
In the alternative embodiment of the present invention, cloud data harvester 110 mentioned above may be mounted in motor vehicles,
With during motor-driven vehicle going, obtain multiple somes clouds in road ahead scene.Cloud data harvester 110 can be sharp
Optical radar, it is also possible to be binocular camera, it is also possible to be the combination of laser radar and binocular camera.
Laser radar is one of important sensor that intelligent vehicle obtains external information, has reliability and real-time,
Accuracy advantages of higher, is therefore widely used in intelligent vehicle environment sensing research.Radar has multiple laser sensor,
Each sensor measurement discrete data point is represented by Pi, and (x, y, z, s), x, y, z represent three dimensional physical distance respectively, and unit is
Rice, s represents reflex strength, for dimensionless number.Cloud data be then large-scale discrete measurement point data set P1, P2,
P3 ..., PN}, they are that reduced form measures the basic configuration feature of object and CONSTRUCTED SPECIFICATION provides the information of abundance.Work as a little
When cloud data acquisition unit 110 is laser radar, laser radar can gather road ahead scene during motor-driven vehicle going
In multiple somes clouds, three-dimensional coordinate (XYZ) and the laser-bounce intensity (Intensity) of a cloud can be collected.
Binocular camera is two cameras to be positioned over same plane shoot target object, obtains many group correspondences
Subject image pair, owing to camera and object meet principle of triangulation, uses the parallax of corresponding point to calculate object simultaneously
Steric information, thus obtain the three dimensional point cloud of object.When cloud data harvester 110 is binocular camera, Ke Yi
During motor-driven vehicle going, multiple images in picked-up road ahead scene, from multiple images, obtain multiple somes clouds, can adopt
Collection arrives three-dimensional coordinate (XYZ) and the colouring information (RGB) of some cloud.
When the combination that cloud data harvester 110 is laser radar and binocular camera, it is possible to obtain the three-dimensional seat of some cloud
Mark (XYZ), laser-bounce intensity (Intensity) and colouring information (RGB).
In the alternative embodiment of the present invention, multidimensional vehicle alternative area determines that device 120 is determining road ahead scene
In ground level time, RANSAC (RANdom Sample Consensus, stochastic sampling concordance) algorithm can be passed through, determine
Multiple somes clouds belong to the some cloud of ground level in road ahead scene, and then determines the ground level in road ahead scene.
RANSAC can estimate mathematical model by iterative manner from one group of observation data set comprising " point not in the know "
Parameter.It is a kind of uncertain algorithm, and it has certain probability to draw a rational result.The basic assumption of RANSAC
It is:
(1) data are made up of, such as " intra-office point ": the distribution of data can be explained by some model parameters；
(2) " point not in the know " is the data not adapting to this model；
(3) data in addition belong to noise.
Not in the know some Producing reason has: the extreme value of noise, the measuring method of mistake, the false supposition to data.RANSAC
Have also been made it is assumed hereinafter that: given one group of (the least) intra-office point, there is a process that can estimate model parameter, and be somebody's turn to do
Model can explain or be applicable to intra-office point.
The input of RANSAC algorithm is one group of observation data, a parametrization that can explain or be adapted to observe data
Model, some believable parameters.RANSAC reaches target by the one group of random subset being chosen in data.It is selected
Subset is assumed to be intra-office point, and verifies by following method:
1) having a model to be adapted to the intra-office point assumed, the most all of unknown parameter can calculate from the intra-office point assumed
Draw；
2) with 1) in the model that obtains go to test other data all of, if certain point is applicable to the model estimated, recognize
It also it is intra-office point for it；
3) if there being abundant point to be classified as the intra-office point assumed, then the model of estimation is sufficient for rationally；
4) then, go to reappraise model with the intra-office point of all hypothesis, because it is only by initial hypothesis intra-office point
Estimated；
5) last, by estimating that intra-office point carrys out assessment models with the error rate of model.
This process is repeatedly executed fixing number of times, the model that every time produces or because intra-office point is given up very little
Abandon, otherwise because more preferable and selected than existing model.
In embodiments of the present invention, the cloud data of input has the substantial amounts of some cloud genera in ground level, calculated by RANSAC
Method can the most robustly estimate ground level.Ground level π=(a, b, c, d)TRepresented by the parametrization of four dimensional vectors, its ginseng
Examining coordinate system is the observation coordinate system centered by sensor.
In the alternative embodiment of the present invention, multidimensional vehicle alternative area determine device 120 according to preset vehicle dimension,
When ground level generates multiple multidimensional region, can be according to preset vehicle dimension, in the multiple multidimensional of ground level stochastic generation
Region, wherein, multidimensional region is by specifying parameter determination.Here appointment parameter can be the three-dimensional coordinate of vehicle center, car
Size, vehicle on ground level towards angle, etc., the invention is not restricted to this.
Specifically, under the scene of natural track, it is assumed that vehicle is respectively positioned near road surface (that is, ground level) and (does not consider to hang
The extreme cases such as vehicle), then according to the size template (length) of known vehicle input vehicle, do slight near road surface
Disturbance, simultaneously traversal car modal possible towards angle, i.e. can obtain M possible multidimensional region, these multidimensional regions
Can be determined by 7 parameters (x, y, z, l, w, h, θ), wherein (x, y z) represent the three-dimensional coordinate of vehicle center；(l,w,
H) it is the length template of vehicle；θ represent vehicle in the horizontal plane towards angle.
In the alternative embodiment of the present invention, multidimensional vehicle alternative area determines that device 120 will comprise the of multiple somes clouds
When one solid is divided into the set of the second solid of specified quantity, can will comprise the cuboid of multiple somes clouds according to fixing
Spaced discrete, is divided into the cubical set of specified quantity.Specifically, the cuboid of all input three-dimensional point clouds will be comprised
According to fixed interval discretization, it is divided into the set of several small cubes, then for M the multidimensional region obtained above, often
Individual multidimensional region will correspond to the set of several small cubes in this region.Here, it is intended that quantity can be according to the actual requirements
It is configured, such as, if desired divides less cube and bigger specified quantity is then set.
Determine that device 120 determines one or more second geometry that each multidimensional region comprises in multidimensional vehicle alternative area
After body, comprise at least one the some cloud in road scene due to each second solid, thus can be many according to each further
One or more second solids that dimension region comprises are to determine the feature of each multidimensional region, subsequently according to each multidimensional region
Feature determine whether this multidimensional region is multidimensional vehicle alternative area.The feature of multidimensional region here can be multidimensional district
Comprised in territory puts cloud quantity, some cloud average height, some cloud number ratio up and down etc., the invention is not restricted to this.
In the alternative embodiment of the present invention, it is possible to use three-dimensional integral figure calculates the feature of each multidimensional region, computation complexity
For O (1), save amount of calculation, can quickly calculate the feature of a large amount of multidimensional region.
Further, multidimensional vehicle alternative area determines that device 120 can be according to the some cloud number comprised in multidimensional region
Amount determines whether this multidimensional region is multidimensional vehicle alternative area；Or according to the some cloud mean height comprised in multidimensional region
Degree determines whether this multidimensional region is multidimensional vehicle alternative area；Or in conjunction with the some cloud quantity comprised in multidimensional region and
Point cloud average height determines whether this multidimensional region is multidimensional vehicle alternative area.Here it is possible to according to the weight pair specified
The point cloud quantity that each multidimensional region comprises and some cloud average height summation weighting, obtain the comprehensive grading of each multidimensional region
Value, subsequently according to the comprehensive grading value of each multidimensional region, determines whether this multidimensional region is multidimensional vehicle alternative area.
In the alternative embodiment of the present invention, the comprehensive grading value of each multidimensional region can be arranged from big to small
Sequence, chooses the multidimensional region of the forward specified quantity of sequence as multidimensional vehicle alternative area.
In the alternative embodiment of the present invention, range unit 130 can determine device 120 according to multidimensional vehicle alternative area
The multidimensional vehicle alternative area determined, the distance between testing machine motor-car and multidimensional vehicle alternative area, i.e. testing machine motor-car
Distance with front vehicles.Controller 140 judges that this distance whether less than the safe distance set, the most then controls motor vehicles
Carry out slowing down or braking；Otherwise, if it is not, then can continue to keep current travel speed.
Alternatively, when controller 140 judges this distance less than the safe distance set, motor vehicles can be obtained further
Travel speed with front vehicles, it is judged that whether motor vehicles is less than the peace set with the speed difference of the travel speed of front vehicles
Full speed difference, the most then report to the police and brake hard；Carry out slowing down or braking if it is not, motor vehicles then can be controlled.
In the alternative embodiment of the present invention, when controller 140 carries out cruise control according to this distance to motor vehicles, permissible
Obtain, by the drive recorder of terminal, video information of driving a vehicle in real time, drive a vehicle in each frame of video of video information in real time to identifying
Driving relevant information be analyzed determining corresponding traffic navigation information in real time.
In a preferred embodiment, the driving relevant information identified includes the travel speed of front truck and/or rear car, based on
Front truck and/or the travel speed of rear car and the distance (that is, the distance between motor vehicles and multidimensional vehicle alternative area) with this car,
Calculate the actual travel distance of front truck and/or rear car and this car；If front truck and/or rear car are less than with the actual travel distance of this car
During predetermined safety traffic distance threshold, generate corresponding traffic navigation information.
Such as, obtain, by the drive recorder of terminal, video information of driving a vehicle in real time, when identifying driving video letter in real time
When ceasing the travel speed that the driving relevant information in a certain frame of video includes front truck and/or rear car, based on front truck and/or rear car
Travel speed, if the travel speed of front truck is 50km/s, and is 12m with the distance of this car, by pre-defined algorithm calculate front truck with
The actual travel distance of this car is 10m, and predetermined safety traffic distance threshold is 20m, can determine whether the actual row of front truck and this car
Sail distance less than predetermined safety traffic distance threshold, subsequently, generate corresponding traffic navigation information, as " noted front
Driving vehicle, asks slow down！”.
In the alternative embodiment of the present invention, except can obtain the travel speed of front truck and/or rear car, front truck and/or
Outside the distance of rear car and this car, it is also possible to obtain the information such as driving road-condition identification information, road environment information.
The self-adaption cruise system that the embodiment of the present invention provides is a real-time system, can apply at motor-driven vehicle going
During, cloud data harvester 110 obtains multiple somes clouds in road ahead scene in real time；Multidimensional vehicle alternative area determines
Device 120 can determine that whether each multidimensional region is multidimensional vehicle alternative area, and then range unit 130 can be real-time in real time
The multidimensional vehicle alternative area that device 120 is determined, testing machine motor-car and multidimensional vehicle is determined according to multidimensional vehicle alternative area
Distance between alternative area.Subsequently, controller 140 carries out, according to this distance, control of cruising to motor vehicles.Such as, controller
140 judge that this distance whether less than the safe distance set, the most then controls motor vehicles and carries out slowing down or braking；Otherwise, if
No, then can continue to keep current travel speed.Alternatively, controller 140 judge this distance less than set safety away from
From time, the travel speed of motor vehicles and front vehicles can be obtained further, it is judged that the travel speed of motor vehicles and front vehicles
Speed difference whether less than the safe speed difference set, the most then report to the police and brake hard；If it is not, machine then can be controlled
Motor-car carries out slowing down or braking.
Based on same inventive concept, as in figure 2 it is shown, the embodiment of the present invention additionally provides a kind of mobile unit 200, including on
State any one described self-adaption cruise system 100.
Fig. 3 shows some functions classification comprised on motor vehicles, such as intelligent control function, basic control function, expansion
Function, common function etc., the mobile unit 200 that the embodiment of the present invention provides can be sorted in expanding function.Certainly it is the most only
Schematically, do not limit the invention.
According to any one preferred embodiment above-mentioned or the combination of multiple preferred embodiment, the embodiment of the present invention can reach
Following beneficial effect:
Embodiments provide a kind of novel self-adaption cruise system, this system include cloud data harvester,
Multidimensional vehicle alternative area determines device, range unit and controller, wherein, cloud data harvester, at motor vehicles
During traveling, gather multiple somes clouds in road ahead scene；Multidimensional vehicle alternative area determines device, for based on point
The plurality of some cloud of cloud data acquisition unit output, determines the ground level in road ahead scene；According to preset vehicle dimension,
Ground level generates multiple multidimensional region；The first solid comprising multiple somes clouds is divided into the second geometry of specified quantity
The set of body, determines one or more second solids that each multidimensional region comprises；One comprised according to each multidimensional region
Individual or multiple second solids, determine whether this multidimensional region is multidimensional vehicle alternative area；Range unit, for according to multidimensional
Vehicle alternative area determines the multidimensional vehicle alternative area that device is determined, between testing machine motor-car and multidimensional vehicle alternative area
Distance；And controller, for motor vehicles being carried out control of cruising according to this distance.As can be seen here, embodiment of the present invention profit
It is positioned at the priori near ground level with vehicle, utilizes the template of known vehicle size simultaneously, be greatly reduced to be searched
The number of multidimensional region, improves search efficiency, meets the requirement of real-time in reality application.Further, due to each more than the second
What body comprises at least one the some cloud in road scene, the embodiment of the present invention based on each multidimensional region comprise one or more
Second solid, determines whether this multidimensional region is multidimensional vehicle alternative area, it is ensured that the recall rate of multidimensional region.Meanwhile,
Based on a determination that the multidimensional vehicle alternative area gone out, the distance between testing machine motor-car and multidimensional vehicle alternative area, according to this away from
From motor vehicles being carried out control of cruising, it is effectively improved usability and the motility of cruise system.
In description mentioned herein, illustrate a large amount of detail.It is to be appreciated, however, that the enforcement of the present invention
Example can be put into practice in the case of not having these details.In some instances, it is not shown specifically known method, structure
And technology, in order to do not obscure the understanding of this description.
Similarly, it will be appreciated that one or more in order to simplify that the disclosure helping understands in each inventive aspect, exist
Above in the description of the exemplary embodiment of the present invention, each feature of the present invention is grouped together into single enforcement sometimes
In example, figure or descriptions thereof.But, the method for the disclosure should not be construed to reflect an intention that i.e. required guarantor
The application claims feature more more than the feature being expressly recited in each claim protected.More precisely, as following
Claims reflected as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
The claims following detailed description of the invention are thus expressly incorporated in this detailed description of the invention, the most each claim itself
All as the independent embodiment of the present invention.
Those skilled in the art are appreciated that and can carry out the module in the equipment in embodiment adaptively
Change and they are arranged in one or more equipment different from this embodiment.Can be the module in embodiment or list
Unit or assembly are combined into a module or unit or assembly, and can put them in addition multiple submodule or subelement or
Sub-component.In addition at least some in such feature and/or process or unit excludes each other, can use any
Combine all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so disclosed appoint
Where method or all processes of equipment or unit are combined.Unless expressly stated otherwise, this specification (includes adjoint power
Profit requires, summary and accompanying drawing) disclosed in each feature can be carried out generation by providing identical, equivalent or the alternative features of similar purpose
Replace.
Although additionally, it will be appreciated by those of skill in the art that embodiments more described herein include other embodiments
Some feature included by rather than further feature, but the combination of the feature of different embodiment means to be in the present invention's
Within the scope of and form different embodiments.Such as, in detail in the claims, embodiment required for protection one of arbitrarily
Can mode use in any combination.
The all parts embodiment of the present invention can realize with hardware, or to run on one or more processor
Software module realize, or with combinations thereof realize.It will be understood by those of skill in the art that and can use in practice
Microprocessor or digital signal processor (DSP) realize self-adaption cruise system according to embodiments of the present invention and vehicle-mounted set
The some or all functions of the some or all parts in Bei.The present invention is also implemented as performing described here
Part or all equipment of method or device program (such as, computer program and computer program).This
The program realizing the present invention of sample can store on a computer-readable medium, or can have one or more signal
Form.Such signal can be downloaded from internet website and obtain, or provides on carrier signal, or with any other
Form provides.
The present invention will be described rather than limits the invention to it should be noted above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference marks that should not will be located between bracket is configured to limitations on claims.Word " comprises " and does not excludes the presence of not
Arrange element in the claims or step.Word "a" or "an" before being positioned at element does not excludes the presence of multiple such
Element.The present invention and can come real by means of including the hardware of some different elements by means of properly programmed computer
Existing.If in the unit claim listing equipment for drying, several in these devices can be by same hardware branch
Specifically embody.Word first, second and third use do not indicate that any order.These word explanations can be run after fame
Claim.
So far, although those skilled in the art will appreciate that the multiple of the most detailed present invention of illustrate and describing show
Example embodiment, but, without departing from the spirit and scope of the present invention, still can be direct according to present disclosure
Determine or derive other variations or modifications of many meeting the principle of the invention.Therefore, the scope of the present invention is it is understood that and recognize
It is set to and covers other variations or modifications all these.
The one side of the embodiment of the present invention, it is provided that A1, a kind of self-adaption cruise system, including:
Cloud data harvester, for during motor-driven vehicle going, gathers multiple somes clouds in road ahead scene；
Multidimensional vehicle alternative area determines device, for the plurality of point based on the output of described cloud data harvester
Cloud, determines the ground level in described road ahead scene；According to preset vehicle dimension, described ground level generate multiple many
Dimension region；The first solid comprising the plurality of some cloud is divided into the set of the second solid of specified quantity, determines each
One or more described second solid that individual multidimensional region comprises；According to each multidimensional region described comprise one or more
Described second solid, determines whether this multidimensional region is multidimensional vehicle alternative area；
According to described multidimensional vehicle alternative area, range unit, for determining that the described multidimensional vehicle that device is determined is alternative
Region, detects the distance between described motor vehicles and described multidimensional vehicle alternative area；And
Controller, for carrying out, according to described distance, control of cruising to described motor vehicles.
A2, according to the system described in A1, wherein, described controller is additionally operable to:
Judge that whether described distance is less than the safe distance set；
The most then control described motor vehicles to carry out slowing down or braking.
A3, according to the system described in A1 or A2, wherein, described cloud data harvester includes at least one following:
Laser radar, binocular camera.
A4, according to the system described in A3, wherein, when described cloud data harvester is laser radar, described laser thunder
Reach for during described motor-driven vehicle going, gather multiple somes clouds in road ahead scene.
A5, according to the system described in A3, wherein, when described cloud data harvester is binocular camera, described binocular phase
Machine, for during described motor-driven vehicle going, absorbs multiple images in road ahead scene, obtains from multiple images described
Take multiple somes clouds.
A6, according to the system according to any one of A1-A5, wherein, described multidimensional vehicle alternative area determines that device is also used
In:
By stochastic sampling concordance RANSAC algorithm, determine in the plurality of some cloud and belong in described road ahead scene
The some cloud of ground level, and then determine the ground level in described road ahead scene.
A7, according to the system according to any one of A1-A6, wherein, described multidimensional vehicle alternative area determines that device is also used
In:
According to preset vehicle dimension, in the described multiple multidimensional region of ground level stochastic generation, wherein, described multidimensional region
By specifying parameter determination.
A8, according to the system described in A7, wherein, described appointment parameter includes at least one following:
The three-dimensional coordinate of vehicle center, vehicle dimension, vehicle on described ground level towards angle.
A9, according to the system according to any one of A1-A8, wherein, described multidimensional vehicle alternative area determines that device is also used
In:
By comprising the cuboid of the plurality of some cloud according to fixed interval discretization, it is divided into the cubical of specified quantity
Set.
A10, according to the system according to any one of A1-A9, wherein, described multidimensional vehicle alternative area determines that device is also used
In:
One or more described second solid comprised according to each multidimensional region described, utilizes three-dimensional integral figure to calculate
Point cloud quantity that each multidimensional region described comprises and/or some cloud average height；
The point cloud quantity comprised according to each multidimensional region described and/or some cloud average height, determine that this multidimensional region is
No for multidimensional vehicle alternative area.
A11, according to the system described in A10, wherein, described multidimensional vehicle alternative area determines that device is additionally operable to:
The point cloud quantity each multidimensional region described comprised according to the weight specified and some cloud average height summation weighting,
Obtain the comprehensive grading value of each multidimensional region described；
Comprehensive grading value according to each multidimensional region described, determines whether this multidimensional region is multidimensional vehicle candidate area
Territory.
A12, according to the system described in A11, wherein, described multidimensional vehicle alternative area determines that device is additionally operable to:
The comprehensive grading value of each multidimensional region described is ranked up from big to small；
Choose the multidimensional region of the forward specified quantity of sequence as multidimensional vehicle alternative area.
The another aspect of the embodiment of the present invention, additionally provides B13, a kind of mobile unit, including institute any one of A1-A12
The self-adaption cruise system stated.
Claims (10)
1. a self-adaption cruise system, including:
Cloud data harvester, for during motor-driven vehicle going, gathers multiple somes clouds in road ahead scene；
Multidimensional vehicle alternative area determines device, for the plurality of some cloud based on the output of described cloud data harvester, really
Ground level in fixed described road ahead scene；According to preset vehicle dimension, described ground level generates multiple multidimensional district
Territory；The first solid comprising the plurality of some cloud is divided into the set of the second solid of specified quantity, determines that each are many
One or more described second solid that dimension region comprises；According to each multidimensional region described comprise one or more described
Second solid, determines whether this multidimensional region is multidimensional vehicle alternative area；
Range unit, for determining, according to described multidimensional vehicle alternative area, the described multidimensional vehicle candidate area that device is determined
Territory, detects the distance between described motor vehicles and described multidimensional vehicle alternative area；And
Controller, for carrying out, according to described distance, control of cruising to described motor vehicles.
System the most according to claim 1, wherein, described controller is additionally operable to:
Judge that whether described distance is less than the safe distance set；
The most then control described motor vehicles to carry out slowing down or braking.
System the most according to claim 1 and 2, wherein, described cloud data harvester includes at least one following:
Laser radar, binocular camera.
System the most according to claim 3, wherein, when described cloud data harvester is laser radar, described laser
Radar, for during described motor-driven vehicle going, gathers multiple somes clouds in road ahead scene.
System the most according to claim 3, wherein, when described cloud data harvester is binocular camera, described binocular
Camera is for during described motor-driven vehicle going, and multiple images in picked-up road ahead scene, from multiple images described
Obtain multiple somes clouds.
6. according to the system according to any one of claim 1-5, wherein, described multidimensional vehicle alternative area determines that device is also used
In:
By stochastic sampling concordance RANSAC algorithm, determine and the plurality of some cloud belongs to the ground in described road ahead scene
The point cloud of plane, and then determine the ground level in described road ahead scene.
7. according to the system according to any one of claim 1-6, wherein, described multidimensional vehicle alternative area determines that device is also used
In:
According to preset vehicle dimension, in the described multiple multidimensional region of ground level stochastic generation, wherein, described multidimensional region is passed through
Specify parameter determination.
System the most according to claim 7, wherein, described appointment parameter includes at least one following:
The three-dimensional coordinate of vehicle center, vehicle dimension, vehicle on described ground level towards angle.
9. according to the system according to any one of claim 1-8, wherein, described multidimensional vehicle alternative area determines that device is also used
In:
By comprising the cuboid of the plurality of some cloud according to fixed interval discretization, it is divided into the cubical collection of specified quantity
Close.
10. a mobile unit, including the self-adaption cruise system according to any one of claim 1-9.
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