CN107274695A - Intelligent illuminating system, intelligent vehicle and its vehicle DAS (Driver Assistant System) and method - Google Patents
Intelligent illuminating system, intelligent vehicle and its vehicle DAS (Driver Assistant System) and method Download PDFInfo
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- CN107274695A CN107274695A CN201610214685.9A CN201610214685A CN107274695A CN 107274695 A CN107274695 A CN 107274695A CN 201610214685 A CN201610214685 A CN 201610214685A CN 107274695 A CN107274695 A CN 107274695A
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- vehicle
- road condition
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- traffic information
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Abstract
The present invention provides intelligent illuminating system, intelligent vehicle and its vehicle DAS (Driver Assistant System) and method, is formed between intelligent illuminating system and vehicle and communicates with transmitting the traffic information data to vehicle for navigation and/or automatic Pilot；Technical scheme gathers traffic information data to vehicle using lighting apparatus, makes up the problem of smart vehicle sensor system has " blind area ", greatly promotes the navigation accuracy and security of intelligent vehicle.
Description
Technical field
The present invention relates to network technique field, more particularly to intelligent illuminating system, intelligent vehicle and its vehicle auxiliary is driven
Sail system and method.
Background technology
The automatic Pilot of intelligent vehicle is the rapid hot technology field of developed recently, and its technology is related to the dynamical system of vehicle
System, sensing system, control system, computer system and ancillary equipment.Its major technique realization rate is by vehicle
Sensing system, is detected to the traffic information of vehicle periphery, and those road condition systems are handled by computer system,
Realize the function that vehicle is automatic or auxiliary drives.Wherein, road condition data comes from sensing system, map and location information and come from
In satellite location data, with the development and the lifting of Computing ability of sensor technology, automatic Pilot is from experiment
The room stage entered the upper road experimental stage.But there is problems with such data source and processing mode：
1) there is the limitation in blind area and the visual field in the collection by vehicle-mounted sensor-based system to road condition data：Current sensing
Unit such as Laser Distance Measuring Equipment, camera device, trailer-mounted radar equipment can not cut-through thing clearly perceive be blocked
Road conditions in the road condition data in region, so those regions being blocked are that " visual field is blind for vehicle computer system
Area "；
2) vehicle is kept in motion, due to the limitation of sensor technology, the data processing gathered and accuracy
Ensure there is bigger difficulty, the data for reference amendment for also not having outside；
3) global position system is under some particular cases, such as in tunnel, and communication occurs that interruption or signal be not good
Situation, also can produce limitation to the usable condition of automatic Pilot.
Calculating and disposal ability so for computer system be it is sizable test, it is necessary to when new data occurs and
In the case of Shi Fanying, it is desirable to which computer system possesses faster response time and arithmetic speed, complex road condition in reality
Easily there is accident, the security to intelligent vehicle is great threatens.
The content of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide intelligent illuminating system, intelligent vehicle
And its vehicle DAS (Driver Assistant System) and method, for solving to cause road conditions judgement not smart because of mobile unit blind spot in the prior art
The problem of really and easily triggering dangerous.
To achieve the above object or other purposes, the present invention provides a kind of lighting apparatus, the multiple illuminations set along road surface
Equipment, wherein, the lighting apparatus is provided with sensing unit, for gathering the traffic information data in its investigative range；Communication
System, is communicated to connect with each sensing unit, for the traffic information data of collection to be supplied into intelligent vehicle.
In one embodiment of the invention, partly overlapped between the investigative range of the multiple lighting apparatus；And/or,
Partly overlapped between the communication coverage of the multiple lighting apparatus.
In one embodiment of the invention, the intelligent illuminating system also includes pretreatment unit, for by traffic information
Data are sent after being pre-processed by the communication system.
In one embodiment of the invention, the pretreatment unit is arranged at multiple photographs in the communication system including distribution
Processing module in bright equipment, the processing module is located in advance to the road condition data that the lighting apparatus in certain area is collected
Reason.
In one embodiment of the invention, the pretreatment unit is arranged at the high in the clouds of communication system described in network connection.
In one embodiment of the invention, the mode of the pretreatment include it is following in one or more：To vehicle, OK
The collision boundary and/or impact volume of people or other barriers are defined；The motion state of vehicle, pedestrian or other barriers
Judge；The 3D modeling carried out to vehicle, pedestrian or other barriers.
In one embodiment of the invention, the communication system includes the communication unit that each lighting apparatus is provided with, and leads to
Cross external communication network and communicate to connect the intelligent vehicle, or direct communication connects the intelligent vehicle.
In one embodiment of the invention, the communication system is also connected to high in the clouds by external network communication, for
Pass the traffic information data.
To achieve the above object or other purposes, the present invention provides a kind of illumination for being used to set up foregoing road lighting network
Equipment, including：Lighting unit, sensing unit and communication unit；The sensing unit is used to gather the road in its investigative range
Condition information；The communication unit, the communication system for constituting road lighting network, the traffic information number that sensor is collected
According to external transmission.
To achieve the above object or other purposes, the present invention provides a kind of intelligent vehicle, including：Automotive power, car
Control system, onboard sensor system and car-mounted terminal；The car-mounted terminal includes processing module and communication module；Institute
Communication module is stated, for receiving the first road conditions information data from the intelligent illuminating system and from the onboard sensor
Second traffic information data of system；The processing module, connects the communication module, for handling first traffic information
Data and the second traffic information data form complete road condition data, and according to the complete road condition data generation wagon control instruction
And send to the automotive power and vehicle control system of the vehicle to realize automatic Pilot；And/or, it is described vehicle-mounted
Terminal generates navigation information according to the complete road condition data and shown.
In one embodiment of the invention, the car-mounted terminal also includes display module；The processing module, is connected to institute
Display module is stated, is additionally operable to handle the traffic information data for navigation information and is shown by the display module
To achieve the above object or other purposes, the present invention provides a kind of car-mounted terminal, including：Communication module, for connecing
Receive the first road conditions information data from the intelligent illuminating system and the second road conditions letter from the onboard sensor system
Cease data；Processing module, connects the communication module, for handling the first road conditions information data and the second traffic information number
According to the complete road condition data of formation, and generated according to the complete road condition data for sending to the automotive power of intelligent vehicle
And vehicle control system is instructed with the wagon control for realizing automatic Pilot；And/or, the car-mounted terminal is according to described complete
Road condition data generates navigation information and shown.
In one embodiment of the invention, the car-mounted terminal also includes display module；The processing module, is connected to institute
Display module is stated, is additionally operable to handle the traffic information data for navigation information and is shown by the display module.
To achieve the above object or other purposes, the present invention provides a kind of vehicle drive assist system, including：Described intelligence
Can illuminator；Described intelligent vehicle.
To achieve the above object or other purposes, the present invention provides a kind of vehicle drive assisting method, applied to described
Vehicle drive assist system, methods described includes：The intelligent illuminating system sends and gathers the first road condition data；Positioned at vehicle
Car-mounted terminal receive first road condition data, and obtain as the second road conditions number obtained by the onboard sensor system acquisition
According to；The car-mounted terminal merges first road condition data and the second road condition data to form complete road condition data；It is described vehicle-mounted
Terminal is instructed and sent to the automotive power of the vehicle and vehicle according to the complete road condition data generation wagon control
Control system is to realize automatic Pilot；And/or, the car-mounted terminal generates navigation information according to the complete road condition data
And show.
In one embodiment of the invention, the intelligent illuminating system is monitoring intelligent vehicle access network or is driving into logical
Believe behind overlay area, start the collection to the traffic information data before and after intelligent vehicle in certain road section scope.
In one embodiment of the invention, the intelligent illuminating system is monitoring intelligent vehicle access network or is driving into logical
Believe behind overlay area, start the collection to the traffic information data before and after intelligent vehicle in certain road section scope.
In one embodiment of the invention, methods described includes：The intelligent illuminating system carries out traffic information data
Sent after pretreatment by the communication system.
In one embodiment of the invention, the mode of the pretreatment include it is following in one or more：To vehicle, OK
The collision boundary and/or impact volume of people or other barriers are defined；The motion state of vehicle, pedestrian or other barriers
Judge；The 3D modeling carried out to vehicle, pedestrian or other barriers.
As described above, the present invention provides intelligent illuminating system, intelligent vehicle and its vehicle DAS (Driver Assistant System) and method；Intelligence
Can illuminator between vehicle formed communicate with transmit the traffic information data to vehicle for navigation and/or drive automatically
Sail；Technical scheme gathers traffic information data to vehicle using lighting apparatus, makes up smart vehicle sensor system
The problem of in the presence of " blind area ", greatly promote the navigation accuracy and security of intelligent vehicle.
Brief description of the drawings
Fig. 1 is shown as the schematic diagram of road scene applied in one embodiment of the invention.
Fig. 2A is shown as the principle schematic of intelligent vehicle investigative range in road scene in the prior art.
Fig. 2 B to 2C are shown as the principle schematic that the present invention is acted on played in multiple road scenes.
Fig. 3 is shown as the structural representation of the lighting apparatus in one embodiment of the invention.
Fig. 4 A to 4C are shown as the structural representation of intelligent vehicle in multiple embodiments of the invention.
Fig. 5 is shown as the schematic flow sheet of vehicle assistant drive method in one embodiment of the invention.
Component label instructions
100 lighting apparatus
300 lighting apparatus
301 sensing units
302 communication units
303 lighting units
400th, 410,420 intelligent vehicle
401st, 411,421 car-mounted terminal
402nd, 412,422 communication module
403rd, 413,423 processing module
414 display modules
424 automotive powers
425 vehicle control systems
Embodiment
Illustrate embodiments of the present invention below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through specific realities different in addition
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.It should be noted that, in the case where not conflicting, following examples and implementation
Feature in example can be mutually combined.
It should be noted that the diagram provided in following examples only illustrates the basic structure of the present invention in a schematic way
Think, then in schema only display with relevant component in the present invention rather than according to component count, shape and the size during actual implement
Draw, it is actual when implementing, and kenel, quantity and the ratio of each component can be a kind of random change, and its assembly layout kenel
It is likely more complexity.
As shown in figure 1, being shown as principle schematic of the intelligent illuminating system in road scene in one embodiment of the invention.
The intelligent illuminating system of the application, the auxiliary for intelligent vehicle drives (navigation and automatic Pilot), it is necessary to explain, herein
The navigation mentioned refers to the guide that the displaying and small range driving of road surface real-time road drive, and automatic Pilot includes full-automatic driving
(unmanned), semi-automatic driving (certain automatic realization for driving function).
The intelligent illuminating system specifically includes following each several part：The multiple lighting apparatus 100 being distributed along road surface and communication
System.
The lighting apparatus 100 can be the lighting apparatus such as street lamp, Tunnel Lamp, guard rail lamp, be typically distributed on both sides of the road,
Middle part and tunnel top or both sides.Sensing unit is provided with those lighting apparatus 100.The investigative range of the sensing unit
I.e. circle is shown dashed lines for the certain road area of covering, for gathering the traffic information data in its investigative range；Institute
Stating sensing unit includes the one or more in infrared sensor, camera, radar sensor, and traffic information refers to that road is up
The road conditions of the influence driving such as car quantity, the position of each vehicle, car speed, pedestrian position, Obstacle Position, are sensed by those
Unit forms the image or numerical data including at least one of which traffic information.
In order to ensure that the data that intelligent illuminating system is collected are more comprehensively accurate, the sensing list of each lighting apparatus 100
The investigative range of member needs that road area and its both sides are completely covered, and preferably, part or all of the same area on road has
Multiple lighting apparatus coverings.The communication system is used for the department of computer science that the traffic information data of collection are supplied to intelligent vehicle
System.So, real-time road information data can be sent to vehicle, forms it into the complete road condition data of " non-blind area ", and
The road condition data for the same area that can be collected according to those data to onboard sensor carries out referring to amendment.
The communication system, the various of the traffic information data gathered by each lighting apparatus and PERCOM peripheral communication with transmitting are led to
The set of T unit or part, can be wired communication mode, also can be communication.
Fig. 2A to Fig. 2 C is referred to, illustrates that technical scheme is imitated using produced technology by concrete scene
Really.
As shown in Figure 2 A, it shows road scene of the prior art, and intelligent vehicle A can not due to blocking for vehicle B
Know the road conditions of B right side areas, that is, " blind area " occur, therefore vehicle C presence can not be known, then in the case, if B becomes suddenly
Road is to before intelligent vehicle A, and the A under automatic Pilot state may not necessarily be in time for reaction.
And as shown in Figure 2 B, using the road scene of intelligent illuminating system of the invention under display kindred circumstances, at this
Jing Zhong, intelligent vehicle A ' can cover the lighting apparatus of the B ' right side areas to obtain by investigative range in intelligent illuminating system
Traffic information data are taken, so as to find out vehicle C ' motion conditions, are eliminated " blind area ", A ' can be prepared in advance, it is to avoid be gone out
The problem of in existing Fig. 2A embodiments.
Again as shown in Figure 2 C, the road scene of the intelligent illuminating system of the present invention, same area are applied under display kindred circumstances
Domain has multiple lighting apparatus to cover the beneficial effect of embodiment, and in this scene, the lighting apparatus that one side is set is in partial picture
Under be likely to occur " blind area " and (it should be noted that diagram, which employs the ratio exaggerated, comes principle of specification and effect, actually implemented
Because the height of lamp stand and the difference of height of car are much larger than accompanying drawing ratio in journey, actual " blind area " produced is very little, not shadow
Ring list lamp embodiment and realize present invention purpose), and the same area passes through multiple illuminations when having the multiple lighting apparatus to cover
Equipment traffic information is complementary to one another, and investigative range covers the B ' two side areas in intelligent illuminating system, so as to find out
Pedestrian C ' and vehicle A ' motion conditions are blocked by B ', " blind area " is eliminated, can only vehicle result at a distance that those are detailed
Road condition data, so as to prepare in advance, it is to avoid the problem of occurring in Fig. 2 C embodiments.
To realize above-mentioned technology contents, each equipment in the present invention is realized below by way of multiple embodiments and is situated between
Continue：
As shown in figure 3, showing the modular structure schematic diagram of lighting apparatus 300 in one embodiment, the lighting apparatus 300
Including：Sensing unit 301 and communication unit 302；Certainly, the lighting apparatus 300 additionally includes lighting unit 303, described to shine
Bright unit 303 is included such as LED/light source, driving power supply, is not further spread out herein.
The communication unit 302, connects the sensing unit 301, for externally sending the traffic information data；It is described
Communication unit 302 can be wired or wireless communication module, preferably wireless communication module, for example radio-frequency module, WiFi module,
One or more of or Zigbee module etc., so that the traffic information data be sent out.
In one embodiment, the communication system includes the communication unit 302 that each lighting apparatus is provided with, and passes through outside
Communication network (such as mobile communications network or other networks) communicates with being indirectly connected with intelligent vehicle, or direct communication connection intelligence
Vehicle；Certainly, in other embodiments, each lighting apparatus 300 is not necessarily required to set communication unit 302, and can be by shining
Each sensing is communicatively coupled to by the communication system that one or more communication equipment/parts are constituted beyond bright equipment 300
Unit 301, with realize to collection traffic information data collection.
It should be noted that, it in the present embodiment, can not be in communication with each other, directly will between each lighting apparatus 300
The traffic information data collected be sent in the range of intelligent vehicle on, with other preferably embodiments comparatively, the reality
Apply mode has higher requirement to the disposal ability and communication equipment of intelligent vehicle, if being pre-processed, to intelligence
The cost that energy illuminator is laid is also higher；；And it is preferred that, radio node is can act also as between each lighting apparatus 300 and
Sensing network is set up, so as to meet the demand of some applications, such as positioning；In another embodiment of the application, also may be used
To be communication unit 302 and the external communication network communication connection on each lighting apparatus 300, traffic information data are first transferred to outer
Portion's communication network, then intelligent vehicle is transferred to by external network.Specifically, lighting apparatus includes light fitting body, or light fixture sheet
Set on the ancillary equipment such as body and its mounting bracket, bridge, lighting apparatus sensing unit can be sensing unit in structure and/or
Electrically it is connected with lighting apparatus, such as sensor unit body is connected on light fitting body and support or by sensor
Unit is arranged on lighting apparatus periphery, by electric and network connection to lighting apparatus, the communicator subsequently mentioned, pretreatment
The set-up mode of the functional modules such as unit can be with same.Preferably embodiment can be using applicant's association request (such as
Chinese Patent Application No. 201510960362.X, 201610128737.0,2016220202236.8 etc.) in relevant device and
The installation combination of module, the implementation for the detailed construction that will not be repeated here.
As shown in Figure 4 A, to realize such scheme, in one embodiment, the intelligent vehicle 400 includes：For carry out institute
The car-mounted terminal 401 of communication is stated, the car-mounted terminal 401 includes：Communication module 402 and processing module 403.Specifically, described
Car-mounted terminal can be disposed on the necessarily vehicle-mounted computer of calculating and disposal ability, the process chip of can providing in vehicle, or
What person can be connected with auto communication can provide the mobile terminal of certain calculating and disposal ability.
The communication module 402, receives the first road condition data, and obtain by the vehicle-mounted biography from the intelligent illuminating system
The second road condition data obtained by the collection of sensor system 406.In one embodiment of the invention, the communication module 402, including：
Foregoing radio-frequency module, WiFi module or Zigbee module etc., can communicate with directly being set up between the lighting apparatus 400
Connection is so as to obtain its road condition data information gathered.
The communication module 402 also can be indirectly connected with the lighting apparatus by other networks, for example, the communication mould
Block 402 only includes GPRS module, and it is connected to the service terminal (base of such as Mobile Network Operator by mobile internet
Stand or connect the server of base station), and the service terminal can network connection be to each lighting apparatus in advance, so as to set up described
It is indirectly connected with.
The processing module 403, connects the communication module 402, for receive and merge first road condition data and
Second road condition data is to form complete road condition data for navigation and/or automatic Pilot, and according to the traffic information data
Generate for controlling the wagon control of vehicle automatic running to instruct.In one embodiment of the invention, the processing module 403 can
To be computer system, including：Processor (such as CPU, MCU, SOC) and memory (RAM, ROM) etc., memory are used to store
Wagon control instruction repertorie, the processor is used for from memory calls wagon control instruction repertorie, and function is realized to run；
The processing module 403 can merge first road condition data and the second road conditions using such as multi-sensor Fusion Algorithm
Data.
On the fusion treatment in the first road condition data and the second road condition data, for example, can be by both corresponding ginsengs
It is that coordinate is unified to examine, and can select to use the coordinate based on unified cartographic information.For example in the prior art, intelligent vehicle
400 cartographic informations provided according to global position system, are inserted in map after the first road condition data is modeled, then, institute
Stating the communication system of intelligent illuminating system needs the photograph by corresponding data is gathered when the second road condition data is directly transmitted
Coordinate information of the bright equipment on same map corresponds to transmission in the lump, and now intelligent vehicle 400 can be using the first road conditions of processing
Data identical mode is placed into map to the second road condition data progress processing, is superimposed and repaiied for the part of coincidence
Just, the complete traffic information obtained accordingly, and then the progress such as navigation/automatic Pilot that is used, can also pass through communication certainly
Transmit and be sent to miscellaneous equipment etc..
As shown in Figure 4 B, the car-mounted terminal 411 of the intelligent vehicle 410, except communication module 412 and processing module 413
Outside, in addition to display module 414, the connection onboard sensor of car-mounted terminal 411 system 416；The display module 414 includes
For example：Display screen and related display circuit；The processing module 413, is connected to the display module 414, is additionally operable to handle institute
Traffic information data are stated for graphical display format, such as is 2D or 3D modeling data by the traffic information data processing, passes through
The algorithm generation image of figure, so as to be shown in the display module 414 to navigate to user, it is preferred that also convertible
For voice data, navigation information is passed on by vehicle-mounted loudspeaker apparatus.
The scheme of the present embodiment, the car-mounted terminal being equally applicable in the common vehicle of non intelligent vehicle, common vehicle can
By show to should complete traffic information data navigation information, so as to be supplied to the more accurate navigation experience of user, and
It is non-to be limited with intelligent vehicle.
As shown in Figure 4 C, in the present embodiment, intelligent vehicle 420 includes：Car-mounted terminal 421 (including the He of communication module 422
Processing module 423), automotive power 424 and vehicle control system 425, the car-mounted terminal 421 communicates to connect the vehicle
Dynamical system 424 and vehicle control system 425.
Car-mounted terminal 421 in the present embodiment is that the processing module 423 is also used with the difference in previous embodiment
(principle is for example described previously) is instructed in generating wagon control according to the complete road condition data, and is sent to the vehicle power
System 424 and vehicle control system 425, to realize control Vehicular automatic driving, because wagon control instruction is based on complete
Road condition data and generate, realize wagon control according only to onboard sensor system 426 (including GPS) compared to prior art
For, real roads situation is more nearly, wagon control is also more accurate, greatly promotes the security of automatic Pilot.
It should be noted that, " car-mounted terminal " alleged by the present invention, can be the electric terminal equipment being fixedly installed on car,
Also it can be other mobile electronic devices, all may be used such as mobile phone, tablet personal computer or the notebook computer that driving personnel carries.
It should be noted that, due to the data that sensing unit is collected can't directly be used in intelligent vehicle navigation and from
In dynamic driving, therefore in the above-described embodiments, it is necessary to which the processing module for passing through car-mounted terminal carries out the analysis and processing of data, so
The data for adding car-mounted terminal processing module to a certain extent are calculated and treating capacity.
Therefore, in one of the application preferably embodiment, the intelligent illuminating system may also include pretreatment unit,
For being pre-processed to the traffic information data collected, part is carried out in the pretreatment unit of intelligent illuminating system in advance
Or whole calculating and analysis process.Specifically, the pretreatment includes touching vehicle, pedestrian or other barriers on road
Hit the defining of border and/or impact volume, the judgement of the motion state of traffic or other barriers on road, on road
One or more in the 3D modeling of traffic or other barriers.For example, the view data pair collected by camera
The corresponding actual volume of ratio in the image of vehicle should be analyzed, is bound for the border of vehicle's surroundings, and by each side
The corresponding coordinate in boundary carries out data correlation, and such intelligent vehicle can directly know that those have been analyzed the data defined.It is right
In the case that the same area has multiple lighting apparatus to cover (such as both sides of the road), by combining different lighting apparatus from difference
The traffic information that angle acquisition is arrived, can in further detail and comprehensively be determined.
In another embodiment, the traffic information that the pre-treatment step gathers sensing unit carries out 2D or 3D modeling,
Those data directly can be inserted it according to onboard sensor and satellite location data by associated coordinates data, such intelligent vehicle
In the numerical map of formation.It is understood that the preprocessing process can also be only included from sensing data to intelligent vehicle
The data that can directly use of processing module conversion the step of in part steps, can equally mitigate intelligent vehicle
The computing pressure of processing module in car-mounted terminal.The distribution of specific steps can be according to the association of intelligent illuminating system and car-mounted terminal
View distribution, the computing capability that can be actually distributed according to intelligent illuminating system and car-mounted terminal preferably in embodiment carries out step and torn open
Point.
In an embodiment, the pretreatment unit can be arranged at multiple illuminations in intelligent illuminating system using distribution and be set
The form realization of standby upper processor module, the road conditions number that each processor module is collected to the lighting apparatus in certain area
According to being pre-processed (each processing and/or fusion treatment)；In further embodiment, pretreatment unit can also be arranged at
High in the clouds, the road condition data that intelligent illuminating system is collected is transmitted through the network to the intelligence for feeding back to corresponding region after high in the clouds is calculated again
The data transfer of external portion (intelligent vehicle) is carried out on the network node of energy illuminator.
Intelligent vehicle is transmitted further to after being pre-processed to the first road condition data can greatly mitigate the computing of intelligent vehicle
And treating capacity, if there is many intelligent vehicle travelings in same section, the embodiment that this advantage will be apparent from --- intelligence is shone
The amount of calculation of bright system does not increase, and the computing of many intelligent vehicles and treating capacity are all mitigated.
Further, for intelligent illuminating system, each lighting apparatus is integrally fixed at fixed position on road, because
And the background of its sensing unit is also fixed, such as camera device, road and landscape background in the range of it are constant or thin
Microvariations, the pretreatment unit of intelligent illuminating system carries out preprocessing process to it, can pass through simple and default background
(spacious road surface) is compared, and can easily identify vehicle, and the height and horizontal range on camera and road surface are constant, only
Need the coordinate parameters of scaling, acquisition angles and the lighting apparatus of pre-set view data on map, the first via
Vehicle border, spacing in condition data, can accurately it be obtained by image recognition in information such as the specific tracks on road surface.
Further, above- mentioned information is carried out to the foundation of simulation model by the data standard of intelligent vehicle, so, by pre- place
First road condition data of reason can be inserted directly in the Road quality simulation model of intelligent vehicle foundation.Likewise, for there is multiple photographs
In the case of the same area on bright equipment covering path, the road condition data that pretreatment unit is collected to multiple lighting apparatus enters
During row fusion treatment, it also need to only consider that the different coordinates that each lighting apparatus is located on map can be fastened in same map reference
Carry out data investigation processing.
As shown in figure 5, based on above-described embodiment, the present invention can also provide vehicle assistant drive method, and it includes：
Step S501：The intelligent illuminating system sends the first gathered road condition data；
Step S502：First road condition data is received positioned at the car-mounted terminal of vehicle, and is obtained by the vehicle-mounted sensing
The second road condition data obtained by device system acquisition；
Step S503：The car-mounted terminal merges first road condition data and the second road condition data to form complete road conditions
Data；
Step S504：The car-mounted terminal is instructed and sent to described according to the complete road condition data generation wagon control
The automotive power and vehicle control system of vehicle are to realize automatic Pilot；And/or, the car-mounted terminal is according to described
Complete road condition data generation navigation information is simultaneously shown.
In summary, the present invention provides intelligent illuminating system, intelligent vehicle and its vehicle DAS (Driver Assistant System) and method, intelligence
Can illuminator between vehicle formed communicate with transmit the traffic information data to vehicle for navigation and/or drive automatically
Sail；Technical scheme gathers traffic information data to vehicle using lighting apparatus, makes up smart vehicle sensor system
The problem of in the presence of " blind area ", greatly promote the navigation accuracy and security of intelligent vehicle.
The present invention effectively overcomes various shortcoming of the prior art and has high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (19)
1. a kind of intelligent illuminating system, it is characterised in that including：
The multiple lighting apparatus set along road surface, wherein, the lighting apparatus is provided with sensing unit, and model is detected for gathering it
Enclose interior traffic information data；
Communication system, is communicated to connect with the sensing unit, for the traffic information data of collection to be supplied into vehicle.
2. intelligent illuminating system according to claim 1, it is characterised in that between the investigative range of the multiple lighting apparatus
Partly overlap；And/or, partly overlapped between the communication coverage of the multiple lighting apparatus.
3. intelligent illuminating system according to claim 1, it is characterised in that also including pretreatment unit, for by road conditions
Information data is pre-processed.
4. intelligent illuminating system according to claim 3, it is characterised in that the pretreatment unit includes being arranged at illumination
Processing module in equipment, the road condition data that the processing module is collected to sensing unit in certain area is located in advance
Reason.
5. intelligent illuminating system according to claim 3, it is characterised in that the pretreatment unit is arranged at network connection
The high in the clouds of the communication system.
6. the intelligent illuminating system according to any one of claim 3 to 5, it is characterised in that the mode of the pretreatment
Including the one or more in following：To defining for vehicle, the collision boundary of pedestrian or other barriers and/or impact volume；
The judgement of the motion state of vehicle, pedestrian or other barriers；The 3D modeling carried out to vehicle, pedestrian or other barriers.
7. intelligent illuminating system according to claim 1, it is characterised in that the communication system includes each lighting apparatus institute
The communication unit being provided with, and the vehicle is communicated to connect by external communication network, or direct communication connects the vehicle.
8. intelligent illuminating system according to claim 1, it is characterised in that the communication system, also passes through external network
High in the clouds is communicatively coupled to, for uploading the traffic information data.
9. a kind of lighting apparatus, it is characterised in that for setting up intelligent illuminating system, the lighting apparatus includes：Lighting unit,
Sensing unit and communication unit；
The sensing unit, for gathering the traffic information in its investigative range；
The communication unit, the communication system for constituting road lighting network, the traffic information data that sensor is collected
Externally transmission, vehicle is supplied to directly or by external network.
10. a kind of vehicle, it is characterised in that including：Processing module and communication module；
The communication module, for receiving the first road conditions information data from intelligent illuminating system and from onboard sensor system
Second traffic information data of system, the intelligent illuminating system is set along road, for gathering and transmitting road road condition data；
The processing module, connects the communication module, for handling the first road conditions information data and the second traffic information
Data form complete road condition data, and according to the complete road condition data generation wagon control instruction；And/or, will be described
Complete road condition data generation navigation information is shown for vehicle.
11. vehicle according to claim 10, it is characterised in that including car-mounted terminal, the car-mounted terminal includes described
Processing module and the communication module.
12. vehicle according to claim 11, it is characterised in that the car-mounted terminal also includes display module；The place
Module is managed, the display module is connected to, is additionally operable to handle the traffic information data for navigation information and by the display
Module is shown.
13. a kind of car-mounted terminal, it is characterised in that including：
Communication module, for receiving the first road conditions information data from the intelligent illuminating system and from the vehicle-mounted sensing
Second traffic information data of device system；
Processing module, connects the communication module, for handling the first road conditions information data and the second traffic information data
Complete road condition data is formed, and according to the complete road condition data generation wagon control instruction；And/or, the vehicle-mounted end
End generates navigation information according to the complete road condition data and shown.
14. car-mounted terminal according to claim 13, it is characterised in that the car-mounted terminal also includes display module；Institute
Processing module is stated, the display module is connected to, is additionally operable to handle the traffic information data for navigation information and by described
Display module is shown.
15. a kind of vehicle drive assist system, it is characterised in that including：
Such as intelligent illuminating system according to any one of claims 1 to 8；
The car-mounted terminal of vehicle or claim 13 or 14 as described in claim 10~12.
16. a kind of vehicle drive assisting method, it is characterised in that methods described includes：
The intelligent illuminating system transmission for being provided for gathering along road and transmitting road road condition data gathers the first road condition data；
First road condition data is received positioned at the car-mounted terminal of vehicle, and is obtained as the obtained by onboard sensor system acquisition
Two road condition datas；
The car-mounted terminal merges first road condition data and the second road condition data to form complete road condition data；
The car-mounted terminal is instructed and sent to the vehicle according to the complete road condition data generation wagon control；And/or
Person, the car-mounted terminal generates navigation information according to the complete road condition data and shown.
17. vehicle drive assisting method according to claim 16, it is characterised in that the intelligent illuminating system is in monitoring
To vehicle access network or drive into after communication coverage area, start to the traffic information data before and after vehicle in certain road section scope
Collection.
18. vehicle drive assisting method according to claim 16, it is characterised in that including：The intelligent illuminating system
Sent after traffic information data are pre-processed by the communication system.
19. vehicle drive assisting method according to claim 18, it is characterised in that the mode of the pretreatment include with
One or more in lower：To defining for vehicle, the collision boundary of pedestrian or other barriers and/or impact volume；Vehicle, OK
The judgement of the motion state of people or other barriers；The 3D modeling carried out to vehicle, pedestrian or other barriers.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610214685.9A CN107274695B (en) | 2016-04-08 | 2016-04-08 | Intelligent lighting system, intelligent vehicle and vehicle driving assisting system and method thereof |
| PCT/CN2017/075834 WO2017173904A1 (en) | 2016-04-07 | 2017-03-07 | Intelligent lighting system, intelligent vehicle and auxiliary vehicle driving system and method therefor |
| US16/090,584 US20200406926A1 (en) | 2016-04-07 | 2017-03-07 | Intelligent lighting system, intelligent vehicle and auxiliary vehicle driving system and method therefor |
| CA3020190A CA3020190C (en) | 2016-04-07 | 2017-03-07 | Intelligent lighting system, intelligent vehicle and auxiliary vehicle driving system and method therefor |
| JP2019503609A JP2019519051A (en) | 2016-04-07 | 2017-03-07 | Intelligent lighting system, lighting device, vehicle, in-vehicle terminal, vehicle driving support system, and vehicle driving support method |
| EP17778568.0A EP3441960A4 (en) | 2016-04-07 | 2017-03-07 | Intelligent lighting system, intelligent vehicle and auxiliary vehicle driving system and method therefor |
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| CN201610214685.9A CN107274695B (en) | 2016-04-08 | 2016-04-08 | Intelligent lighting system, intelligent vehicle and vehicle driving assisting system and method thereof |
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