CN106527427A - Automatic driving sensing system based on highway - Google Patents
Automatic driving sensing system based on highway Download PDFInfo
- Publication number
- CN106527427A CN106527427A CN201610910255.0A CN201610910255A CN106527427A CN 106527427 A CN106527427 A CN 106527427A CN 201610910255 A CN201610910255 A CN 201610910255A CN 106527427 A CN106527427 A CN 106527427A
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- Prior art keywords
- information
- traffic sign
- road
- obstacle
- roadmarking
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention relates to the technical field of automatic driving, and specifically relates to an automatic driving sensing system based on a highway. The system collects the traffic sign and road information and barrier information, transmits the information to a sensor of a visual signal detection and recognition module, carries out the recognition of the information transmitted by the sensor, generates first traffic signal and road mark line information and barrier information, transmits the information to a visual signal detection and recognition module of a multi-source information fusion module, receives first traffic sign and road mark line information and first barrier information transmitted by the visual signal detection and recognition module, carries out the fusion of the information with the traffic signal and road information from a high-precision map, transmits vehicle driving local environment information generated by fusion to an automatic driving controller of the vehicle and the multi-source information fusion module of a man-machine interaction system. The system is low in cost, is easy to integrate, can generate the vehicle driving local environment information, facilitates the decision making application of the automatic driving controller and the man-machine interaction system, and greatly improves the precision of a sensing system.
Description
Technical field
The present invention relates to automatic Pilot technical field, and in particular to a kind of automatic Pilot based on highway perceives system
System.
Background technology
In recent years, the development of automatic driving technology is swift and violent.Ge great main engine plants, Internet enterprises and scientific research institutions throw one after another
Wherein, the automatic Pilot sample car of various multi-forms and the experiment of automatic Pilot road test continuously emerge body.Automatically drive at these
Sail in sample car, most context aware systems all employ laser radar as core detecting sensor, such as Google, Baidu from
The dynamic sample car sensory perceptual system that drives has used Velodyne companies HDL-64E S2 laser radars, daily output Pilot drive 1.0 certainly
Dynamic control loop has used 4 laser radars, Audi to use 1 laser radar, Toyota's automated driving system Mobility
Teammate Concept have used 6 laser radars to, 96 lines, but laser radar is expensive (such as HDL-64E S2 at present
It is worth 600,000 RMB) and laser radar volume is larger, and adopt mechanical scanner more, this has been resulted in by laser radar structure
Into automatic Pilot context aware systems high cost and be easily integrated into car body, therefore driving automatically using this perceptive mode
The system of sailing is difficult volume production and commercialization.
The content of the invention
For solving above-mentioned technical problem, the invention provides it is a kind of it is with low cost, and the base of multivariate information fusion can be realized
In the automatic Pilot sensory perceptual system of highway.
The technical scheme is that, including：
Sensor：For collecting traffic sign road information and obstacle information, and the traffic sign road of gained will be collected
Road information and obstacle information are sent to visual signal detection identification module；
Visual signal detects identification module：Traffic sign road information and obstacle information for sending to sensor enters
Row identification, at least generates the first traffic sign roadmarking information and obstacle information, and by the first traffic sign road
Graticule information and the first obstacle information are sent to Multi-source Information Fusion module；
Multi-source Information Fusion module：For receiving the first traffic sign road that the visual signal detection identification module sends
Marking lines information and the first obstacle information, are at least merged with the traffic sign road information from high-precision map, and will
The vehicle traveling local environmental information that fusion is generated is sent to auto-pilot controller and the man-machine interactive system of vehicle.
Further, the sensor includes monocular camera, and the monocular camera is used for receiving traffic sign road information,
The traffic sign road information at least includes road signs information, traffic lights information, lane line information, road edge letter
Breath, road guidance information.
Further, the sensor includes that stereoscopic camera, forward direction length are micro- away from millimeter microwave radar and corner middle-range millimeter
Ripple radar, the stereoscopic camera, the forward direction length are used for connecing away from millimeter microwave radar and the corner middle-range millimeter microwave radar
Obstacle information is received, the obstacle information at least includes pedestrian information, information of vehicles, other obstacle informations.
Further, the visual signal detection identification module includes traffic sign roadmarking detection identification module, institute
Stating traffic sign roadmarking detection identification module is used for receiving road signs information, the traffic signals that the monocular camera sends
Lamp information, lane line information, road edge information and road guidance information, and generate the first traffic sign roadmarking letter
Breath.
Further, the visual signal detection identification module includes quiet, dynamic disorder analyte detection identification module, described
Quiet, dynamic disorder analyte detection identification module is used for receiving the pedestrian information of the stereoscopic camera transmission, information of vehicles, other obstacles
Thing information, and generate first obstacle information.
Further, the Multi-source Information Fusion module includes traffic sign roadmarking information fusion module, the friendship
Logical mark roadmarking information fusion module is used for receiving the described of the traffic sign roadmarking detection identification module transmission
First traffic sign roadmarking information, and merged with the traffic sign road information from high-precision map, generate
The second traffic sign roadmarking information.
Further, the Multi-source Information Fusion module includes obstacle information Fusion Module, and the obstacle information melts
Matched moulds block is used for receiving first obstacle information that quiet, the dynamic disorder analyte detection identification module sends, and in described
What the forward direction dynamic barrier information and the corner middle-range millimeter microwave radar that forward direction length is sent away from millimeter microwave radar sent
Surrounding dynamic barrier information is merged, and generates the second obstacle information.
Further, the Multi-source Information Fusion module includes vehicle traveling local environment integration modeling module, the car
Traveling local environment integration modeling module receives the second traffic sign roadmarking information and second barrier letter
Breath, and carry out merging auto-pilot controller and the man-machine interaction for generating that the vehicle traveling local environmental information is sent to vehicle
System.
Further, the monocular camera and stereoscopic camera are installed on room mirror rear.
Further, the forward direction length is installed on vehicle front bumper central authorities, the corner middle-range milli away from millimetre-wave radar
Metre wave radar is installed on two side position of front/rear collision bumper.
Beneficial effects of the present invention：Using monocular camera, stereoscopic camera, forward direction length away from millimeter microwave radar and corner middle-range
Millimeter microwave radar replaces traditional laser radar, and is respectively arranged central, front in room mirror rear, vehicle front bumper
Two side position of rear bumper, is gathered to traffic sign road information and the much information in obstacle information respectively, and is led to
Crossing multi-source information Fusion Module carries out fusion treatment.Compared to the visual sensing system of conventionally employed laser radar, its low cost
It is honest and clean, it is easy to integrated.And after the traffic sign road information of vehicle traveling local environment and obstacle information modeling fusion, Neng Gousheng
Local environmental information is travelled into vehicle, is easy to auto-pilot controller and man-machine interactive system decision-making to use, so as to greatly carry
The high precision of sensory perceptual system.
Description of the drawings
Fig. 1 is module connection figure of the present invention；
Specific embodiment
Below by way of specific embodiment, the present invention is described in further detail：
As shown in figure 1, automatic Pilot sensory perceptual system of the present invention based on highway is known by sensor, visual signal detection
Other module and Multi-source Information Fusion module three parts composition.Wherein sensor include monocular camera, stereoscopic camera, forward direction length away from
Millimetre-wave radar and corner middle-range millimetre-wave radar；Visual signal detection identification module includes that the detection of traffic sign roadmarking is known
Other module and quiet, dynamic disorder analyte detection identification module；Multi-source Information Fusion module includes that traffic sign roadmarking information is melted
Matched moulds block, obstacle information Fusion Module and vehicle traveling local environment integration modeling module.
Sensor needs the signal of detection to include traffic sign road information and obstacle information, traffic sign road information
Including but not limited to road signs information, traffic lights information, lane line information, road edge information, road guidance information,
Obstacle information includes but is not limited to pedestrian information, information of vehicles, other obstacle informations.
Monocular camera be used for receive road signs information, traffic lights information, lane line information, road edge information,
Road guidance information, and traffic sign roadmarking detection identification module is sent to by the mode such as Ethernet, HMDI, USB, hand over
Logical mark roadmarking detection identification module according to the road signs information, traffic lights information, lane line information for receiving,
Road edge information and road guidance information, generate the first traffic sign roadmarking information, and export to traffic sign road
Graticule information fusion module.Stereoscopic camera be used for receive pedestrian information, information of vehicles, other obstacle informations, by Ethernet,
The modes such as HMDI, USB are sent to quiet, dynamic disorder analyte detection identification module, and quiet, dynamic disorder analyte detection identification module is according to connecing
The pedestrian information that receives, information of vehicles, other obstacle informations, generate the first obstacle information, and are sent to obstacle information
Fusion Module.And forward direction length away from millimetre-wave radar and corner middle-range millimetre-wave radar according to pedestrian information, information of vehicles, other barriers
To dynamic barrier information and surrounding dynamic barrier information before hindering thing information to generate respectively, and barrier is sent to by CAN
Hinder thing information fusion module.
Traffic sign roadmarking information fusion module receives the first traffic sign roadmarking information, and from high-precision
The traffic sign road information of figure is merged, and the second traffic sign roadmarking information of generation is sent to vehicle traveling local ring
Border integration modeling module.Obstacle information Fusion Module receives the first obstacle information, forward direction dynamic barrier information and surrounding
Dynamic barrier information, fusion generate the second obstacle information, and are sent to vehicle traveling local environment integration modeling module.Car
Traveling local environment integration modeling module is by the second traffic sign roadmarking information for receiving and the second obstacle information
Merged, generated auto-pilot controller and man-machine interactive system that vehicle traveling local environmental information is sent to vehicle.
Monocular camera and stereoscopic camera can select smart camera, can directly export traffic sign roadmarking information；Also may be used
Constituted from general camera, designed, designed visual monitoring identification module is with further reduces cost.Monocular camera and stereoscopic camera
Positioned at room mirror rear, forward direction length is installed on vehicle front bumper middle position, corner middle-range millimeter away from millimetre-wave radar
Ripple radar is installed on two side position of front/rear collision bumper, perceives fusion treatment device and is installed on main driving seat bottom.Wherein monocular phase
The longitudinal direction of machine can find range from should more than 100 meters, stereoscopic camera can longitudinally find range from should more than 40 meters, 50 degree of horizontal view angle with
On.Can longitudinally find range from more than 170 meters to long away from millimetre-wave radar, more than 20 degree of horizontal view angle, corner middle-range millimeter wave thunder
Can find range from more than 50 meters up to longitudinal direction, more than 120 degree of horizontal view angle.
The above, specific embodiment only of the invention, it is noted that any those of ordinary skill in the art exist
Disclosed herein technical scope in, the change or replacement that can be readily occurred in, should all cover protection scope of the present invention it
It is interior.
Claims (10)
1. a kind of automatic Pilot sensory perceptual system based on highway, it is characterised in that include：
Sensor：For collecting traffic sign road information and obstacle information, and the traffic sign road letter of gained will be collected
Breath and obstacle information are sent to visual signal detection identification module；
Visual signal detects identification module：Traffic sign road information and obstacle information for sending to sensor is known
Not, the first traffic sign roadmarking information and obstacle information are at least generated, and by the first traffic sign roadmarking
Information and the first obstacle information are sent to Multi-source Information Fusion module；
Multi-source Information Fusion module：For receiving the first traffic sign road road sign that the visual signal detection identification module sends
Line information and the first obstacle information, are at least merged with the traffic sign road information from high-precision map, and will fusion
The vehicle traveling local environmental information of generation is sent to auto-pilot controller and the man-machine interactive system of vehicle.
2. automatic Pilot sensory perceptual system as claimed in claim 1 based on highway, it is characterised in that：The sensor includes
Monocular camera, the monocular camera are used for receiving traffic sign road information, and the traffic sign road information at least includes handing over
Logical flag information, traffic lights information, lane line information, road edge information, road guidance information.
3. automatic Pilot sensory perceptual system as claimed in claim 1 based on highway, it is characterised in that：The sensor includes
Stereoscopic camera, forward direction length away from millimeter microwave radar and corner middle-range millimeter microwave radar, the stereoscopic camera, the forward direction length away from
Millimeter microwave radar and the corner middle-range millimeter microwave radar are used for receiving obstacle information, and the obstacle information is at least wrapped
Include pedestrian information, information of vehicles, other obstacle informations.
4. automatic Pilot sensory perceptual system as claimed in claim 2 based on highway, it is characterised in that：The visual signal inspection
Surveying identification module includes traffic sign roadmarking detection identification module, and the traffic sign roadmarking detection identification module is used
In the road signs information, traffic lights information, lane line information, road edge information and the road that receive monocular camera transmission
Guidance information, and generate the first traffic sign roadmarking information.
5. automatic Pilot sensory perceptual system as claimed in claim 3 based on highway, it is characterised in that：The visual signal inspection
Surveying identification module includes quiet, dynamic disorder analyte detection identification module, and quiet, the dynamic disorder analyte detection identification module is used for receiving
The pedestrian information of the stereoscopic camera transmission, information of vehicles, other obstacle informations, and generate first obstacle information.
6. automatic Pilot sensory perceptual system as claimed in claim 1 based on highway, it is characterised in that：The multi-source information melts
Matched moulds block includes traffic sign roadmarking information fusion module, and the traffic sign roadmarking information fusion module is used for connecing
Receive the first traffic sign roadmarking information that traffic sign roadmarking detection identification module sends, and with it is described from
The traffic sign road information of high-precision map is merged, and generates the second traffic sign roadmarking information.
7. automatic Pilot sensory perceptual system as claimed in claim 1 based on highway, it is characterised in that：The multi-source information melts
Matched moulds block includes obstacle information Fusion Module, and the obstacle information Fusion Module is used for receiving quiet, dynamic disorder analyte detection
The first obstacle information that identification module sends, and the forward direction dynamic barrier information sent away from millimeter microwave radar with forward direction length
The surrounding dynamic barrier information sent with corner middle-range millimeter microwave radar is merged, and generates the second obstacle information.
8. automatic Pilot sensory perceptual system as claimed in claims 6 or 7 based on highway, it is characterised in that：The multi-source letter
Breath Fusion Module includes vehicle traveling local environment integration modeling module, and the vehicle traveling local environment integration modeling module connects
The second traffic sign roadmarking information and the second obstacle information is received, and carries out fusion and generate the vehicle traveling local environment
Information is sent to the auto-pilot controller of vehicle and man-machine interactive system.
9. automatic Pilot sensory perceptual system as claimed in claim 4 based on highway, it is characterised in that：The monocular camera and
Stereoscopic camera is installed on room mirror rear.
10. automatic Pilot sensory perceptual system as claimed in claim 4 based on highway, it is characterised in that：The forward direction length away from
Millimetre-wave radar is installed on vehicle front bumper central authorities, and the corner middle-range millimetre-wave radar is installed on front/rear collision bumper both sides position
Put.
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| CN201610910255.0A CN106527427A (en) | 2016-10-19 | 2016-10-19 | Automatic driving sensing system based on highway |
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| CN201610910255.0A CN106527427A (en) | 2016-10-19 | 2016-10-19 | Automatic driving sensing system based on highway |
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| CN201610910255.0A Pending CN106527427A (en) | 2016-10-19 | 2016-10-19 | Automatic driving sensing system based on highway |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107193278A (en) * | 2017-05-08 | 2017-09-22 | 江苏大学 | The wheeled area recognizing method of image and map match based on positioning |
| CN107272687A (en) * | 2017-06-29 | 2017-10-20 | 深圳市海梁科技有限公司 | A kind of driving behavior decision system of automatic Pilot public transit vehicle |
| CN107499310A (en) * | 2017-08-17 | 2017-12-22 | 广州大学 | The track identified based on car networking and vehicle mounted road keeps householder method and system |
| CN107544518A (en) * | 2017-10-17 | 2018-01-05 | 芜湖伯特利汽车安全系统股份有限公司 | The ACC/AEB systems and vehicle driven based on personification |
| CN107972674A (en) * | 2017-12-11 | 2018-05-01 | 惠州市德赛西威汽车电子股份有限公司 | It is a kind of to merge navigation and the drive assist system and method for intelligent vision |
| CN108010360A (en) * | 2017-12-27 | 2018-05-08 | 中电海康集团有限公司 | A kind of automatic Pilot context aware systems based on bus or train route collaboration |
| CN108801283A (en) * | 2018-06-14 | 2018-11-13 | 淮阴工学院 | The fleet's automatic driving control system and its automatic Pilot method of enclosed type road |
| CN109131279A (en) * | 2018-09-05 | 2019-01-04 | 深圳普思英察科技有限公司 | A kind of autonomous vendors' cart and its barrier-avoiding method |
| CN109313448A (en) * | 2017-08-25 | 2019-02-05 | 深圳市得道健康管理有限公司 | Artificial intelligence terminal and its behaviour control method |
| CN109421697A (en) * | 2017-08-30 | 2019-03-05 | 西门子公司 | A kind of control method for vehicle, device and system |
| CN109552322A (en) * | 2017-09-25 | 2019-04-02 | 安波福技术有限公司 | The lane markings of automated vehicle simulation guide system |
| CN109753047A (en) * | 2017-11-08 | 2019-05-14 | 通用汽车环球科技运作有限责任公司 | System and method for autonomous vehicle behaviour control |
| CN109814554A (en) * | 2019-01-17 | 2019-05-28 | 深兰科技（上海）有限公司 | A kind of automatic Pilot bus |
| CN110188687A (en) * | 2019-05-30 | 2019-08-30 | 爱驰汽车有限公司 | Landform recognition methods, system, equipment and the storage medium of automobile |
| CN110263607A (en) * | 2018-12-07 | 2019-09-20 | 电子科技大学 | A kind of for unpiloted road grade global context drawing generating method |
| CN110431561A (en) * | 2017-05-15 | 2019-11-08 | 宝马股份公司 | For determining the method, apparatus and system of road construction site |
| CN110573978A (en) * | 2017-03-23 | 2019-12-13 | 优步技术公司 | Dynamic sensor selection for self-driving vehicles |
| CN111060117A (en) * | 2019-12-17 | 2020-04-24 | 苏州智加科技有限公司 | Local map construction method and device, computer equipment and storage medium |
| CN112069971A (en) * | 2020-09-01 | 2020-12-11 | 浙江省机电设计研究院有限公司 | Video-based highway sign line identification method and identification system |
| CN113900070A (en) * | 2021-10-08 | 2022-01-07 | 河北德冠隆电子科技有限公司 | Method, device and system for automatically drawing target data and accurately outputting radar lane |
| CN115148040A (en) * | 2022-06-28 | 2022-10-04 | 东莞中科云计算研究院 | Unmanned vehicle control method and system for closed road environment |
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| CN110573978A (en) * | 2017-03-23 | 2019-12-13 | 优步技术公司 | Dynamic sensor selection for self-driving vehicles |
| CN107193278B (en) * | 2017-05-08 | 2021-06-18 | 江苏大学 | Drivable area identification method based on positioning image and map matching |
| CN107193278A (en) * | 2017-05-08 | 2017-09-22 | 江苏大学 | The wheeled area recognizing method of image and map match based on positioning |
| CN110431561A (en) * | 2017-05-15 | 2019-11-08 | 宝马股份公司 | For determining the method, apparatus and system of road construction site |
| CN107272687A (en) * | 2017-06-29 | 2017-10-20 | 深圳市海梁科技有限公司 | A kind of driving behavior decision system of automatic Pilot public transit vehicle |
| CN107499310A (en) * | 2017-08-17 | 2017-12-22 | 广州大学 | The track identified based on car networking and vehicle mounted road keeps householder method and system |
| CN109313448B (en) * | 2017-08-25 | 2022-02-18 | 深圳市大富智慧健康科技有限公司 | Artificial intelligence terminal, behavior control method thereof and storage medium |
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| CN109421697A (en) * | 2017-08-30 | 2019-03-05 | 西门子公司 | A kind of control method for vehicle, device and system |
| CN109552322A (en) * | 2017-09-25 | 2019-04-02 | 安波福技术有限公司 | The lane markings of automated vehicle simulation guide system |
| CN107544518A (en) * | 2017-10-17 | 2018-01-05 | 芜湖伯特利汽车安全系统股份有限公司 | The ACC/AEB systems and vehicle driven based on personification |
| CN107544518B (en) * | 2017-10-17 | 2020-12-01 | 芜湖伯特利汽车安全系统股份有限公司 | ACC/AEB system based on anthropomorphic driving and vehicle |
| CN109753047A (en) * | 2017-11-08 | 2019-05-14 | 通用汽车环球科技运作有限责任公司 | System and method for autonomous vehicle behaviour control |
| WO2019114030A1 (en) * | 2017-12-11 | 2019-06-20 | 惠州市德赛西威汽车电子股份有限公司 | Driving assistance system and method fusing navigation and intelligent vision |
| CN107972674A (en) * | 2017-12-11 | 2018-05-01 | 惠州市德赛西威汽车电子股份有限公司 | It is a kind of to merge navigation and the drive assist system and method for intelligent vision |
| CN108010360A (en) * | 2017-12-27 | 2018-05-08 | 中电海康集团有限公司 | A kind of automatic Pilot context aware systems based on bus or train route collaboration |
| CN108801283A (en) * | 2018-06-14 | 2018-11-13 | 淮阴工学院 | The fleet's automatic driving control system and its automatic Pilot method of enclosed type road |
| CN109131279A (en) * | 2018-09-05 | 2019-01-04 | 深圳普思英察科技有限公司 | A kind of autonomous vendors' cart and its barrier-avoiding method |
| CN110263607A (en) * | 2018-12-07 | 2019-09-20 | 电子科技大学 | A kind of for unpiloted road grade global context drawing generating method |
| CN110263607B (en) * | 2018-12-07 | 2022-05-20 | 电子科技大学 | Road-level global environment map generation method for unmanned driving |
| CN109814554A (en) * | 2019-01-17 | 2019-05-28 | 深兰科技（上海）有限公司 | A kind of automatic Pilot bus |
| CN110188687B (en) * | 2019-05-30 | 2021-08-20 | 爱驰汽车有限公司 | Method, system, device and storage medium for identifying terrain of automobile |
| CN110188687A (en) * | 2019-05-30 | 2019-08-30 | 爱驰汽车有限公司 | Landform recognition methods, system, equipment and the storage medium of automobile |
| CN111060117A (en) * | 2019-12-17 | 2020-04-24 | 苏州智加科技有限公司 | Local map construction method and device, computer equipment and storage medium |
| CN112069971A (en) * | 2020-09-01 | 2020-12-11 | 浙江省机电设计研究院有限公司 | Video-based highway sign line identification method and identification system |
| CN113900070A (en) * | 2021-10-08 | 2022-01-07 | 河北德冠隆电子科技有限公司 | Method, device and system for automatically drawing target data and accurately outputting radar lane |
| CN115148040A (en) * | 2022-06-28 | 2022-10-04 | 东莞中科云计算研究院 | Unmanned vehicle control method and system for closed road environment |
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