Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide an intelligent lighting system, an intelligent vehicle, and a vehicle driving assistance system and method thereof, for solving the problems in the prior art that the road condition determination is not accurate and danger is easily caused due to blind spots of vehicle-mounted devices.
In order to achieve the above and other objects, the present invention provides an illumination device, comprising a plurality of illumination devices arranged along a road surface, wherein the illumination devices are provided with a sensing unit for collecting road condition information data within a detection range thereof; and the communication system is in communication connection with each sensing unit and is used for providing the acquired road condition information data for the intelligent vehicle.
In an embodiment of the present invention, the detection ranges of the plurality of lighting apparatuses partially overlap; and/or the communication coverage areas of the plurality of lighting devices partially overlap.
In an embodiment of the invention, the intelligent lighting system further includes a preprocessing unit, configured to preprocess the traffic information data and send the processed traffic information data through the communication system.
In an embodiment of the present invention, the preprocessing unit includes processing modules distributed on a plurality of lighting devices in the communication system, and the processing modules preprocess road condition data collected by the lighting devices in a certain area.
In an embodiment of the invention, the preprocessing unit is disposed at a cloud end connected to the communication system through a network.
In an embodiment of the present invention, the pretreatment method includes one or more of the following: the definition of a collision boundary and/or collision volume for a vehicle, pedestrian, or other obstacle; determination of the state of motion of a vehicle, pedestrian, or other obstacle; 3D modeling of vehicles, pedestrians, or other obstacles.
In an embodiment of the invention, the communication system includes a communication unit provided in each lighting device, and is connected to the smart vehicle through an external communication network in a communication manner, or is directly connected to the smart vehicle in a communication manner.
In an embodiment of the present invention, the communication system is further connected to a cloud end through an external network communication, and is configured to upload the road condition information data.
To achieve the above object or other objects, the present invention provides a lighting device for constructing the aforementioned road lighting network, comprising: the device comprises an illumination unit, a sensing unit and a communication unit; the sensing unit is used for acquiring road condition information in a detection range of the sensing unit; and the communication unit is used for forming a communication system of a road lighting network and transmitting the road condition information data acquired by the sensor to the outside.
To achieve the above and other objects, the present invention provides an intelligent vehicle, including: the system comprises a vehicle power system, a vehicle control system, a vehicle-mounted sensor system and a vehicle-mounted terminal; the vehicle-mounted terminal comprises a processing module and a communication module; the communication module is used for receiving first road condition information data from the intelligent lighting system and second road condition information data from the vehicle-mounted sensor system; the processing module is connected with the communication module and used for processing the first road condition information data and the second road condition information data to form complete road condition data, generating a vehicle control instruction according to the complete road condition data and sending the vehicle control instruction to a vehicle power system and a vehicle control system of the vehicle to realize automatic driving; and/or the vehicle-mounted terminal generates and displays navigation information according to the complete road condition data.
In an embodiment of the present invention, the vehicle-mounted terminal further includes a display module; the processing module is connected with the display module and is also used for processing the road condition information data into navigation information and displaying the navigation information through the display module
To achieve the above and other objects, the present invention provides a vehicle-mounted terminal including: the communication module is used for receiving first road condition information data from the intelligent lighting system and second road condition information data from the vehicle-mounted sensor system; the processing module is connected with the communication module and is used for processing the first road condition information data and the second road condition information data to form complete road condition data and generating a vehicle control instruction which is used for being sent to a vehicle power system and a vehicle control system of the intelligent vehicle to realize automatic driving according to the complete road condition data; and/or the vehicle-mounted terminal generates and displays navigation information according to the complete road condition data.
In an embodiment of the present invention, the vehicle-mounted terminal further includes a display module; the processing module is connected to the display module and is further used for processing the road condition information data into navigation information and displaying the navigation information through the display module.
To achieve the above object or other objects, the present invention provides a vehicle driving assist system including: the intelligent lighting system; the intelligent vehicle.
In order to achieve the above object or other objects, the present invention provides a driving assistance method for a vehicle, applied to a driving assistance system for a vehicle, the method including: the intelligent lighting system sends the collected first road condition data; a vehicle-mounted terminal positioned on a vehicle receives the first road condition data and acquires second road condition data acquired by the vehicle-mounted sensor system; the vehicle-mounted terminal fuses the first road condition data and the second road condition data to form complete road condition data; the vehicle-mounted terminal generates a vehicle control command according to the complete road condition data and sends the vehicle control command to a vehicle power system and a vehicle control system of the vehicle to realize automatic driving; and/or the vehicle-mounted terminal generates and displays navigation information according to the complete road condition data.
In an embodiment of the present invention, after monitoring that the intelligent vehicle accesses the network or drives into the communication coverage area, the intelligent lighting system starts to collect road condition information data in a certain road section range before and after the intelligent vehicle.
In an embodiment of the present invention, after monitoring that the intelligent vehicle accesses the network or drives into the communication coverage area, the intelligent lighting system starts to collect road condition information data in a certain road section range before and after the intelligent vehicle.
In an embodiment of the present invention, the method includes: and the intelligent lighting system preprocesses the road condition information data and then sends out the road condition information data through the communication system.
In an embodiment of the present invention, the pretreatment method includes one or more of the following: the definition of a collision boundary and/or collision volume for a vehicle, pedestrian, or other obstacle; determination of the state of motion of a vehicle, pedestrian, or other obstacle; 3D modeling of vehicles, pedestrians, or other obstacles.
As described above, the present invention provides an intelligent lighting system, an intelligent vehicle, and a vehicle driving assistance system and method thereof; the intelligent lighting system and the vehicle form communication to transmit the road condition information data to the vehicle for navigation and/or automatic driving; according to the technical scheme, the lighting equipment is used for collecting road condition information data to the vehicle, the problem that a sensor system of the intelligent vehicle has a 'visual field blind area' is solved, and the navigation accuracy and safety of the intelligent vehicle are greatly improved.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Fig. 1 shows a schematic diagram of an intelligent lighting system in a road scene according to an embodiment of the present invention. The intelligent lighting system is used for auxiliary driving (navigation and automatic driving) of an intelligent vehicle, and it is to be explained that the navigation mentioned here refers to displaying of real-time road conditions on a road surface and guiding of driving in a small range, and the automatic driving includes full-automatic driving (unmanned driving) and semi-automatic driving (automatic implementation of a certain driving function).
The intelligent lighting system specifically comprises the following parts: a plurality of luminaires 100 distributed along a road surface and a communication system.
The lighting device 100 may be a street lamp, a tunnel lamp, a guardrail lamp, etc., and is generally distributed on both sides, the middle part and the top or both sides of the tunnel. A sensing unit is provided on the lighting apparatuses 100. The detection range of the sensing unit covers a certain road area, namely as shown by a dotted line circle in the figure, and is used for acquiring road condition information data in the detection range; the sensing units comprise one or more of infrared sensors, cameras and radar sensors, the road condition information refers to the number of the vehicles running on the road, the positions of the vehicles, the speed of the vehicles, the positions of pedestrians, the positions of obstacles and the like which influence the conditions of the vehicles running, and images or digital data at least containing one of the road condition information are formed through the sensing units.
In order to ensure that the data collected by the intelligent lighting system is more comprehensive and accurate, the detection range of the sensing unit of each lighting device 100 needs to completely cover the road area and two sides thereof, preferably, a plurality of lighting devices cover part or all of the same area on the road. The communication system is used for providing the acquired road condition information data to the computer system of the intelligent vehicle. Therefore, real-time road information data can be transmitted to the vehicles to form complete road condition data without blind areas, and the road condition data of the same area collected by the vehicle-mounted sensor can be corrected in a reference mode according to the data.
The communication system is a collection of various communication devices or components for communicating with the outside by each lighting device to transmit the collected road condition information data, and can be in a wired communication mode or a wireless communication mode.
Referring to fig. 2A to fig. 2C, the technical effects of the application of the technical solution of the present invention will be described through specific scenarios.
As shown in fig. 2A, which shows a road scene in the prior art, the intelligent vehicle a cannot know the road condition in the right area of the vehicle B due to the shielding of the vehicle B, i.e. the "blind area" occurs, and therefore cannot know the existence of the vehicle C, in this case, if the vehicle B suddenly changes to the place before the intelligent vehicle a, the vehicle a in the automatic driving state may not be able to react.
As shown in fig. 2B, a road scene to which the intelligent lighting system of the present invention is applied under the same condition is displayed, in this scene, the intelligent vehicle a 'can acquire road condition information data through the lighting device in the intelligent lighting system, in which the detection range covers the area on the right side of B', so that the movement condition of the vehicle C 'can be ascertained, the "blind area" is eliminated, a' can be prepared in advance, and the problem in the embodiment of fig. 2A is avoided.
As shown in fig. 2C, a road scene is shown in which the intelligent lighting system of the present invention is applied under the same condition, and the same area has the beneficial effects that the multiple lighting devices cover the embodiment, in this scene, the lighting devices arranged on one side may have "blind areas" in some cases (it should be noted that, the illustration adopts an exaggerated scale to illustrate the principle and the effect, in the actual implementation process, because the difference between the height of the lamp post and the height of the vehicle is much larger than the proportion of the drawing, the "blind areas" actually generated are very small, and do not affect the single-lamp embodiment to achieve the object of the present application), and when the same area is covered by the multiple lighting devices, the detection range in the intelligent lighting system covers the areas on both sides of the B ' through the mutual supplement of the road condition information of the multiple lighting devices, so that the movement conditions of the pedestrian C ' and the vehicle a ' that are blocked by the B, the blind area is eliminated, and only the vehicle can obtain the detailed road condition data in a distance, so that the detailed road condition data can be prepared in advance, and the problem in the embodiment of fig. 2C is avoided.
In order to achieve the above technical content, the following describes various device implementations of the present invention through a plurality of embodiments:
as shown in fig. 3, a schematic diagram of a module structure of an illumination device 300 in an embodiment is shown, where the illumination device 300 includes: a sensing unit 301 and a communication unit 302; of course, the lighting device 300 additionally comprises a lighting unit 303, said lighting unit 303 comprising, for example, LED light sources, driving power supplies, etc., which are not further developed here.
The communication unit 302 is connected to the sensing unit 301, and configured to send the traffic information data to the outside; the communication unit 302 may be a wired or wireless communication module, preferably a wireless communication module, such as one or more of a radio frequency module, a WiFi module, or a Zigbee module, so as to send the traffic information data to the outside.
In one embodiment, the communication system includes a communication unit 302 provided for each lighting device, and is connected to the smart vehicle indirectly through an external communication network (e.g., a mobile communication network or other network) communication, or directly; of course, in other embodiments, each of the lighting devices 300 does not necessarily need to be provided with the communication unit 302, and may be communicatively connected to each of the sensing units 301 through a communication system composed of one or more communication devices/components other than the lighting devices 300, so as to collect the collected road condition information data.
It should be noted that, in this embodiment, the lighting devices 300 may not communicate with each other, and directly transmit the collected road condition information data to the intelligent vehicle within the range, and compared with other preferred embodiments, this embodiment has higher requirements on the processing capability and the communication device of the intelligent vehicle, and if preprocessing is required, the cost of laying the intelligent lighting system is higher; (ii) a Preferably, the lighting devices 300 may also be used as wireless nodes to form a sensing network, so as to meet the requirements of some applications, such as positioning; in another embodiment of the present application, the communication unit 302 of each lighting device 300 may also be in communication connection with an external communication network, and the traffic information data is transmitted to the external communication network first, and then transmitted to the smart vehicle through the external network. Specifically, the lighting device includes a lamp body, or a lamp body and peripheral devices such as a mounting bracket and a pole frame thereof, and the sensing unit arranged on the lighting device may be structurally and/or electrically connected to the lighting device, for example, the sensor unit body is connected to the lamp body and the mounting bracket, or the sensor unit is arranged around the lighting device and connected to the lighting device through an electrical network, and the arrangement manner of the subsequently mentioned functional modules such as a communication device and a preprocessing unit may be the same as that of the sensor unit. The preferred embodiment may adopt a combination manner of installation of related devices and modules in the related application of the applicant (for example, chinese patent application No. 201510960362.X, 201610128737.0, 2016220202236.8, etc.), and detailed implementation of the structure is not described herein again.
As shown in fig. 4A, to implement the above solution, in an embodiment, the smart vehicle 400 includes: a vehicle-mounted terminal 401 for performing the communication, the vehicle-mounted terminal 401 including: a communication module 402 and a processing module 403. Specifically, the vehicle-mounted terminal may be a vehicle-mounted computer and a processing chip which are arranged in a vehicle and can provide certain calculation and processing capabilities, or a mobile terminal which can be in communication connection with an automobile and can provide certain calculation and processing capabilities.
The communication module 402 receives the first road condition data from the intelligent lighting system and obtains the second road condition data collected by the vehicle-mounted sensor system 406. In an embodiment of the present invention, the communication module 402 includes: as described above, the radio frequency module, the WiFi module, or the Zigbee module can directly establish a communication connection with the lighting device 400, so as to obtain the road condition data information collected by the lighting device.
The communication module 402 may also be indirectly connected to the lighting devices through other networks, for example, the communication module 402 only includes a GPRS module, and is connected to a service terminal (e.g., a base station of a mobile network operator or a server connected to the base station) through a mobile internet network, and the service terminal may be previously network-connected to each of the lighting devices, thereby establishing the indirect connection.
The processing module 403 is connected to the communication module 402, and configured to receive and fuse the first road condition data and the second road condition data to form complete road condition data for navigation and/or automatic driving, and generate a vehicle control instruction for controlling automatic driving of a vehicle according to the road condition information data. In an embodiment of the present invention, the processing module 403 may be a computer system, including: a processor (such as a CPU, an MCU, an SOC, etc.) and a memory (RAM, ROM) for storing a vehicle control instruction program, the processor being configured to call the vehicle control instruction program from the memory to operate to implement a function; the processing module 403 may utilize, for example, a multi-sensor information fusion algorithm to fuse the first and second road condition data.
Regarding the fusion processing between the first road condition data and the second road condition data, for example, the coordinates of the reference system corresponding to the first road condition data and the second road condition data may be unified, and the coordinates based on the unified map information may be selected. For example, in the prior art, the intelligent vehicle 400 models the first road condition data according to the map information provided by the satellite positioning system and then places the first road condition data into the map, and then the communication system of the intelligent lighting system needs to correspondingly transmit the coordinate information of the lighting devices acquiring the corresponding data on the same map when directly transmitting the second road condition data, and at this time, the intelligent vehicle 400 can process the second road condition data and place the second road condition data into the map in the same way as processing the first road condition data, superimpose and correct the superimposed part, and accordingly obtain the complete road condition information, so as to be used for navigation/automatic driving, and certainly can also send the complete road condition information to other devices and the like through communication transmission.
As shown in fig. 4B, the vehicle-mounted terminal 411 of the intelligent vehicle 410 further includes a display module 414 in addition to the communication module 412 and the processing module 413, and the vehicle-mounted terminal 411 is connected with a vehicle-mounted sensor system 416; the display module 414 includes, for example: a display screen and associated display circuitry; the processing module 413 is connected to the display module 414, and is further configured to process the traffic information data into a graphic display format, for example, process the traffic information data into 2D or 3D modeling data, generate an image through a graphic algorithm, and display the image on the display module 414 to navigate a user, preferably, the image may also be converted into audio data, and the navigation information is transmitted through a vehicle-mounted speaker device.
The scheme of this embodiment also can be applied to the ordinary vehicle of non-intelligent vehicle, and the vehicle mounted terminal accessible on the ordinary vehicle shows the navigation information that should complete road conditions information data to provide more accurate navigation experience for the user, not use intelligent vehicle as the limit.
As shown in fig. 4C, in the present embodiment, the smart vehicle 420 includes: the vehicle-mounted terminal 421 (including a communication module 422 and a processing module 423), a vehicle power system 424 and a vehicle control system 425, wherein the vehicle-mounted terminal 421 is connected with the vehicle power system 424 and the vehicle control system 425 in a communication mode.
The difference between the vehicle-mounted terminal 421 in this embodiment and the foregoing embodiments is that the processing module 423 is further configured to generate a vehicle control command according to the complete road condition data (for example, the principle is as described above), and send the vehicle control command to the vehicle power system 424 and the vehicle control system 425 to achieve automatic driving of the vehicle.
It should be noted that the "vehicle-mounted terminal" referred to in the present invention may be an electronic terminal device fixedly installed on a vehicle, or may be other mobile electronic devices, such as a mobile phone, a tablet computer, or a notebook computer carried by a vehicle driver.
It should be noted that, since the data collected by the sensing unit cannot be directly used in the navigation and automatic driving of the intelligent vehicle, in the above embodiment, the data needs to be analyzed and processed by the processing module of the vehicle-mounted terminal, which increases the data calculation and processing amount of the processing module of the vehicle-mounted terminal to a certain extent.
Therefore, in a preferred embodiment of the present application, the intelligent lighting system may further include a preprocessing unit, configured to preprocess the collected traffic information data, and perform a part or all of the calculation and analysis processes in the preprocessing unit of the intelligent lighting system in advance. In particular, the preprocessing includes one or more of the definition of collision boundaries and/or collision volumes for vehicles, pedestrians or other obstacles on the road, the determination of motion states for vehicles, pedestrians or other obstacles on the road, and 3D modeling of vehicles, pedestrians or other obstacles on the road. For example, the image data acquired by the camera is used for correspondingly analyzing the actual volume corresponding to the proportion in the image of the vehicle, the boundaries around the vehicle are defined, and the coordinates corresponding to the boundaries are subjected to data association, so that the intelligent vehicle can directly know the analyzed and defined data. Under the condition that the same area is covered by a plurality of lighting devices (such as two sides of a road), the road condition information collected from different angles by combining different lighting devices can be determined in more detail and comprehensively.
In another embodiment, the preprocessing step performs 2D or 3D modeling on the road condition information collected by the sensing unit, and associates the coordinate data, so that the intelligent vehicle can directly place the data into a digital map formed by the vehicle-mounted sensor and satellite positioning data. It is understood that the preprocessing process may include only a part of the steps of converting the sensor data into data that can be directly used by the processing module of the smart vehicle, and the operation pressure of the processing module in the vehicle-mounted terminal of the smart vehicle can be reduced. The distribution of the specific steps can be distributed according to the protocol of the intelligent lighting system and the vehicle-mounted terminal, and the steps are split according to the actual distributed computing capacity of the intelligent lighting system and the vehicle-mounted terminal in the preferred embodiment.
In an embodiment, the preprocessing unit may be implemented in the form of processor modules distributed on a plurality of lighting devices in the intelligent lighting system, and each processor module performs preprocessing (respective processing and/or fusion processing) on road condition data acquired by the lighting devices in a certain area; in another embodiment, the preprocessing unit may be disposed at the cloud end, and the road condition data collected by the intelligent lighting system is transmitted to the cloud end through the network for calculation and then fed back to the network node of the intelligent lighting system in the corresponding area for data transmission to the outside (the intelligent vehicle).
The first road condition data are preprocessed and then transmitted to the intelligent vehicle, so that the operation and processing amount of the intelligent vehicle can be greatly reduced, if a plurality of intelligent vehicles run on the same road section, the advantage is more obviously reflected, the calculation amount of the intelligent lighting system is not increased, and the operation and processing amount of the plurality of intelligent vehicles are reduced.
Further, for the intelligent lighting system, each lighting device is fixed at a fixed position on the road, so the background of the sensing unit is also fixed, for example, the camera device, the road and the landscape background within the range of the camera device are unchanged or slightly changed, the preprocessing unit of the intelligent lighting system preprocesses the background, the vehicle can be easily identified by simply comparing the background with a preset background (open road), the height and horizontal distance between the camera and the road are constant, only the scaling, the acquisition angle of the image data and the coordinate parameters of the lighting device on the map need to be preset, and the information of the vehicle boundary, the vehicle distance, the specific lane on the road and the like in the first road condition data can be accurately obtained by image identification.
Furthermore, the information is subjected to simulation model establishment according to the data standard of the intelligent vehicle, so that the preprocessed first road condition data can be directly placed into the road condition simulation model established by the intelligent vehicle. Similarly, when a plurality of lighting devices cover the same area on a road, and the preprocessing unit performs fusion processing on road condition data collected by the lighting devices, data superposition processing can be performed on the same map coordinate system only by considering different coordinates of the lighting devices on the map.
As shown in fig. 5, based on the above embodiment, the present invention can also provide a vehicle driving assist method, which includes:
step S501: the intelligent lighting system sends the collected first road condition data;
step S502: a vehicle-mounted terminal positioned on a vehicle receives the first road condition data and acquires second road condition data acquired by the vehicle-mounted sensor system;
step S503: the vehicle-mounted terminal fuses the first road condition data and the second road condition data to form complete road condition data;
step S504: the vehicle-mounted terminal generates a vehicle control command according to the complete road condition data and sends the vehicle control command to a vehicle power system and a vehicle control system of the vehicle to realize automatic driving; and/or the vehicle-mounted terminal generates and displays navigation information according to the complete road condition data.
In summary, the present invention provides an intelligent lighting system, an intelligent vehicle, and a vehicle driving assistance system and method thereof, wherein the intelligent lighting system and the vehicle form a communication to transmit the road condition information data to the vehicle for navigation and/or automatic driving; according to the technical scheme, the lighting equipment is used for collecting road condition information data to the vehicle, the problem that a sensor system of the intelligent vehicle has a 'visual field blind area' is solved, and the navigation accuracy and safety of the intelligent vehicle are greatly improved.
The invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.