CN107972674A - It is a kind of to merge navigation and the drive assist system and method for intelligent vision - Google Patents
It is a kind of to merge navigation and the drive assist system and method for intelligent vision Download PDFInfo
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- CN107972674A CN107972674A CN201711310554.1A CN201711310554A CN107972674A CN 107972674 A CN107972674 A CN 107972674A CN 201711310554 A CN201711310554 A CN 201711310554A CN 107972674 A CN107972674 A CN 107972674A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
- G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
Navigation and the drive assist system of intelligent vision are merged the present invention relates to a kind of, module and Fusion Module are driven including vehicle mounted guidance module, intelligent vision, the output that the output of the vehicle mounted guidance module and intelligent vision drive module is connected with Fusion Module, and the output connection vehicle mounted guidance module and/or intelligent vision of Fusion Module drive module.Navigation and the driving assistance method of intelligent vision are merged the invention further relates to a kind of.The present invention realizes that the navigation information for exporting vehicle mounted guidance resume module and intelligent vision drive identification and the warning information fusion treatment of resume module output, the empirical data and intelligent vision of comprehensive vehicle-mounted navigation module drive the real time data of module, so as to obtain more true and reliable navigation data and warning data, then vehicle mounted guidance module is fed back to respectively and intelligent vision drives module, realizes the navigation warning function more precisely more optimized.
Description
Technical field
The present invention relates to the driving auxiliary system in vehicle-mounted auxiliary driving field, more particularly to a kind of vehicle mounted guidance and intelligent vision
System and method.
Background technology
With the rapid growth of automobile consumption, automotive safety problem increasingly thirsts for high-tech by universal concern, people
The safety brought with it is convenient.Therefore, automobile ADAS systems are widely used, and more more electronic systems is applied on automobile.
The application of electronic technology has changed the looks of automobile, becomes the core technology for influencing development of automobile.Since vision can be clear
The scene detailed information for capturing front and back and surrounding, by Intelligent treatment, can effectively identify front and back and surrounding
Vehicle, pedestrian, traffic sign, Road and obstacle etc., are applied in vehicle collision prewarning, the early warning of pedestrian's pre-impact, traffic police
Show that early warning, lane line deviate early warning, mobile target monitoring and barrier early warning etc. etc. and have huge advantage, therefore, in vapour
Intelligent vision module is applied on car, is the solution of the great competitiveness of current drive assist system, before having huge market
Scape.But, current intelligent vision module is confined to simply alarm, and lacks guiding function, and customer experience is not vivid enough；And car
Carry navigation and lack real scene image, its navigation directions function is excessively single, and is to be based on empirical data, often has with actual scene
Deviation.
The content of the invention
Navigation and the driving auxiliary system of intelligent vision are merged in order to solve the above technical problems, The present invention provides a kind of
System, including vehicle mounted guidance module, intelligent vision drive module and Fusion Module, and the output of the vehicle mounted guidance module and intelligence regard
Feel that the output for driving module is connected with Fusion Module, the output connection vehicle mounted guidance module and/or intelligent vision of Fusion Module
Drive module.
Further, the intelligent vision drives module and is also connected with vehicle mounted guidance module.
It is auxiliary based on driving as described above invention additionally discloses a kind of driving assistance method for merging navigation and intelligent vision
Auxiliary system, information is moved towards in the front navigation that the Fusion Module obtains vehicle mounted guidance module, intelligent vision drives the real-time of module
The speed and direction corner of image information and current vehicle, calculate actual road curvature, export corresponding safe speed
And/or safe early warning information.
It is auxiliary based on driving as described above invention additionally discloses a kind of driving assistance method for merging navigation and intelligent vision
Auxiliary system, the Fusion Module obtains the current road segment history speed-limiting messages of vehicle mounted guidance module, intelligent vision drives module
Real-time speed limit information and intelligent vision drive the front vehicles Anticollision information of module, and according to history speed-limiting messages, in real time limit
Fast information and front vehicles Anticollision information output speed warning information.
It is auxiliary based on driving as described above invention additionally discloses a kind of driving assistance method for merging navigation and intelligent vision
Auxiliary system, the Fusion Module obtains the route ahead director information of vehicle mounted guidance module, intelligent vision drives the front of module
Road instruction information and intelligent vision drive the front and rear side information of vehicles of module, and according to route ahead director information, preceding
Square road instruction information and front and rear side information of vehicles output speed warning information and lane change are guided.
Further, the data received from Fusion Module are fused to itself by the vehicle mounted guidance module with voice mode
Navigation system in；The intelligent vision drives module by the data received from Fusion Module with the side of word and/or pattern
Formula is added in the picture of its scene analysis result.
Further, the intelligent vision drives module and obtains real-time pictures information, and the real-time pictures information is carried out
Scene analysis, obtains scene analysis as a result, the scene analysis result includes visibility analysis result, road ahead instruction letter
Breath, front and rear side information of vehicles and preceding object information.The road ahead configured information includes upcoming traffic configured information, preceding
Square signal lamp information, road ahead configured information and route ahead director information.The front and rear side information of vehicles includes front and rear
Lane information, front and rear side vehicle relative motion status information and front and rear side collision prevention of vehicle information where the vehicle of side.
Further, the navigation results of the vehicle mounted guidance module move towards information including front navigation, route ahead guides
The terrain information of information, current road segment history speed-limiting messages and route.
It is auxiliary based on driving as described above invention additionally discloses a kind of driving assistance method for merging navigation and intelligent vision
Auxiliary system, the vehicle mounted guidance module obtain changing coordinates, obtain the terrain data of changing coordinates；The vehicle mounted guidance module hair
Terrain data is sent to drive module to intelligent vision, the intelligent vision drives what module obtained itself according to the terrain data
Real-time pictures information is simplified and/or the processing of emphasis mark.
Further, the intelligent vision drives module and obtains real-time pictures information, and the real-time pictures information is carried out
Scene analysis, obtains scene analysis result；The intelligent vision drives module and sends scene analysis result to vehicle mounted guidance module,
Vehicle mounted guidance module adjusts its navigation results according to scene analysis result.
The present invention realizes that the navigation information for exporting vehicle mounted guidance resume module and intelligent vision drive resume module output
Identification and warning information fusion treatment, the empirical data and intelligent vision of comprehensive vehicle-mounted navigation module drive the real-time number of module
According to so as to obtain more true and reliable navigation data and warning data, then feeding back to vehicle mounted guidance module respectively and intelligence regard
Feel and drive module, realize the navigation warning function more precisely more optimized.
Brief description of the drawings
Fig. 1 is the structure diagram of one embodiment of drive assist system of present invention fusion vehicle mounted guidance and intelligent vision.
Embodiment
Presently preferred embodiments of the present invention is described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention are more
Easily it is readily appreciated by one skilled in the art, so as to make apparent define to protection scope of the present invention.
Embodiment 1：
In the present embodiment fusion vehicle mounted guidance and intelligent vision drive assist system as shown in Figure 1, Fig. 1 in order to facilitate this hair
The content of bright citing and the structure chart made, the drive assist system for merging vehicle mounted guidance and intelligent vision can be according to actual conditions
Appropriate increase and decrease is carried out to its module or unit.Module and Fusion Module are driven including vehicle mounted guidance module, intelligent vision, it is described
The output that the output of vehicle mounted guidance module and intelligent vision drive module is connected with Fusion Module, the output difference of Fusion Module
Connect vehicle mounted guidance module and intelligent vision drives module, realize the navigation information for exporting vehicle mounted guidance resume module and intelligence
Vision drives identification and the warning information fusion treatment of resume module output, the empirical data and intelligence of comprehensive vehicle-mounted navigation module
Vision drives the real time data of module, so as to obtain more true and reliable navigation data and warning data, then feeds back to respectively
Vehicle mounted guidance module and intelligent vision drive module, realize the navigation warning function more precisely more optimized.
Another embodiment is：Intelligent vision drives module and establishes data connection with vehicle mounted guidance module.
Intelligent vision drives module and real-time scene can be analyzed, and identifies target interested and mark, vehicle-mounted to lead
Model plane block drives module while navigation feature is completed, with intelligent vision real-time information exchange, and intelligent vision drives mould
Block and vehicle mounted guidance module can be improved from the information interacted or strengthen itself function, then intelligent vision drive module with
The relevant result of vehicle mounted guidance module enters fusion subsystem, carries out high-level Analysis of Policy Making, leading after finally output fusion
Voice or the results for video information such as boat, early warning and prompting.
One embodiment that intelligent vision driving module strengthens itself function from vehicle mounted guidance module acquisition data is as follows：
Intelligent vision drives module and analyzes scene in real time and identify target interested, and according to received vehicle mounted guidance mould
The effective terrain information that block is sent, necessary refining treatment is carried out to associated scenario or target.
The present embodiment can preferably improve scene analysis and interesting target by the real-time map terrain information got
Detection function.
The processing of the data reinforcing own module of module borrow vehicle mounted guidance module is driven based on above-mentioned intelligent vision, it is vehicle-mounted
The interesting target that navigation module can also be driven the scene analysis result of module and be identified by intelligent vision, makes soon
For real real-time adjustment, strengthen the guiding of itself and instruction function.
The present embodiment drives the data of module and vehicle mounted guidance module by merging intelligent vision, can be reached on functional plane
To the effect of mutual supplement with each other's advantages；Macroscopical scene and real-time scene comprehensive analysis, scene adaptability are stronger.
During implementation, the powerful target of module and scene analysis ability are driven using intelligent vision, coordinates vehicle mounted guidance mould
The map landform director information of block and friendly framework user, provide truer, more rich visual and audible for driver
Advanced driving function impression, greatly improves user experience, can preferably be applied to Automobile Electronic Industry.
Embodiment 2：
Illustration vehicle mounted guidance module and intelligent vision are driven the amalgamation mode between module by the present embodiment：
1st, real-time road merges
The road conditions and intelligent vision that real-time road integrated unit is exported according to vehicle mounted guidance module drive the road conditions of module output, make
With related algorithm and Trajectory, obtain more accurate road condition advisory and travel condition of vehicle and guide.Such as：Vehicle mounted guidance mould
Block exports the prompt message of curve ahead, and intelligent vision drives module according to the real-time pictures obtained and the current vehicle body shape of vehicle
State（Such as speed and direction corner）, actual road curvature is calculated according to related algorithm, and derive corresponding safety
Speed, if it is necessary, deceleration early warning will be exported.It is existing that the acquisition of current vehicle body state in the present embodiment can be based on automobile
Obtained in detection module, be not limited to obtain in vehicle mounted guidance module or intelligent vision drive module.
2nd, speed limit early warning is merged
The speed-limiting messages and intelligent vision exported according to vehicle mounted guidance module drive the speed-limiting messages that module exports（Such as set temporarily
The speed-limit road sign put）With front vehicles Anticollision information, comprehensive descision, obtains significantly more efficient speed limit warning information.
3rd, route guidance information merges
The route ahead director information and intelligent vision exported according to vehicle mounted guidance module drives the road ahead that module exports and refers to
Show information（Such as road sign）, front and rear side vehicle movement information and front and rear side lane information etc., calculated according to related algorithm,
Accurately prompting deceleration early warning and lane change are guided.
Above-mentioned is that the vehicle mounted guidance module of the present invention and intelligent vision drive the wherein several embodiments after module fusion,
Herein just without illustrating one by one.In general, the data that vehicle mounted guidance module is exported to Fusion Module include：
Real-time road（For example easily send out accident hazard section）；Real-time topography and geomorphology（Such as front zig zag, tunnel and bridge etc.
Deng）；Speed-limiting messages, limit for height information and road prompt message（Such as front confluence）；Route guidance prompt message（Such as front
Turn right at 200 meters of traffic lights）Deng.
Intelligent vision, which drives the data that module is exported to Fusion Module, to be included：
Visibility analysis result；Forward and backward, side information of vehicles；Forward and backward, side lane information；Upcoming traffic configured information（Limit
Speed, limit for height and no left turn etc.）；Front signal light information；Road ahead configured information（Such as road indicator）；Front hinders
Hinder information etc..
The output of module is driven to vehicle mounted guidance module and intelligent vision for Fusion Module：
The various navigation directions information and warning message of Fusion Module output, which may be superimposed in outdoor scene picture, shows early warning with guiding
（The display screen that intelligent vision drives in module or exports with being output to intelligent vision driving module is output to be overlapped）, language
Sound early warning and guide can be retained in vehicle mounted guidance module and optimize realization.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementation
Mode, within the knowledge of a person skilled in the art, can also be on the premise of present inventive concept not be departed from
Various changes can be made.
Claims (10)
1. a kind of merge navigation and the drive assist system of intelligent vision, it is characterised in that is regarded including vehicle mounted guidance module, intelligence
Feel and drive module and Fusion Module, the output of the vehicle mounted guidance module and intelligent vision drive the output of module with merging mould
Block connects, and the output connection vehicle mounted guidance module and/or intelligent vision of Fusion Module drive module.
2. drive assist system according to claim 1, it is characterised in that the intelligent vision drive module also with it is vehicle-mounted
Navigation module connects.
3. a kind of merge navigation and the driving assistance method of intelligent vision, it is characterised in that based on as claimed in claim 1 or 2
Drive assist system, information is moved towards in the front navigation that the Fusion Module obtains vehicle mounted guidance module, intelligent vision drives mould
The real-time pictures information of block and the speed of current vehicle and direction corner, calculate actual road curvature, and output is corresponding
Safe speed and/or safe early warning information.
4. a kind of merge navigation and the driving assistance method of intelligent vision, it is characterised in that based on as claimed in claim 1 or 2
Drive assist system, current road segment history speed-limiting messages, the intelligent vision that the Fusion Module obtains vehicle mounted guidance module drive
Sail the real-time speed limit information of module and intelligent vision drives the front vehicles Anticollision information of module, and believed according to history speed limit
Breath, real-time speed limit information and front vehicles Anticollision information output speed warning information.
5. a kind of merge navigation and the driving assistance method of intelligent vision, it is characterised in that based on as claimed in claim 1 or 2
Drive assist system, the Fusion Module obtains the route ahead director information of vehicle mounted guidance module, intelligent vision drives mould
The road ahead configured information and intelligent vision of block drive the front and rear side information of vehicles of module, and are guided according to route ahead
Information, road ahead configured information and front and rear side information of vehicles output speed warning information and lane change are guided.
6. according to claim 3-5 any one of them driving assistance methods, it is characterised in that the vehicle mounted guidance module will be from
The data that Fusion Module receives are fused to voice mode in the navigation system of itself；The intelligent vision drives module will be from
The data that Fusion Module receives are added in a manner of word and/or pattern in the picture of its scene analysis result.
7. according to claim 3-5 any one of them driving assistance methods, it is characterised in that the intelligent vision drives module
Real-time pictures information is obtained, and scene analysis is carried out to the real-time pictures information, obtains scene analysis as a result, the scene analysis
As a result visibility analysis result, road ahead configured information, front and rear side information of vehicles and preceding object information are included.
8. according to claim 3-5 any one of them driving assistance methods, it is characterised in that the vehicle mounted guidance module is led
Boat result includes the landform that information, route ahead director information, current road segment history speed-limiting messages and route are moved towards in front navigation
Information.
9. the driving assistance method of a kind of vehicle mounted guidance and intelligent vision, it is characterised in that based on driving as claimed in claim 2
Auxiliary system is sailed, the vehicle mounted guidance module obtains changing coordinates, obtains the terrain data of changing coordinates；The vehicle mounted guidance mould
Block sends terrain data and drives module to intelligent vision, and the intelligent vision drives module and itself is obtained according to the terrain data
The real-time pictures information obtained is simplified and/or the processing of emphasis mark.
10. driving assistance method according to claim 9, it is characterised in that the intelligent vision drives module and obtains in fact
When image information, and to the real-time pictures information carry out scene analysis, obtain scene analysis result；The intelligent vision drives mould
Block sends scene analysis result and adjusts its navigation results according to scene analysis result to vehicle mounted guidance module, vehicle mounted guidance module.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711310554.1A CN107972674A (en) | 2017-12-11 | 2017-12-11 | It is a kind of to merge navigation and the drive assist system and method for intelligent vision |
| PCT/CN2017/118471 WO2019114030A1 (en) | 2017-12-11 | 2017-12-26 | Driving assistance system and method fusing navigation and intelligent vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711310554.1A CN107972674A (en) | 2017-12-11 | 2017-12-11 | It is a kind of to merge navigation and the drive assist system and method for intelligent vision |
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| CN107972674A true CN107972674A (en) | 2018-05-01 |
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| CN201711310554.1A Pending CN107972674A (en) | 2017-12-11 | 2017-12-11 | It is a kind of to merge navigation and the drive assist system and method for intelligent vision |
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| WO (1) | WO2019114030A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645691A (en) * | 2020-04-29 | 2020-09-11 | 云南安之骅科技有限责任公司 | Driving behavior evaluation system based on comprehensive environment perception |
| CN112346466A (en) * | 2020-12-07 | 2021-02-09 | 苏州云骐智能科技有限公司 | Multi-sensor fusion AGV redundancy control system and method based on 5G |
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| CN111432017B (en) * | 2020-03-31 | 2022-08-16 | 河南工业大学 | Special platform truck of intelligence grain commodity circulation based on car networking and intelligent driving technique |
| CN111736701A (en) * | 2020-06-24 | 2020-10-02 | 上海商汤临港智能科技有限公司 | Vehicle-mounted digital person-based driving assistance interaction method and device and storage medium |
| CN113237490A (en) * | 2021-02-08 | 2021-08-10 | 上海博泰悦臻网络技术服务有限公司 | AR navigation method, system, electronic device and storage medium |
| CN112923947A (en) * | 2021-04-10 | 2021-06-08 | 深圳市豪恩汽车电子装备股份有限公司 | Driving real-time navigation method and system and automobile |
| CN113635905B (en) * | 2021-08-24 | 2023-04-18 | 桂林航天工业学院 | Real-time risk prompting system and device for driving behavior insurance |
| CN116737899B (en) * | 2023-06-12 | 2024-01-26 | 山东大学 | Visual natural language navigation system and method based on common sense information assistance |
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| WO2019114030A1 (en) | 2019-06-20 |
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