CN106080397B - Self-adaption cruise system and mobile unit - Google Patents
Self-adaption cruise system and mobile unit Download PDFInfo
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- CN106080397B CN106080397B CN201610729887.7A CN201610729887A CN106080397B CN 106080397 B CN106080397 B CN 106080397B CN 201610729887 A CN201610729887 A CN 201610729887A CN 106080397 B CN106080397 B CN 106080397B
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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
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- 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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- 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
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- B60W2710/00—Output or target parameters relating to a particular sub-units
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Abstract
The present invention provides a kind of self-adaption cruise system and mobile units.The system includes: point cloud data collector, for acquiring multiple clouds in road ahead scene during motor-driven vehicle going；Multidimensional vehicle alternative area determining device, the multiple cloud for being exported based on the point cloud data collector, determines the ground level in the road ahead scene；According to preset vehicle dimension, multiple multidimensional regions are generated on the ground level；Determine whether each multidimensional region is multidimensional vehicle alternative area；Range unit, the multidimensional vehicle alternative area for being determined according to the multidimensional vehicle alternative area determining device, detects the distance between the motor vehicle and the multidimensional vehicle alternative area；And controller, for carrying out cruise control to the motor vehicle according to the distance.The embodiment of the present invention can quickly and accurately identify and position the vehicle in road ahead scene, and carry out adaptive learning algorithms.
Description
Technical field
The present invention relates to intelligent vehicle technical field of environmental perception, especially a kind of self-adaption cruise system and vehicle-mounted set
It is standby.
Background technique
In automotive safety problem, car collision problem should cause enough attention.Current vehicle anticollision technology
It concentrates in the crash protection research of direct route vehicle rear-end collision, core is the calculating to vehicle safety spacing.
In the related technology, the main method for carrying out vehicle odometry using GPS, concrete application GPS information obtain the warp of vehicle
The information such as latitude, speed and course carry out calculated braking distance with this.But current GPS method has two, one is
Positioning accuracy problem, the order of magnitude of the general error at 10 meters, this is inadequate for collision prevention of vehicle precision；The other is acquisition of information
Integrity issue, for example, being only capable of obtaining precision not this high vehicle speed by GPS, not only in precision aspect, there are problems, but also
The information of other vehicles can only then be obtained by estimation.Thus, it would be highly desirable to solve the problems, such as this.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
State the self-adaption cruise system and mobile unit of problem.
One side according to the present invention provides a kind of self-adaption cruise system, comprising:
Point cloud data collector, for acquiring multiple clouds in road ahead scene during motor-driven vehicle going；
Multidimensional vehicle alternative area determining device, the multiple point for being exported based on the point cloud data collector
Cloud determines the ground level in the road ahead scene；According to preset vehicle dimension, generated on the ground level multiple more
Tie up region；The first solid comprising the multiple cloud is divided into the set of the second solid of specified quantity, is determined each
One or more second solid that a multidimensional region includes；The one or more for including according to each multidimensional region
Second solid determines whether the multidimensional region is multidimensional vehicle alternative area；
Range unit, the multidimensional vehicle for being determined according to the multidimensional vehicle alternative area determining device are alternative
The distance between the motor vehicle and the multidimensional vehicle alternative area are detected in region；And
Controller, for carrying out cruise control to the motor vehicle according to the distance.
Optionally, the controller is also used to:
Judge whether the distance is less than the safe distance of setting；
Slowed down or braked if so, controlling the motor vehicle.
Optionally, the point cloud data collector includes at least one following:
Laser radar, binocular camera.
Optionally, when the point cloud data collector is laser radar, the laser radar is used in the motor vehicle
During traveling, multiple clouds in road ahead scene are acquired.
Optionally, when the point cloud data collector is binocular camera, the binocular camera is used in the motor vehicle
During traveling, multiple images in road ahead scene are absorbed, multiple clouds are obtained from multiple described images.
Optionally, the multidimensional vehicle alternative area determining device is also used to:
By random sampling consistency RANSAC algorithm, determines and belong in the road ahead scene in the multiple cloud
Ground level point cloud, and then determine the ground level in the road ahead scene.
Optionally, the multidimensional vehicle alternative area determining device is also used to:
According to preset vehicle dimension, multiple multidimensional regions are generated at random in the ground level, wherein the multidimensional region
It is determined by specified parameter.
Optionally, the specified parameter includes at least one following:
The three-dimensional coordinate of vehicle center, vehicle dimension, vehicle on the ground level towards angle.
Optionally, the multidimensional vehicle alternative area determining device is also used to:
By the cuboid comprising the multiple cloud according to fixed intervals discretization, it is divided into the cube of specified quantity
Set.
Optionally, the multidimensional vehicle alternative area determining device is also used to:
One or more second solid for including according to each multidimensional region, is calculated using three-dimensional integral figure
The point cloud quantity and/or point cloud average height that each multidimensional region includes；
The point cloud quantity and/or point cloud average height for including according to each multidimensional region, determine that the multidimensional region is
No is multidimensional vehicle alternative area.
Optionally, the multidimensional vehicle alternative area determining device is also used to:
The point cloud quantity that each multidimensional region includes is weighted with point cloud average height summation according to specified weight,
Obtain the comprehensive grading value of each multidimensional region；
According to the comprehensive grading value of each multidimensional region, determine whether the multidimensional region is multidimensional vehicle candidate area
Domain.
Optionally, the multidimensional vehicle alternative area determining device is also used to:
The comprehensive grading value of each multidimensional region is ranked up from big to small；
The multidimensional region for the forward specified quantity that sorts is chosen as multidimensional vehicle alternative area.
Another aspect according to the present invention additionally provides a kind of mobile unit, including adaptive described in any of the above-described
Cruise system.
The embodiment of the invention provides a kind of novel self-adaption cruise system, the system include point cloud data collector,
Multidimensional vehicle alternative area determining device, range unit and controller, wherein point cloud data collector, in motor vehicle
During traveling, multiple clouds in road ahead scene are acquired；Multidimensional vehicle alternative area determining device, for being based on point
The multiple cloud of cloud data collector output, determines the ground level in road ahead scene；According to preset vehicle dimension,
Multiple multidimensional regions are generated on ground level；The first solid comprising multiple clouds is divided into the second geometry of specified quantity
The set of body determines the second solid of one or more that each multidimensional region includes；Include according to each multidimensional region one
A or multiple second solids determine whether the multidimensional region is multidimensional vehicle alternative area；Range unit, for according to multidimensional
The multidimensional vehicle alternative area that vehicle alternative area determining device is determined detects between motor vehicle and multidimensional vehicle alternative area
Distance；And controller, for carrying out cruise control to motor vehicle according to this distance.It can be seen that the embodiment of the present invention is sharp
It is located at the priori knowledge near ground level with vehicle, while using the template of known vehicle size, is greatly reduced to be searched
The number of multidimensional region, improves search efficiency, meets the requirement of real-time in practical application.Also, due to each more than the second
What body includes that at least one of road scene puts cloud, the one or more that the embodiment of the present invention includes based on each multidimensional region
Second solid determines whether the multidimensional region is multidimensional vehicle alternative area, it is ensured that the recall rate of multidimensional region.Meanwhile
Based on the multidimensional vehicle alternative area determined, detect the distance between motor vehicle and multidimensional vehicle alternative area, according to this away from
Cruise control is carried out to motor vehicle, effectively improves the usability and flexibility of cruise system.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
According to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will be brighter
The above and other objects, advantages and features of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows the structural schematic diagram of self-adaption cruise system according to an embodiment of the invention；
Fig. 2 shows the structural schematic diagrams of mobile unit according to an embodiment of the invention；And
Fig. 3 shows the function classification schematic diagram of motor vehicle according to an embodiment of the invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
In order to solve the above technical problems, the embodiment of the invention provides a kind of self-adaption cruise systems.Fig. 1 shows basis
The structural schematic diagram of the self-adaption cruise system of one embodiment of the invention.As shown in Figure 1, the system at least may include a cloud number
According to collector 110, multidimensional vehicle alternative area determining device 120, range unit 130 and controller 140.
It now introduces between each composition of the self-adaption cruise system 100 of the embodiment of the present invention or the function and each section of device
Connection relationship:
Point cloud data collector 110, for acquiring multiple points in road ahead scene during motor-driven vehicle going
Cloud；
Multidimensional vehicle alternative area determining device 120, is coupled with point cloud data collector 110, for based on a cloud number
According to the multiple clouds that collector exports, the ground level in road ahead scene is determined；According to preset vehicle dimension, in ground level
It is upper to generate multiple multidimensional regions；The first solid comprising multiple clouds is divided into the collection of the second solid of specified quantity
It closes, determines the second solid of one or more that each multidimensional region includes；One or more for including according to each multidimensional region
A second solid determines whether the multidimensional region is multidimensional vehicle alternative area；
Range unit 130 is coupled with multidimensional vehicle alternative area determining device 120, for alternative according to multidimensional vehicle
The multidimensional vehicle alternative area that area determining device 120 is determined, detect between motor vehicle and multidimensional vehicle alternative area away from
From；And
Controller 140 is coupled with range unit 130, for carrying out cruise control to motor vehicle according to this distance.
The multidimensional region that the embodiment of the present invention refers to can be two dimension, 3D region etc., the invention is not limited in this regard.
The embodiment of the invention provides a kind of novel self-adaption cruise system, the system include point cloud data collector,
Multidimensional vehicle alternative area determining device, range unit and controller, wherein point cloud data collector, in motor vehicle
During traveling, multiple clouds in road ahead scene are acquired；Multidimensional vehicle alternative area determining device, for being based on point
The multiple cloud of cloud data collector output, determines the ground level in road ahead scene；According to preset vehicle dimension,
Multiple multidimensional regions are generated on ground level；The first solid comprising multiple clouds is divided into the second geometry of specified quantity
The set of body determines the second solid of one or more that each multidimensional region includes；Include according to each multidimensional region one
A or multiple second solids determine whether the multidimensional region is multidimensional vehicle alternative area；Range unit, for according to multidimensional
The multidimensional vehicle alternative area that vehicle alternative area determining device is determined detects between motor vehicle and multidimensional vehicle alternative area
Distance；And controller, for carrying out cruise control to motor vehicle according to this distance.It can be seen that the embodiment of the present invention is sharp
It is located at the priori knowledge near ground level with vehicle, while using the template of known vehicle size, is greatly reduced to be searched
The number of multidimensional region, improves search efficiency, meets the requirement of real-time in practical application.Also, due to each more than the second
What body includes that at least one of road scene puts cloud, the one or more that the embodiment of the present invention includes based on each multidimensional region
Second solid determines whether the multidimensional region is multidimensional vehicle alternative area, it is ensured that the recall rate of multidimensional region.Meanwhile
Based on the multidimensional vehicle alternative area determined, detect the distance between motor vehicle and multidimensional vehicle alternative area, according to this away from
Cruise control is carried out to motor vehicle, effectively improves the usability and flexibility of cruise system.
In alternative embodiment of the invention, point cloud data collector 110 mentioned above be may be mounted in motor vehicle,
To obtain multiple clouds in road ahead scene during motor-driven vehicle going.Point cloud data collector 110 can be sharp
Optical radar is also possible to binocular camera, can also be the combination of laser radar and binocular camera.
Laser radar is one of the important sensor that intelligent vehicle obtains external information, has reliability and strong real-time,
The advantages that accuracy is high, therefore be widely used in intelligent vehicle environment sensing research.Radar has multiple laser sensors,
Each sensor measurement discrete data point is represented by Pi (x, y, z, s), x, y, and z respectively indicates three dimensional physical distance, and unit is
Rice, s indicate reflected intensity, are dimensionless number.And point cloud data be then large-scale discrete measurement point data set P1, P2,
P3 ..., PN }, they provide sufficient information for the basic configuration feature and structure details of reduced form measurement object.Work as a little
When cloud data collector 110 is laser radar, laser radar can acquire road ahead scene during motor-driven vehicle going
In multiple clouds, the three-dimensional coordinate (XYZ) and laser reflection intensity (Intensity) of a cloud can be collected.
Binocular camera is that two cameras are placed in same plane to shoot target object, obtain many groups it is corresponding
Subject image pair since camera and object meet principle of triangulation, while calculating object using the parallax of corresponding points
Steric information, to obtain the three dimensional point cloud of object.When point cloud data collector 110 is binocular camera, Ke Yi
During motor-driven vehicle going, multiple images in road ahead scene are absorbed, multiple clouds are obtained from multiple images, can be adopted
Collect the three-dimensional coordinate (XYZ) and colouring information (RGB) of a cloud.
When point cloud data collector 110 is the combination of laser radar and binocular camera, the three-dimensional of a cloud can be obtained and sat
Mark (XYZ), laser reflection intensity (Intensity) and colouring information (RGB).
In alternative embodiment of the invention, multidimensional vehicle alternative area determining device 120 is determining road ahead scene
In ground level when, can by RANSAC (RANdom Sample Consensus, random sampling consistency) algorithm, determine
Belong to the point cloud of the ground level in road ahead scene in multiple clouds, 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, it has certain probability to obtain a reasonable result.The basic assumption of RANSAC
It is:
(1) data are made of " intra-office point ", such as: the distribution of data can be explained with some model parameters；
(2) " point not in the know " is the data for not adapting to the model；
(3) data in addition to this belong to noise.
Not in the know Producing reason has: the extreme value of noise, the measurement method of mistake, to the false supposition of data.RANSAC
Have also been made it is assumed hereinafter that: give one group of (usual very little) intra-office point, there are the processes that one can estimate model parameter, and are somebody's turn to do
Intra-office point can be explained or be suitable for model.
The input of RANSAC algorithm is one group of observation data, and one can explain or be adapted to the parametrization of observation data
Model, some believable parameters.RANSAC reaches target by one group of random subset being chosen in data.It is selected
Subset is assumed to be intra-office point, and is verified with following methods:
1) model is adapted to the intra-office point assumed, i.e., all unknown parameters can be calculated from the intra-office point of hypothesis
It obtains；
2) model obtained in 1) goes to test all other data, if some point is suitable for the model of estimation, recognizes
For it and intra-office point；
3) if there is enough points are classified as the intra-office point assumed, then the model estimated is just reasonable enough；
4) it then, goes to reevaluate model with the intra-office of all hypothesis point, because it is only by initial hypothesis intra-office point
Estimated；
5) finally, by the error rate of estimation intra-office point and model come assessment models.
This process is repeatedly executed fixed number, the model that generates every time or is given up because intra-office point is very little
It abandons or is selected because of more preferable than existing model.
In embodiments of the present invention, there is a large amount of point cloud genera in ground level in the point cloud data of input, calculated by RANSAC
Method more can robustly estimate ground level.Ground level π=(a, b, c, d)TIt is indicated by the parametrization of four dimensional vectors, ginseng
Examining coordinate system is the observation coordinate system centered on sensor.
In alternative embodiment of the invention, multidimensional vehicle alternative area determining device 120 according to preset vehicle dimension,
When generating multiple multidimensional regions on ground level, multiple multidimensional can be generated in ground level according to preset vehicle dimension at random
Region, wherein multidimensional region is determined by specified parameter.Here specified parameter can be the three-dimensional coordinate of vehicle center, vehicle
Size, vehicle on ground level towards angle, etc., the invention is not limited thereto.
Specifically, under natural lane scene, it is assumed that vehicle is respectively positioned on road surface (that is, ground level) and nearby (does not consider to hang
The extreme cases such as vehicle), then the size template (length) of vehicle is inputted according to known vehicle, is done near road surface slight
Disturbance, while it is possible towards angle to traverse car modal, it can obtain M possible multidimensional regions, these multidimensional regions
It can be determined by 7 parameters (x, y, z, l, w, h, θ), wherein (x, y, z) represents the three-dimensional coordinate of vehicle center；(l,w,
It h) is the length template of vehicle；θ represent vehicle in the horizontal plane towards angle.
In alternative embodiment of the invention, multidimensional vehicle alternative area determining device 120 is by comprising multiple clouds
It, can be by the cuboid comprising multiple clouds according to fixation when one solid is divided into the set of the second solid of specified quantity
Spaced discrete is divided into the set of the cube of specified quantity.Specifically, by the cuboid comprising all input three-dimensional point clouds
According to fixed intervals discretization, it is divided into the set of several small cubes, then for the M multidimensional region obtained above, often
A multidimensional region will correspond to the set of several small cubes in the region.Here, specified quantity can be according to actual needs
It is configured, for example, if desired dividing smaller cube is then arranged biggish specified quantity.
The second geometry of one or more that each multidimensional region includes is determined in multidimensional vehicle alternative area determining device 120
After body, since each second solid includes at least one of road scene point cloud, thus can be further according to each more
The second solid of one or more that region includes is tieed up to determine the feature of each multidimensional region, then according to each multidimensional region
Feature determine whether the multidimensional region is multidimensional vehicle alternative area.Here the feature of multidimensional region can be multidimensional area
Included in domain puts cloud quantity, point cloud average height, the ratio of point cloud number up and down etc., and the invention is not limited thereto.
In alternative embodiment of the invention, three-dimensional integral figure can use to calculate the feature of each multidimensional region, computation complexity
For O (1), calculation amount has been saved, can quickly calculate the feature of a large amount of multidimensional regions.
Further, multidimensional vehicle alternative area determining device 120 can be according to the point cloud number for being included in multidimensional region
Amount is to determine whether the multidimensional region is multidimensional vehicle alternative area；Or according to the point cloud mean height for being included in multidimensional region
Degree is to determine whether the multidimensional region is multidimensional vehicle alternative area；Or combine multidimensional region in included point cloud quantity and
Cloud average height is put to determine whether the multidimensional region is multidimensional vehicle alternative area.Here it is possible to according to specified weight pair
The point cloud quantity and point cloud average height summation weighting that each multidimensional region includes, obtain the comprehensive score of each multidimensional region
Value, then according to the comprehensive grading value of each multidimensional region, determines whether the multidimensional region is multidimensional vehicle alternative area.
In alternative embodiment of the invention, the comprehensive grading value of each multidimensional region can be arranged from big to small
Sequence chooses the multidimensional region for the forward specified quantity that sorts as multidimensional vehicle alternative area.
In alternative embodiment of the invention, range unit 130 can be according to multidimensional vehicle alternative area determining device 120
The multidimensional vehicle alternative area determined detects the distance between motor vehicle and multidimensional vehicle alternative area, that is, detection motor vehicle
At a distance from front vehicles.Controller 140 judges whether the distance is less than the safe distance of setting, if so, control motor vehicle
Slowed down or is braked；Conversely, if it is not, then can continue to keep current travel speed.
Optionally, when controller 140 judges that the distance is less than the safe distance of setting, motor vehicle can further be obtained
With the travel speed of front vehicles, judge whether the speed difference of the travel speed of motor vehicle and front vehicles is less than the peace of setting
Full speed difference, if so, alarm and emergency braking；Slowed down or braked if it is not, then can control motor vehicle.
It, can be with when controller 140 carries out cruise control to motor vehicle according to this distance in alternative embodiment of the invention
Driving video information in real time is obtained by the automobile data recorder of terminal, to identifying in the driving each video frame of video information in real time
Driving relevant information analyzed to determine corresponding traffic navigation prompt information in real time.
In a preferred embodiment, the driving relevant information identified includes the travel speed of front truck and/or rear car, is based on
The travel speed and at a distance from this vehicle (that is, the distance between motor vehicle and multidimensional vehicle alternative area) of front truck and/or rear car,
Calculate the actual distance traveled of front truck and/or rear car and this vehicle；If front truck and/or rear car and the actual distance traveled of this vehicle are less than
When scheduled safety traffic distance threshold, corresponding traffic navigation prompt information is generated.
For example, obtain driving video information in real time by the automobile data recorder of terminal, when identifying driving video letter in real time
When to cease the driving relevant information in a certain video frame include the travel speed of 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, the distance of Ji Yuben vehicle is 12m, by pre-defined algorithm calculate front truck with
The actual distance traveled of this vehicle is 10m, and scheduled safety traffic distance threshold is 20m, can determine whether the practical row of front truck Yu this vehicle
It sails distance and then generates corresponding traffic navigation prompt information less than scheduled safety traffic distance threshold, such as " pay attention to front
Driving vehicle asks slow down！".
In alternative embodiment of the invention, in addition to the travel speed of available front truck and/or rear car, front truck and/or
Except rear car is at a distance from this vehicle, the information such as driving road-condition identification information, road environment information can also be obtained.
Self-adaption cruise system provided in an embodiment of the present invention is a real-time system, can be applied in motor-driven vehicle going
In the process, point cloud data collector 110 obtains multiple clouds in road ahead scene in real time；Multidimensional vehicle alternative area determines
Device 120 can determine whether each multidimensional region is multidimensional vehicle alternative area in real time, and then range unit 130 can be real-time
According to the multidimensional vehicle alternative area that multidimensional vehicle alternative area determining device 120 is determined, motor vehicle and multidimensional vehicle are detected
The distance between alternative area.Then, controller 140 carries out cruise control to motor vehicle according to this distance.For example, controller
140 judge whether the distance is less than the safe distance of setting, if so, control motor vehicle is slowed down or braked；Conversely, if
It is no, then it can continue to keep current travel speed.Optionally, controller 140 judge the distance be less than setting safety away from
From when, can further obtain the travel speed of motor vehicle and front vehicles, judge the travel speed of motor vehicle and front vehicles
Speed difference whether be less than the safe speed difference of setting, if so, alarm and emergency braking；If it is not, then can control machine
Motor-car is slowed down or is braked.
Based on the same inventive concept, as shown in Fig. 2, the embodiment of the invention also provides a kind of mobile unit 200, including it is upper
State the self-adaption cruise system 100 described in any one.
Fig. 3 shows some function classifications for including on motor vehicle, such as intelligent control function, basic control function, expansion
Function, common function etc., mobile unit 200 provided in an embodiment of the present invention can be sorted in expanding function.Certainly it is only herein
Schematically, it does not limit the invention.
According to the combination of any one above-mentioned preferred embodiment or multiple preferred embodiments, the embodiment of the present invention can reach
It is following the utility model has the advantages that
The embodiment of the invention provides a kind of novel self-adaption cruise system, the system include point cloud data collector,
Multidimensional vehicle alternative area determining device, range unit and controller, wherein point cloud data collector, in motor vehicle
During traveling, multiple clouds in road ahead scene are acquired；Multidimensional vehicle alternative area determining device, for being based on point
The multiple cloud of cloud data collector output, determines the ground level in road ahead scene；According to preset vehicle dimension,
Multiple multidimensional regions are generated on ground level；The first solid comprising multiple clouds is divided into the second geometry of specified quantity
The set of body determines the second solid of one or more that each multidimensional region includes；Include according to each multidimensional region one
A or multiple second solids determine whether the multidimensional region is multidimensional vehicle alternative area；Range unit, for according to multidimensional
The multidimensional vehicle alternative area that vehicle alternative area determining device is determined detects between motor vehicle and multidimensional vehicle alternative area
Distance；And controller, for carrying out cruise control to motor vehicle according to this distance.It can be seen that the embodiment of the present invention is sharp
It is located at the priori knowledge near ground level with vehicle, while using the template of known vehicle size, is greatly reduced to be searched
The number of multidimensional region, improves search efficiency, meets the requirement of real-time in practical application.Also, due to each more than the second
What body includes that at least one of road scene puts cloud, the one or more that the embodiment of the present invention includes based on each multidimensional region
Second solid determines whether the multidimensional region is multidimensional vehicle alternative area, it is ensured that the recall rate of multidimensional region.Meanwhile
Based on the multidimensional vehicle alternative area determined, detect the distance between motor vehicle and multidimensional vehicle alternative area, according to this away from
Cruise control is carried out to motor vehicle, effectively improves the usability and flexibility of cruise system.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects, In
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as a separate embodiment of the present invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of any
Can in any combination mode come using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) are realized self-adaption cruise system according to an embodiment of the present invention and vehicle-mounted are set
The some or all functions of some or all components in standby.The present invention is also implemented as described here for executing
Method some or all device or device programs (for example, computer program and computer program product).This
The program that the realization of sample is of the invention can store on a computer-readable medium, or can have one or more signal
Form.Such signal can be downloaded from an internet website to obtain, and perhaps be provided on the carrier signal or with any other
Form provides.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
The one side of the embodiment of the present invention provides A1, a kind of self-adaption cruise system, comprising:
Point cloud data collector, for acquiring multiple clouds in road ahead scene during motor-driven vehicle going；
Multidimensional vehicle alternative area determining device, the multiple point for being exported based on the point cloud data collector
Cloud determines the ground level in the road ahead scene；According to preset vehicle dimension, generated on the ground level multiple more
Tie up region；The first solid comprising the multiple cloud is divided into the set of the second solid of specified quantity, is determined each
One or more second solid that a multidimensional region includes；The one or more for including according to each multidimensional region
Second solid determines whether the multidimensional region is multidimensional vehicle alternative area；
Range unit, the multidimensional vehicle for being determined according to the multidimensional vehicle alternative area determining device are alternative
The distance between the motor vehicle and the multidimensional vehicle alternative area are detected in region；And
Controller, for carrying out cruise control to the motor vehicle according to the distance.
A2, system according to a1, wherein the controller is also used to:
Judge whether the distance is less than the safe distance of setting；
Slowed down or braked if so, controlling the motor vehicle.
A3, system according to a1 or a2, wherein the point cloud data collector includes at least one following:
Laser radar, binocular camera.
A4, system according to a3, wherein when the point cloud data collector is laser radar, the laser thunder
Up to for acquiring multiple clouds in road ahead scene during the motor-driven vehicle going.
A5, system according to a3, wherein when the point cloud data collector is binocular camera, the binocular phase
Machine is used for during the motor-driven vehicle going, is absorbed multiple images in road ahead scene, is obtained from multiple described images
Take multiple clouds.
A6, the system according to any one of A1-A5, wherein the multidimensional vehicle alternative area determining device is also used
In:
By random sampling consistency RANSAC algorithm, determines and belong in the road ahead scene in the multiple cloud
Ground level point cloud, and then determine the ground level in the road ahead scene.
A7, the system according to any one of A1-A6, wherein the multidimensional vehicle alternative area determining device is also used
In:
According to preset vehicle dimension, multiple multidimensional regions are generated at random in the ground level, wherein the multidimensional region
It is determined by specified parameter.
A8, the system according to A7, wherein the specified parameter includes at least one following:
The three-dimensional coordinate of vehicle center, vehicle dimension, vehicle on the ground level towards angle.
A9, the system according to any one of A1-A8, wherein the multidimensional vehicle alternative area determining device is also used
In:
By the cuboid comprising the multiple cloud according to fixed intervals discretization, it is divided into the cube of specified quantity
Set.
A10, the system according to any one of A1-A9, wherein the multidimensional vehicle alternative area determining device is also used
In:
One or more second solid for including according to each multidimensional region, is calculated using three-dimensional integral figure
The point cloud quantity and/or point cloud average height that each multidimensional region includes；
The point cloud quantity and/or point cloud average height for including according to each multidimensional region, determine that the multidimensional region is
No is multidimensional vehicle alternative area.
A11, the system according to A10, wherein the multidimensional vehicle alternative area determining device is also used to:
The point cloud quantity that each multidimensional region includes is weighted with point cloud average height summation according to specified weight,
Obtain the comprehensive grading value of each multidimensional region；
According to the comprehensive grading value of each multidimensional region, determine whether the multidimensional region is multidimensional vehicle candidate area
Domain.
A12, the system according to A11, wherein the multidimensional vehicle alternative area determining device is also used to:
The comprehensive grading value of each multidimensional region is ranked up from big to small；
The multidimensional region for the forward specified quantity that sorts is chosen as multidimensional vehicle alternative area.
The another aspect of the embodiment of the present invention additionally provides any one of B13, a kind of mobile unit, including A1-A12 institute
The self-adaption cruise system stated.
Claims (11)
1. a kind of self-adaption cruise system, comprising:
Point cloud data collector, for acquiring multiple clouds in road ahead scene during motor-driven vehicle going；
Multidimensional vehicle alternative area determining device, the multiple cloud for being exported based on the point cloud data collector, really
Ground level in the fixed road ahead scene；According to preset vehicle dimension, multiple multidimensional areas are generated on the ground level
Domain；The first solid comprising the multiple cloud is divided into the set of the second solid of specified quantity, is determined each more
One or more second solid that dimension region includes；Described in the one or more for including according to each multidimensional region
Second solid determines whether the multidimensional region is multidimensional vehicle alternative area；
Range unit, the multidimensional vehicle candidate area for being determined according to the multidimensional vehicle alternative area determining device
The distance between the motor vehicle and the multidimensional vehicle alternative area are detected in domain；And
Controller, for carrying out cruise control to the motor vehicle according to the distance；
Wherein, the multidimensional vehicle alternative area determining device is also used to:
By random sampling consistency RANSAC algorithm, the ground belonged in the road ahead scene in the multiple cloud is determined
The point cloud of plane, and then determine the ground level in the road ahead scene；And
The multidimensional vehicle alternative area determining device is also used to:
One or more second solid for including according to each multidimensional region, using described in the calculating of three-dimensional integral figure
The point cloud quantity and/or point cloud average height that each multidimensional region includes；
The point cloud quantity that includes according to each multidimensional region and/or point cloud average height, determine the multidimensional region whether be
Multidimensional vehicle alternative area.
2. system according to claim 1, wherein the controller is also used to:
Judge whether the distance is less than the safe distance of setting；
Slowed down or braked if so, controlling the motor vehicle.
3. system according to claim 1 or 2, wherein the point cloud data collector includes at least one following:
Laser radar, binocular camera.
4. system according to claim 3, wherein when the point cloud data collector is laser radar, the laser
Radar is used for during the motor-driven vehicle going, acquires multiple clouds in road ahead scene.
5. system according to claim 3, wherein when the point cloud data collector is binocular camera, the binocular
Camera is used for during the motor-driven vehicle going, multiple images in road ahead scene is absorbed, from multiple described images
Obtain multiple clouds.
6. system according to claim 1 or 2, wherein the multidimensional vehicle alternative area determining device is also used to:
According to preset vehicle dimension, multiple multidimensional regions are generated at random in the ground level, wherein the multidimensional region passes through
Specified parameter determines.
7. system according to claim 6, wherein the specified parameter includes at least one following:
The three-dimensional coordinate of vehicle center, vehicle dimension, vehicle on the ground level towards angle.
8. system according to claim 1 or 2, wherein the multidimensional vehicle alternative area determining device is also used to:
By the cuboid comprising the multiple cloud according to fixed intervals discretization, it is divided into the collection of the cube of specified quantity
It closes.
9. system according to claim 1 or 2, wherein the multidimensional vehicle alternative area determining device is also used to:
According to point cloud quantity and point cloud average height summation weighting that specified weight includes to each multidimensional region, obtain
The comprehensive grading value of each multidimensional region；
According to the comprehensive grading value of each multidimensional region, determine whether the multidimensional region is multidimensional vehicle alternative area.
10. system according to claim 9, wherein the multidimensional vehicle alternative area determining device is also used to:
The comprehensive grading value of each multidimensional region is ranked up from big to small；
The multidimensional region for the forward specified quantity that sorts is chosen as multidimensional vehicle alternative area.
11. a kind of mobile unit, including self-adaption cruise system of any of claims 1-10.
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| US10156441B2 (en) | 2016-01-05 | 2018-12-18 | Texas Instruments Incorporated | Ground plane estimation in a computer vision system |
| US11758111B2 (en) * | 2017-10-27 | 2023-09-12 | Baidu Usa Llc | 3D lidar system using a dichroic mirror for autonomous driving vehicles |
| US11294060B2 (en) * | 2018-04-18 | 2022-04-05 | Faraday & Future Inc. | System and method for lidar-based vehicular localization relating to autonomous navigation |
| CN109490926B (en) * | 2018-09-28 | 2021-01-26 | 浙江大学 | Path planning method based on binocular camera and GNSS |
| CN111376830A (en) * | 2018-12-27 | 2020-07-07 | 观致汽车有限公司 | Control method and control device for vehicle and vehicle |
| CN111267841B (en) * | 2020-01-22 | 2021-04-13 | 深圳国信泰富科技有限公司 | Robot distance acquisition system |
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