CN107128311B - Pavement behavior reminding method and device - Google Patents
Pavement behavior reminding method and device Download PDFInfo
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- CN107128311B CN107128311B CN201710282221.6A CN201710282221A CN107128311B CN 107128311 B CN107128311 B CN 107128311B CN 201710282221 A CN201710282221 A CN 201710282221A CN 107128311 B CN107128311 B CN 107128311B
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- 230000002159 abnormal effect Effects 0.000 claims abstract description 70
- 230000003190 augmentative effect Effects 0.000 claims description 28
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- 238000005516 engineering process Methods 0.000 abstract description 7
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Classifications
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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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
- B60R1/001—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 integrated in the windows, e.g. Fresnel lenses
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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
Abstract
The disclosure discloses a kind of pavement behavior reminding method and device, belongs to field of computer technology.The pavement behavior reminding method includes: the description data for obtaining abnormal area on vehicle front road surface, the abnormal area includes sunk area and/or elevated regions, the description data of the sunk area are for describing the position of the shape on road surface and the sunk area in the sunk area, and on road surface the position of the shape of object and the elevated regions for describing in the elevated regions for the description data of the elevated regions；The image of object on road surface in the abnormal area or road surface is generated according to the description data；Described image is incident upon on the windshield of the vehicle.The disclosure solves the problems, such as that driver is difficult to drive a car and hides the hollow and barrier in front, has achieved the effect that improve travel safety.
Description
Technical field
This disclosure relates to field of computer technology, in particular to a kind of pavement behavior reminding method and device.
Background technique
In the driving process of automobile, more complicated road conditions may be encountered, such as to have hollow, road surface to have more on road surface
Rubble etc..When encountering complex road condition, driver's driving Reduced Speed Now is needed, and avoid hollow and obstacle
Object, to reduce the vibration of automobile.Otherwise, the strenuous vibration of automobile will cause the damage of the parts such as vehicle drive system, running gear,
Directly threaten traffic safety.
Currently, to prompt driver's slow down, paying attention to hiding mainly by the way that warning sign is arranged by the road of road conditions complexity
Keep away the barrier and hollow of vehicle front.However, the reason of driver is limited by observation visual angle in the process of moving driver
Be difficult to check road surface ahead, will cause driver be difficult to drive a car the hollow and barrier of hiding front the problem of, cause
Travel safety is low.
Summary of the invention
The disclosure provides a kind of pavement behavior reminding method and device.The technical solution is as follows:
According to the first aspect of the embodiments of the present disclosure, a kind of pavement behavior reminding method is provided, which comprises obtain
The description data of abnormal area on vehicle front road surface, the abnormal area include sunk area and/or elevated regions, described recessed
The description data for falling into region are used to describe the position of the shape on road surface and the sunk area in the sunk area, described convex
The description data for playing region are used to describe in the elevated regions that on road surface the position of the shape of object and the elevated regions；
The image of object on road surface in the abnormal area or road surface is generated according to the description data；Described image is incident upon described
On the windshield of vehicle.
Optionally, the description data for obtaining abnormal area on vehicle front road surface, comprising: sent out to vehicle forward direction
The first radar laser of multi beam is penetrated, first radar laser of multi beam forms multiple covering of the fans, and each the first radar of covering of the fan inner part swashs
Plane where light emission to road surface and the covering of the fan is perpendicular to road surface；At least a branch of the second radar laser reflected is received, really
Fixed every the second radar laser of beam corresponds to the location information of reflection point；According to exceptions area determining in the location information of each reflection point
The location information of the abnormal area internal reflection point is determined as the description data by domain.
Optionally, in the image for generating object on road surface in the abnormal area or road surface according to the description data
Before, the method also includes: the parameter information of the sunk area is determined according to the description data of the sunk area, it is described
Parameter information includes at least one of maximum width, the depth of recess；When the parameter information meets preset condition, by institute
The image for stating road surface in sunk area is set as preset first color.
Optionally, in the image for generating object on road surface in the abnormal area or road surface according to the description data
Before, the method also includes: the height of object in the elevated regions is determined according to the description data of the elevated regions；?
When the height of object reaches predetermined altitude in the elevated regions, preset second is set by the color of the image of the object
Color.
Optionally, on the windshield that described image is incident upon to the vehicle, comprising: according to the abnormal area
Description data determine the distance between the abnormal area and the vehicle；Determine described image described according to the distance
Launching position on windshield, Xiang Suoshu launching position project described image.
According to the second aspect of an embodiment of the present disclosure, a kind of pavement behavior suggestion device is provided, which is characterized in that the dress
Setting includes: laser radar module, and for obtaining the description data of abnormal area on vehicle front road surface, the abnormal area includes
Sunk area and/or elevated regions, the description data of the sunk area are used to describe the shape on road surface in the sunk area
And the position of the sunk area, the description data of the elevated regions are used to describe in the elevated regions object on road surface
Shape and the elevated regions position；Augmented reality module, for generating the exceptions area according to the description data
In domain on road surface or road surface object image；New line display module, the image projection for generating the augmented reality module
On the windshield of the vehicle.
Optionally, the laser radar module is also used to emit the first radar laser of multi beam to vehicle forward direction, described
The first radar laser of multi beam forms multiple covering of the fans, each covering of the fan inner part the first radar laser directive road surface and covering of the fan place
Plane perpendicular to road surface；The laser radar module is also used to receive at least a branch of the second radar laser reflected, determine
Every the second radar laser of beam corresponds to the location information of reflection point；The augmented reality module, is also used to according to the laser radar
Abnormal area is determined in the location information for each reflection point that module is determined, the position of the abnormal area internal reflection point is believed
Breath is determined as the description data.
Optionally, the augmented reality module, is also used to: determining the recess according to the description data of the sunk area
The parameter information in region, the parameter information include at least one of maximum width, the depth of recess: in the parameter information
When meeting preset condition, preset first color is set by the image on road surface in the sunk area.
Optionally, the augmented reality module, is also used to: determining the protrusion according to the description data of the elevated regions
The height of object in region；When the height of object reaches predetermined altitude in the elevated regions, by the image of the object
Color is set as preset second color.
Optionally, the augmented reality module is also used to determine the exception according to the description data of the abnormal area
The distance between region and the vehicle；The augmented reality module is also used to determine described image in institute according to the distance
State the launching position on windshield；The new line display module is also used to the projection determined to the augmented reality module
Position projects described image.
The technical solution that the embodiment of the present disclosure provides can include the following benefits:
By obtaining the description data of abnormal area on vehicle front road surface, generated according to the description data of abnormal area different
The image of generation, is incident upon the windshield of vehicle by the image of barrier on the image on normal region sunken inside road surface or road surface,
To prompt the situation of driver vehicle's road surface ahead, solves driver and be difficult to drive a car and hide the hollow and obstacle in front
The problem of object, has achieved the effect that improve travel safety.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.
Fig. 1 is a kind of flow chart of pavement behavior reminding method shown according to an exemplary embodiment；
Fig. 2 is a kind of flow chart of the pavement behavior reminding method shown according to another exemplary embodiment；
Fig. 3 is the schematic diagram that laser radar shown according to an exemplary embodiment emits the first radar laser；
Fig. 4 is the schematic diagram of launch point and a reflection point in three-dimensional system of coordinate shown according to an exemplary embodiment；
Fig. 5 is a kind of schematic diagram for projecting abnormal area correspondence image shown according to an exemplary embodiment；
Fig. 6 is a kind of block diagram of pavement behavior suggestion device shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Referring to Figure 1, Fig. 1 is a kind of flow chart of pavement behavior reminding method shown according to an exemplary embodiment,
The pavement behavior reminding method may include the following steps.
In a step 101, the description data of abnormal area on vehicle front road surface are obtained.
Wherein, abnormal area includes sunk area and/or elevated regions, and the description data of sunk area are for describing recess
The position of the shape on road surface and sunk area in region, the description data of elevated regions are for describing road surface in elevated regions
The shape of object and the position of elevated regions.
In a step 102, object on road surface in the abnormal area or road surface is generated according to the description data of abnormal area
Image.
In step 103, which is incident upon on the windshield of vehicle.
In conclusion the pavement behavior reminding method provided in the embodiment of the present disclosure, by obtaining on vehicle front road surface
The description data of abnormal area generate on image or the road surface on abnormal area sunken inside road surface according to the description data of abnormal area
The image of generation is incident upon the windshield of vehicle by the image of barrier, to prompt the situation of driver vehicle's road surface ahead,
It solves the problems, such as that driver is difficult to drive a car and hides the hollow and barrier in front, reached and improved travel safety
Effect.
Fig. 2 is referred to, Fig. 2 is a kind of process of the pavement behavior reminding method shown according to another exemplary embodiment
Figure, which may include the following steps.
In step 201, emit the first radar laser of multi beam to vehicle forward direction, which forms
Multiple covering of the fans, the plane where each covering of the fan inner part the first radar laser directive road surface and covering of the fan is perpendicular to road surface.
Wherein, laser radar is installed on the vehicle, for example, the laser radar is mounted on the front end of vehicle.
It refers to Fig. 3 (1), laser radar 22 can be same in a plane perpendicular to smooth-riding surface indicated by label 21
When at least a branch of first radar laser (Fig. 3 is depicted with arrows in (1)) of transmitting, form a covering of the fan.
Wherein, emit in the maximum elevation and covering of the fan between the first radar laser emitted in covering of the fan and horizontal plane
Maximum depression between first radar laser and horizontal plane can be set by system developer, also be can be customized by users.
For example, Fig. 3 (2) are referred to, laser radar 22 is mounted on the front end of vehicle, and maximum elevation is set to 45
Degree, maximum depression are set to 30 degree, then laser radar is in a plane perpendicular to road surface, at 45 degree of the elevation angle and the angle of depression 30
Emit at least a branch of first radar laser between degree.
Maximum depression can be set greater than 0 angle by system developer or user, to guarantee the portion in each covering of the fan
Divide the first radar laser directive road surface.
There may be multiple for such covering of the fan.Laser radar when determining these covering of the fans, first obtain preset covering of the fan with
Between the left side of front of the car between the first range or preset covering of the fan and the right side of front of the car of angle angle the second model
It encloses, then determines multiple angles, the corresponding covering of the fan of each angle in the first range or the second range.Optionally, these angles
It can be uniformly distributed in the first range or the second range.
Wherein, each angle determined out of first range corresponds to angle between covering of the fan and the left side of front of the car
For the angle；The each angle determined out of second range, corresponding to angle between covering of the fan and the left side of front of the car is this
Angle.
For example, the first range of angle is [10 °, 170 °] between preset covering of the fan and the left side of front of the car, then
Multiple angles, the corresponding covering of the fan of each angle, angle between the covering of the fan and the left side of front of the car are determined in the first range
For the angle.
Laser radar is after determining multiple covering of the fans, according to the sequence of covering of the fan from left to right or from right to left, successively each
At least a branch of first radar laser of transmitting in a covering of the fan.
In general, the lower limit value of the first range or the second range is smaller, upper limit value is bigger, what laser radar can detect
The width on road surface is wider.Optionally, the lower limit value of the first range is set as 0 °, the upper limit value of the first range is set as 180 °；
The lower limit value of second range is set as 0 °, the upper limit value of the second range is set as 180 °.
It should be noted that laser radar emits at least a branch of first radar in a new covering of the fan at predetermined time intervals
Laser.Generally, laser radar emitted in a covering of the fan in the predetermined time after at least a branch of first radar laser, so that it may
Multiple second radar laser that multiple first radar laser in the covering of the fan obtain after being reflected quickly are received, namely execute step
202, when reaching the predetermined time, ability in another covering of the fan while emitting at least a branch of first radar laser.
In step 202, at least a branch of the second radar laser reflected is received, determines that every the second radar laser of beam is corresponding
The location information of reflection point.
Record every time in a covering of the fan transmitting the first radar laser simultaneously launch time, receive multiple the in the covering of the fan
Multiple second radar laser that one radar laser obtains after being reflected record the receiving time of each second radar laser and connect
Debit to.
For each second radar laser, according to the receiving time of second radar laser, receiving direction and the transmitting
Time determines the location information of the corresponding reflection point of the second radar laser.Wherein, the corresponding reflection point of the second radar laser is
First radar laser is emitted as to the point of second radar laser, usually on the road surface of vehicle front a little or road surface on object
On body surface face a bit, the object correspond to vehicle for be barrier, for example, the object may be the rubble on road surface.
The present embodiment illustrates how to the position that the second radar laser of calculating corresponds to reflection point to establish three-dimensional coordinate
Information, the origin of the three-dimensional system of coordinate are the launch point for emitting the first radar laser, one-dimensional x-axis and vehicle in three-dimensional system of coordinate
Body direction is consistent and is directed toward the direction that vehicle advances, and another dimension y-axis is directed toward on the right side of vehicle body and vertical with x-axis in three-dimensional system of coordinate,
Another dimension z is perpendicular to plane where x-axis, y-axis in three-dimensional system of coordinate and pointing direction is opposite with gravity direction.
Since the light velocity is 3 × 108M/s is much larger than the travel speed of vehicle, negligible in the location information for calculating reflection point
The travel speed of vehicle, ignore transmitting the first radar laser launch point and receive the second radar laser receiving point between away from
From, namely default vehicle be it is static, launch point is identical as the position of receiving point.As shown in figure 4, launching first from launch point 41
Radar laser, the first radar laser obtain the second radar laser through the reflection of reflection point 42, and laser radar is still in launch point 41
Receive second radar laser.Then directly using the light velocity multiplied by receiving time and reflection interval time difference, by product divided by
2, obtain L decimeters of the distance between the reflection point and launch point.
Corresponding reflection point is calculated according to the receiving direction of the three-dimensional coordinate information of reflection point and corresponding second radar laser
Location information.Come using the unit of x, y, z axis as decimetre for example, still referring to Fig. 4, launch point 41 (being also receiving point)
Three-dimensional coordinate is (0,4,2), reflects second radar laser to launch point 41 from reflection point 42, the direction that label 43 indicates is
The angle of plane is 30 ° where the receiving direction of second radar laser, the receiving direction and x, y-axis, flat with plane where x, z
The angle of plane is 60 ° where row, with y, z-axis, then the z-axis coordinate of reflection point 42 is 2-L*sin30 °, and the coordinate of x-axis is L*
Cos30 °, the coordinate of y-axis is 4, then the three-dimensional coordinate of reflection point 42 is (L*cos30 °, 4,2-L*sin30 °).
In actual implementation, the location information that the state of the art accurately calculates reflection point can also be used in this step,
Details are not described herein for the present embodiment, and the laser radar provided in the prior art can accurately calculate the location information of reflection point.
In step 203, according to sunk area and elevated regions are determined in the location information of each reflection point, will be recessed
The location information of region internal reflection point is determined as the description data of sunk area, and the location information of elevated regions internal reflection point is true
It is set to the description data of elevated regions, sunk area and elevated regions are abnormal area.
In general, laser radar is installed in fixed position, it is seen that laser radar emits the transmitting of the first radar laser
For point also in fixed position, the distance between launch point and smooth-riding surface are fixed.If the height between reflection point and launch point
Difference is greater than the fixed range, then shows that the reflection point is a bit being recessed on road surface；If the height between reflection point and launch point
Difference is less than fixed range, then shows that the reflection point is a bit on body surface on road surface.
For example, still referring to Fig. 4, the fixed range between launch point 41 and smooth-riding surface is 2 decimeters.Due to transmitting
The three-dimensional coordinate of point 41 is (0,4,2), and the three-dimensional coordinate of reflection point 42 is (L*cos30 °, 4,2-L*sin30 °), it is seen that transmitting
Difference in height between point and reflection point is L*sin30 °.If L*sin30 °, less than 2, shows the reflection point on recess road surface
A bit, it is located at sunk area；If L*sin30 ° is greater than 2, show that the reflection point is a bit on blocking surfaces, position on road surface
In elevated regions；If L*sin30 ° is equal to 2, show that the reflection point is positioned at smooth-riding surface.
Optionally, if considering to calculate error, the difference in height numerical value between reflection point and launch point subtracts fixed range, obtains
When the difference arrived is greater than the first numerical value, then it is assumed that the reflection point is a bit being recessed on road surface, which is located at sunk area,
The location information of the reflection point is determined as to the description data of abnormal area；Difference in height numerical value between reflection point and launch point
Subtract fixed range, obtained difference be less than second value when, then it is assumed that the reflection point be road surface on body surface a bit, should
Reflection point is located at elevated regions, and the location information of the reflection point is determined as to the description data of abnormal area.
In step 204, the image that object in elevated regions is generated according to the description data of elevated regions, according to depressed area
The description data in domain generate the image on road surface in sunk area.
The description data of the elevated regions got may include the location information of multiple elevated regions internal reflection points, obtain
The description data of the sunk area arrived may also include the location information of multiple sunk area internal reflection points.This step is in practical reality
Now, all description data are directly acquired using augmented reality (Augmented Reality, AR) technology, that is, all recessed
Fall into region in and elevated regions internal reflection point location information, produce road in each sunk area according to these location informations
The 3D shape of object in the 3D shape in face and each elevated regions.
It should be noted that depicting each exceptions area automatically according to the location information of each reflection point using AR technology
It, can be using the top view of the 3D shape, main view as the abnormal area in domain on road surface or road surface after the 3D shape of object
Corresponding image.Main view said here refers to the main view relative to vehicle driver's vision.It certainly, can also be by exceptions area
In domain on road surface or road surface object 3D shape directly as abnormal area corresponding image.
Optionally, for sunk area, the main view of sunk area corresponding three-dimensional shape or top view can be determined as recessed
Fall into the image on road surface in region；For elevated regions, the main view of elevated regions corresponding three-dimensional shape can be determined as convex area
The image of object in domain.
The execution of step 205 and step 207 sequentially, can first carry out step 205, then execute step 207 in no particular order, can also
Step 207 is first carried out, step 205 is being executed, step 205 and step 207 can also be performed simultaneously.But the execution of step 206
After step 205.
In step 205, determine that the parameter information of sunk area, parameter information include according to the description data of sunk area
At least one of maximum width, depth of recess.
It is being successfully generated using AR technology in a sunk area after the image on road surface, it may be determined that generate image Shi Suoli
The location information of multiple reflection points, according to the location information of multiple reflection point determine sunk area maximum width and/
Or the depth of recess.
The depth for illustrating how to determine sunk area, obtains z-axis coordinate value from the three-dimensional coordinate information of reflection point
The smallest three-dimensional coordinate information calculates the height difference H 1 between launch point and the three-dimensional coordinate information respective coordinates point, obtains hair
Fixed range H2 between exit point and smooth-riding surface is the depth of road surface depression in sunk area using the difference that H1-H2 is obtained.
The maximum width for illustrating how to determine sunk area, is defaulted as 0 for the z-axis coordinate value of each location information,
Go out the distance between each location information corresponding position according to each positional information calculation, calculated maximum distance is determined as
Maximum width.
In step 206, when parameter information meets preset condition, set default for the image on road surface in sunk area
The first color.
Wherein, the first color can be set by system developer, also can be customized by users；Preset condition can be by being
The developer that unites sets, and also can be customized by users.
For example, by maximum width of preset condition be greater than 0.4 decimeter, the first color be that red is come for example, being recessed
When the maximum width in region is 1.2 decimeters, the color of the image on road surface in sunk area is set as red.
For another example preset condition be maximum width be greater than 10 decimeters, recess depth be greater than 5 decimeters, the first color be red
Color comes for example, the maximum width of sunk area is 12 decimeters, the depth of recess is 5 decimeters, then road surface in sunk area
The color of image be set as red.
In step 207, the height that object in elevated regions is determined according to the description data of elevated regions, in elevated regions
When the height of interior object reaches predetermined altitude, preset second color is set by the color of the image of object.
Wherein, the second color can be set by system developer, also can be customized by users, and predetermined altitude can be by being
The developer that unites sets, and also can be customized by users.
It is being successfully generated using AR technology in an elevated regions on road surface after the image of object, it may be determined that generate into the figure
As when the location information of multiple reflection points that is utilized, determine that height is highest anti-from the location information of multiple reflection point
Exit point, the distance between the highest reflection point of computed altitude and ground grading illustrate convex area if the distance is greater than predetermined altitude
The excessive height of object in domain needs especially to remind driver note that by the color of the image of object in elevated regions at this time
It is set as preset second color
For example, the highest reflection point of z-axis coordinate value is obtained, z-axis coordinate value is between the reflection point and ground grading
Distance, the z-axis coordinate value be greater than preset distance when, set preset indigo plant for the color of the image of object in elevated regions
Color.
In a step 208, the distance between the abnormal area and vehicle are determined according to the description data of each abnormal area,
The launching position of abnormal area correspondence image on the windshield is determined according to this distance, projects the image to launching position.
For each abnormal area, can be believed from any reflection point in the abnormal area is chosen according to the position of the reflection point
Breath calculates the distance between the reflection point and vehicle, which is determined as the distance between abnormal area and vehicle.Citing comes
It says, the x-axis coordinate value of reflection point is determined as the distance between the reflection point and vehicle.
Optionally, when choosing a reflection point in abnormal area, the maximum reflection point of distance between vehicle can be chosen,
The maximum reflection point of distance between vehicle can be chosen in vehicle forward direction.For example, it is maximum to choose x-axis coordinate value
Reflection point.
Distance relationship corresponding with crevice projection angle is locally stored, crevice projection angle said here refers to when projecting image
Angle between projecting direction and horizontal direction.Wherein, each crevice projection angle corresponds to a launching position on windshield,
The crevice projection angle corresponds to projecting direction and is directed toward the launching position.
For example, such as the corresponding crevice projection angle of distance 40m to 25m is 2 °, such as the corresponding throwing of distance 25m to 20m
Firing angle degree is 3 °, is 4 ° in the corresponding crevice projection angle of distance 20m to 10m, is in the corresponding crevice projection angle of distance 10m to 7.5m
5 °, crevice projection angle is 6 ° when distance is less than 7.5m.
The realization of this step can be with are as follows: determine the distance between abnormal area and vehicle, determine with this apart from corresponding throwing
Firing angle degree corresponds in the crevice projection angle and projects the corresponding image of the abnormal area on projecting direction.So that driver can be according to different
The position of normal region correspondence image on the windshield, it is contemplated that the distance between the abnormal area and vehicle.
For example, image is projected using head-up display 51 (Head Up Display, HUD), refers to Fig. 5, if one
Distance of a elevated regions apart from vehicle is 23m, and distance of the sunk area apart from vehicle is 11m, then with crevice projection angle for 3 °
52 image for projecting object in the elevated regions on the windshield, being 4 ° with crevice projection angle, this is recessed for 52 projections on the windshield
Fall into image in region.
In conclusion the pavement behavior reminding method provided in the embodiment of the present disclosure, by obtaining on vehicle front road surface
The description data of abnormal area generate on image or the road surface on abnormal area sunken inside road surface according to the description data of abnormal area
The image of generation is incident upon the windshield of vehicle by the image of barrier, to prompt the situation of driver vehicle's road surface ahead,
It solves the problems, such as that driver is difficult to drive a car and hides the hollow and barrier in front, reached and improved travel safety
Effect.
By when the maximum width of sunk area and/or the depth of recess meet preset condition, it is believed that sunk area
Area is bigger, is easy to cause driving dangerous, at this time using preset color as the color of the image on road surface in sunk area, with
The sunk area of prompt driver vehicle's road surface ahead be easy to cause driving dangerous, so as to driver's Reduced Speed Now and hide this
Sunk area.
Following is embodiment of the present disclosure, can be used for executing embodiments of the present disclosure.It is real for disclosure device
Undisclosed details in example is applied, embodiments of the present disclosure is please referred to.
Fig. 6 is a kind of block diagram of pavement behavior suggestion device shown according to an exemplary embodiment, as shown in fig. 6, should
Pavement behavior suggestion device may include: laser radar module 610, augmented reality module 620 and new line display module 630.
Laser radar module 610, for obtaining the description data of abnormal area on vehicle front road surface, the abnormal area packet
Include sunk area and/or elevated regions, the description data of sunk area for describe in the sunk area shape on road surface and
The position of the sunk area, the description data of elevated regions are used to describe in the elevated regions shape of object on road surface and should
The position of elevated regions；
Augmented reality module 620, for the image according to object on road surface in description data generation abnormal area or road surface；
New line display module 630, the image for generating augmented reality module 620 are incident upon the windshield of the vehicle
On.
Optionally, laser radar module 610 is also used to emit the first radar laser of multi beam to vehicle forward direction, this is more
The first radar laser of beam forms multiple covering of the fans, flat where each covering of the fan inner part the first radar laser directive road surface and the covering of the fan
Face is perpendicular to road surface；
Laser radar module 610 is also used to receive at least a branch of the second radar laser reflected, determines every the second thunder of beam
The location information of reflection point is corresponded to up to laser；
Augmented reality module 620, the location information for each reflection point for being also used to be determined according to laser radar module 610
The location information of abnormal area internal reflection point is determined as describing data by middle determining abnormal area.
Optionally, augmented reality module 620, is also used to: the ginseng of sunk area is determined according to the description data of sunk area
Number information, parameter information includes at least one of maximum width, the depth of recess: when parameter information meets preset condition,
Preset first color is set by the image on road surface in sunk area.
Optionally, augmented reality module 620, is also used to: determining object in elevated regions according to the description data of elevated regions
The height of body；When the height of object reaches predetermined altitude in elevated regions, set default for the color of the image of the object
The second color.
Optionally, the augmented reality module 620, be also used to be determined according to the description data of abnormal area abnormal area with
The distance between vehicle；Augmented reality module 620 is also used to determine projection of the image on the windshield according to this distance
Position；New line display module 630 is also used to project the image to the launching position that augmented reality module 620 is determined.
It should be noted is that the function that laser radar module 610 is realized in the present embodiment is realized by laser radar,
The function that augmented reality module 620 is realized by processor using AR technology realize, new line display module 630 realized by
HUD is realized.
In conclusion the pavement behavior suggestion device provided in the embodiment of the present disclosure, by obtaining on vehicle front road surface
The description data of abnormal area generate on image or the road surface on abnormal area sunken inside road surface according to the description data of abnormal area
The image of generation is incident upon the windshield of vehicle by the image of barrier, to prompt the situation of driver vehicle's road surface ahead,
It solves the problems, such as that driver is difficult to drive a car and hides the hollow and barrier in front, reached and improved travel safety
Effect.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (8)
1. a kind of pavement behavior reminding method, which is characterized in that the described method includes:
The description data of abnormal area on vehicle front road surface are obtained, the abnormal area includes sunk area and/or convex area
Domain, the description data of the sunk area are for describing the position of the shape on road surface and the sunk area in the sunk area
It sets, the description data of the elevated regions are used to describe in the elevated regions shape of object and the convex area on road surface
The position in domain；
The image of object on road surface in the abnormal area or road surface is generated according to the description data；
Described image is incident upon on the windshield of the vehicle；
On the windshield that described image is incident upon to the vehicle, comprising:
The distance between the abnormal area and the vehicle are determined according to the description data of the abnormal area；
Launching position of the described image on the windshield is determined according to the distance, described in the projection of Xiang Suoshu launching position
Image.
2. the method according to claim 1, wherein the description for obtaining abnormal area on vehicle front road surface
Data, comprising:
Emit the first radar laser of multi beam to vehicle forward direction, first radar laser of multi beam forms multiple covering of the fans, each
Plane where covering of the fan inner part the first radar laser directive road surface and the covering of the fan is perpendicular to road surface；
At least a branch of the second radar laser reflected is received, determines that every the second radar laser of beam corresponds to the position letter of reflection point
Breath；
It is according to abnormal area determining in the location information of each reflection point, the location information of the abnormal area internal reflection point is true
It is set to the description data.
3. the method according to claim 1, wherein generating the exceptions area according to the description data described
In domain on road surface or road surface before the image of object, the method also includes:
Determine that the parameter information of the sunk area, the parameter information include maximum according to the description data of the sunk area
At least one of width, depth of recess；
When the parameter information meets preset condition, preset first face is set by the image on road surface in the sunk area
Color.
4. the method according to claim 1, wherein generating the exceptions area according to the description data described
In domain on road surface or road surface before the image of object, the method also includes:
The height of object in the elevated regions is determined according to the description data of the elevated regions；
When the height of object reaches predetermined altitude in the elevated regions, set default for the color of the image of the object
The second color.
5. a kind of pavement behavior suggestion device, which is characterized in that described device includes:
Laser radar module, for obtaining the description data of abnormal area on vehicle front road surface, the abnormal area includes recessed
Fall into region and/or elevated regions, the description data of the sunk area for describe the shape on road surface in the sunk area with
And the position of the sunk area, the description data of the elevated regions are used to describe in the elevated regions object on road surface
The position of shape and the elevated regions；
Augmented reality module, for generating the figure of object on road surface in the abnormal area or road surface according to the description data
Picture；
New line display module, the image for generating the augmented reality module are incident upon the windshield of the vehicle；
The augmented reality module is also used to determine the abnormal area and the vehicle according to the description data of the abnormal area
The distance between；
The augmented reality module is also used to determine projection position of the described image on the windshield according to the distance
It sets；
The new line display module, the launching position projection described image for being also used to determine to the augmented reality module.
6. device according to claim 5, which is characterized in that
The laser radar module is also used to emit the first radar laser of multi beam, first thunder of multi beam to vehicle forward direction
Multiple covering of the fans are formed up to laser, the plane where each covering of the fan inner part the first radar laser directive road surface and the covering of the fan is vertical
In road surface；
The laser radar module is also used to receive at least a branch of the second radar laser reflected, determines every the second radar of beam
Laser corresponds to the location information of reflection point；
The augmented reality module, in the location information for each reflection point for being also used to be determined according to the laser radar module
It determines abnormal area, the location information of the abnormal area internal reflection point is determined as the description data.
7. device according to claim 5, which is characterized in that the augmented reality module is also used to:
Determine that the parameter information of the sunk area, the parameter information include maximum according to the description data of the sunk area
At least one of width, depth of recess:
When the parameter information meets preset condition, preset first face is set by the image on road surface in the sunk area
Color.
8. device according to claim 5, which is characterized in that the augmented reality module is also used to:
The height of object in the elevated regions is determined according to the description data of the elevated regions；
When the height of object reaches predetermined altitude in the elevated regions, set default for the color of the image of the object
The second color.
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| CN108627135A (en) * | 2018-04-28 | 2018-10-09 | 惠州市德赛西威汽车电子股份有限公司 | A kind of method and system for the road conditions that are recessed by front |
| CN109094567B (en) * | 2018-09-29 | 2021-01-05 | 奇瑞汽车股份有限公司 | Automobile safety protection method and device |
| CN110815220A (en) * | 2019-11-11 | 2020-02-21 | 深圳市荣盛智能装备有限公司 | Obstacle meeting processing method of fire-fighting robot |
| CN111289980B (en) * | 2020-03-06 | 2022-03-08 | 成都纳雷科技有限公司 | Roadside stationary object detection method and system based on vehicle-mounted millimeter wave radar |
| CN111516692A (en) * | 2020-04-20 | 2020-08-11 | 重庆长安汽车股份有限公司 | Control system and method for vehicle running on hollow road surface |
| CN112356851B (en) * | 2020-04-22 | 2021-11-05 | 青岛慧拓智能机器有限公司 | Planning method for riding pit of unmanned mine car |
| CN111959289A (en) * | 2020-07-16 | 2020-11-20 | 山东行远智能网联科技有限公司 | Intelligent internet automobile advancing method based on special road conditions |
| CN112344963B (en) * | 2020-11-05 | 2021-09-10 | 的卢技术有限公司 | Testing method and system based on augmented reality head-up display equipment |
| CN112406879B (en) * | 2020-11-13 | 2022-03-18 | 广州小鹏汽车科技有限公司 | Vehicle control method and device, vehicle and storage medium |
| CN113696896B (en) * | 2021-08-24 | 2023-02-28 | 中国第一汽车股份有限公司 | Road surface information processing method, device, electronic equipment and storage medium |
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