CN108128246B - Vehicle yaw warning and control method and system - Google Patents
Vehicle yaw warning and control method and system Download PDFInfo
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- CN108128246B CN108128246B CN201711375315.4A CN201711375315A CN108128246B CN 108128246 B CN108128246 B CN 108128246B CN 201711375315 A CN201711375315 A CN 201711375315A CN 108128246 B CN108128246 B CN 108128246B
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Abstract
The invention belongs to the technical field of intelligent traffic, and discloses a vehicle yaw warning and control method and a system, wherein the system comprises the following components: the special road lighting system is used for providing a lighting environment required by human vision so that a driver forms a human vision image of a driving environment through a windshield of the vehicle, the double-channel yaw detection system is used for acquiring an optical signal in the special road lighting system and making a corresponding indication control signal according to the optical signal, and the head-up display device is used for displaying the indication control signal and forming machine vision of the vehicle so that the driver controls the driving direction of the vehicle through cross check of the machine vision and the human vision. The driving direction of the vehicle is controlled by using machine vision and human eye vision simultaneously, so that the conditions of rear-end collision, yaw and the like of the vehicle are avoided in severe weather, and the driving safety of the vehicle is ensured.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a vehicle yaw warning and control method and system.
Background
Under the bad weather such as big fog, big snow and haze, adopt the traditional high-order street lamp of Emitting Diode (Light Emitting Diode, LED) Light source, can become very weak inadequately because of the penetrability, because the water droplet, the ice crystal granule, the absorption and the scattering of aerosol micelle, the luminous flux that can reach people's eye is very little, lead to the visibility to reduce, people's eye can't clearly see road the place ahead barrier clearly, when the driver tries to increase visible distance through opening the motor vehicle high beam, can be because of the scattering and the reflection of particle, cause "white wall phenomenon" that hinders driver's vision. In severe weather, due to poor visibility and 'white wall phenomenon', a driver cannot correctly judge the actual distance between the vehicle and the front vehicle and identify obstacles, traffic signs and the like, so that a large number of serious traffic accidents such as rear-end collisions, vehicle exiting from a road and the like are easily caused.
At present, rear-end collision and collision can be prevented through machine vision of intelligent driving, but the machine vision of intelligent driving can only prevent rear-end collision and collision. The current Positioning sensors mainly include a Global Positioning System (GPS), a vision sensor, a millimeter wave radar and a laser radar, and the four sensors all adopt a distance measurement method to identify whether the motor vehicle is yawing. Under severe weather, the accuracy of detecting vehicles and positioning roads by the sensor is low, and accurate yaw warning cannot be made for motor vehicles running out of the road surface, so that whether the motor vehicles yaw is determined by purely depending on machine vision, and the driving safety cannot be ensured.
Disclosure of Invention
The invention mainly aims to provide a vehicle yaw warning and control method and system, which are used for solving the technical problem that in the prior art, whether a motor vehicle yaws or not is determined by machine vision only in severe weather, and the driving safety cannot be ensured.
To achieve the above object, a first aspect of the present invention provides a vehicle yaw warning and control system, including: a special road lighting system, a two-channel yaw detection system and a head-up display device;
the special road lighting system is used for providing a lighting environment required by human vision so that a driver can form a human vision image of a driving environment through a windshield of the vehicle;
the dual-channel yaw detection system is used for acquiring optical signals in the special road lighting system and making corresponding indication control signals according to the optical signals;
the head-up display device is used for displaying the indication control signal and forming machine vision of the vehicle, so that a driver can control the driving direction of the vehicle through cross verification of the machine vision and the human eye vision.
A second aspect of the present invention provides a method for warning and controlling yaw of a vehicle, the method comprising:
the special road lighting system provides a lighting environment required by human vision so that a driver forms a human vision image of a driving environment through a windshield of the vehicle;
the dual-channel yaw detection system acquires an optical signal in the special road lighting system and makes a corresponding indication control signal according to the optical signal;
the head-up display device displays the indication control signal to form machine vision of the vehicle, so that a driver controls the driving direction of the vehicle through cross checking of the machine vision and the human eye vision.
It can be known from the above technical solutions that the special road lighting system of the yaw warning and control system of the vehicle provides a lighting environment required by human vision, so that a driver forms a human vision image of a driving environment through a windshield of the vehicle, the driver controls the vehicle through the human vision image, thereby avoiding rear-end collision and collision of the vehicle, meanwhile, the dual-channel yaw detection system obtains an optical signal in the special road lighting system and makes a corresponding indication control signal according to the optical signal, the head-up display device displays the indication control signal to form machine vision of the vehicle, the driver adjusts the driving direction of the vehicle according to the displayed machine vision, and the machine vision and the human vision are simultaneously utilized to control the driving direction of the vehicle, thereby avoiding rear-end collision, yaw and other situations of the vehicle in severe weather, the driving safety of the vehicle is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a first embodiment of a yaw warning and control system for a vehicle according to the present invention;
FIG. 2 is a schematic structural diagram of a dual-channel yaw detection system according to a first embodiment of the present invention
FIG. 3 is a diagram of a head-up display device displaying a straight pointing control signal;
FIG. 4 is a schematic diagram of a heads-up display device displaying a left turn indication control signal;
FIG. 5 is a schematic diagram of a right turn indication control signal displayed by the heads-up display device;
FIG. 6 is a schematic diagram of two-sided hazard signal display of the heads-up display device;
FIG. 7 is a schematic diagram of a left side interference signal display of the heads-up display device;
FIG. 8 is a schematic diagram of a left-handed and right-handed disable signal display of the heads-up display device;
FIG. 9 is a schematic diagram of left-right-interference-disabled signal display of the heads-up display device;
FIG. 10 is a schematic diagram of two-sided interference signal display for a heads-up display device;
FIG. 11 is a schematic diagram of the operation of the steering system provided by the present invention;
FIG. 12 is a flowchart illustrating a method for warning and controlling yaw of a vehicle according to a second embodiment of the present invention;
fig. 13 is a flow chart illustrating the refinement step of step 102.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the prior art, whether the motor vehicle drifts or not is determined by only depending on machine vision in severe weather, so that the driving safety cannot be ensured. In order to solve the above problems, the present invention provides a yaw warning and controlling system for a vehicle.
Referring to fig. 1, fig. 1 is a vehicle yaw warning and control system according to a first embodiment of the present invention, the vehicle yaw warning and control system includes: the system comprises a special road lighting system 1, a two-channel yaw detection system 2 and a head-up display device 3;
the special road lighting system 1 is used for providing a lighting environment required by human vision so that a driver forms a human vision image of a driving environment through a windshield of the vehicle;
the dual-channel yaw detection system 2 is used for acquiring optical signals in the special road lighting system and making corresponding indication control signals according to the optical signals;
the head-up display device 3 is used for displaying the indication control signal and forming machine vision of the vehicle, so that a driver controls the driving direction of the vehicle through cross verification of the machine vision and human eye vision.
The special road lighting system can provide clear lighting environment for human vision, so that a driver can see the road environment where the vehicle is located clearly in the environment of severe weather, and the rear-end collision and collision conditions of the vehicle are avoided. The dual-channel yaw detection system judges the yaw condition of the vehicle by acquiring the optical signals in the special road lighting system and analyzing the light intensity distribution conditions of the optical signals acquired in the two channels, then makes corresponding indication on the condition, outputs an indication control signal, displays the indication control signal by the head-up display device, and accordingly controls the vehicle correspondingly according to the indication control signal by a driver to avoid the yaw condition of the vehicle.
It should be noted that, the above-mentioned cross check sum depth fusion of human vision and machine vision is used to warn and control the yaw of the motor vehicle in the severe weather condition.
It can be known from the vehicle yaw warning and control system illustrated in fig. 1 that the dedicated road illumination system of the vehicle yaw warning and control system provides an illumination environment required by human eye vision, so that a driver forms a human eye vision image of a driving environment through a windshield of the vehicle, the driver controls the vehicle through the human eye vision image, thereby avoiding rear-end collision and collision of the vehicle, meanwhile, the dual-channel yaw detection system acquires an optical signal in the dedicated road illumination system and generates a corresponding indication control signal according to the optical signal, the head-up display device displays the indication control signal to form machine vision of the vehicle, the driver adjusts a driving direction of the vehicle according to the displayed machine vision, the driving direction of the vehicle is controlled by using the machine vision and the human eye vision at the same time, and rear-end collision of the vehicle is avoided in severe weather, The running safety of the vehicle is ensured under the conditions of collision, yaw and the like.
Further, the exclusive road illumination system 1 employs a light source of high penetration and high display. In bad weather, traditional LED light source can make the light that reachs people's eye extremely weak because of the penetrability is not enough, and because water droplet, ice crystal granule, the absorption and the scattering of aerosol micelle, the light that can reach people's eye is little, leads to the visibility low, and people's eye can't see road the place ahead obstacle clearly. When a driver tries to turn on a high beam of a vehicle to increase a visible distance, a 'white wall phenomenon' that obstructs the vision of the driver is caused due to scattering and reflection of particles. The dedicated illumination system 1 employs a high penetration and high display light source to improve the color sharpness of human eyes, thereby overcoming the above-described obstacles to driver vision. Besides the high-penetrating-power and high-display light source, the special illumination system 1 can further adopt a transverse illumination mode to improve the edge visual acuity of human eyes, adopt a low-lamp-position illumination mode to improve the stereoscopic visual acuity of human eyes, adopt a distributed illumination mode to form continuous inductivity, overcome the defect that the existing street lamp cannot provide effective illumination in severe weather, and effectively recover the visual ability of human eyes.
The clear human eye visual environment provided by the special road lighting system adopts the special road lighting system 1, so that the positioning calculation of the vehicle is simple, the detection interference is small, and the light source can have a specific spectrum.
Further, referring to fig. 2, fig. 2 is a schematic structural diagram of a dual-channel yaw detecting system according to a first embodiment of the present invention, where the dual-channel yaw detecting system 2 includes: the system comprises a light intensity detector 4 and a light intensity calculation analyzer 5, wherein the light intensity detector 4 is used for acquiring a light signal emitted by a light source of the special road lighting system 1, the light intensity calculation analyzer 5 is used for determining the running state of the vehicle by judging whether a light intensity signal sequence of the light signal is in a balanced state in space and time dimension, if the light intensity signal sequence is in the balanced state, the vehicle is determined to be in a normal running state, a straight running indication control signal is output, if the light intensity signal sequence is in an unbalanced state, the vehicle is determined to be in a yawing state, a yawing warning signal is output, whether the yawing is left yawing is determined, if the yawing is determined to be left yawing, a right turning indication control instruction is output, and if the yawing is determined to be right yawing, a left turning indication control instruction is output.
Further, the light intensity detector 4 is set as a left channel and a right channel, and respectively obtains light signals on the left side and the right side, wherein the obtained light signals are visible light or other electromagnetic waves.
The light intensity detector 4 is specifically a high-directivity wireless illuminometer, the number of the high-directivity wireless illuminometers is two, and the two high-directivity illuminometers respectively acquire light signals on the left side and the right side and acquire visible light or other electromagnetic waves on the left side and the right side.
Specifically, the two highly directional illuminometers respectively acquire optical signals on the left and right sides, and transmit the optical signals to the light intensity calculating analyzer 5. The light intensity calculating analyzer 5 determines the driving state of the vehicle by analyzing the balance relation of the light intensity signal sequence of the double channels in the dimensions of space and time by adopting a dynamic balance algorithm. If the light intensity signal sequence is in a balanced state in the space and time dimensions, the vehicle is determined to be in a normal driving state, a straight indication control signal is output, the head-up display device displays the straight indication control signal, if the light intensity signal sequence is in an unbalanced state in the space and time dimensions, the vehicle is determined to be in a yawing state, a yawing warning signal is output, whether yawing is left yawing is determined, if the yawing is left yawing, a right turning indication control signal is output, the head-up display device displays the right turning indication control signal, if the yawing is right yawing, a left turning indication control signal is output, and the head-up display device displays a left indication control signal. The driver makes corresponding control to the vehicle by observing the road condition and the indication control signal displayed by the head-up display device.
The sampling period of the light intensity detector 4 in the dual-channel yaw detection system 2 for obtaining the light signals is less than 0.01 second, the calculation precision of the light intensity calculation analyzer 5 is centimeter level, the display period of the head-up display device is less than 0.02 second, and the display precision is decimeter level, so that the dual-channel yaw detection system 2 has high precision in yaw positioning of the vehicle in severe weather. The invention converts the measured reflected wave into the measured optical signal, converts the distance measurement calculation into the optical signal intensity comparison, the vehicle yaw positioning can reach the centimeter level, and the detection frequency and the vehicle running speed supported by the real-time calculation speed can reach 40 km/h.
Further, the vehicle yaw warning and control system also comprises an embedded vehicle control system, wherein the embedded vehicle control system is used for acquiring a yaw warning signal output by the light intensity calculation analyzer, judging whether the duration of the yaw warning signal exceeds a preset time, and controlling the vehicle to run according to the indication of an indication control signal output by the light intensity calculation analyzer if the duration of the yaw warning signal exceeds the preset time.
The embedded vehicle control system is provided with a control instruction system and a servo mechanism for comprehensively controlling the running state of the motor vehicle, when the duration time of the obtained off-course warning signal exceeds the preset time, the driver can not normally and completely complete correct driving operation, and the embedded vehicle control system controls the vehicle to run according to the indication of the indication control signal at the moment, so that all-weather intelligent safe driving is realized. And if the duration time of the obtained yaw warning signal does not exceed the preset time, controlling the driving direction of the vehicle by the driver according to the cross check and depth fusion of the human vision and the machine vision.
It should be noted that, in the control strategy of the vehicle yaw warning and control system, a principle of manual autonomous driving priority is adhered to, and only after it is determined that a driver cannot complete correct driving operation completely and an accident may occur, the vehicle is controlled by a machine, so that all-weather intelligent safe driving is realized.
It should be further noted that the yaw condition of the light intensity detected by the dual-channel yaw detection system 2 is detected under the condition that the light source can be normally obtained, that is, the street lamps on both sides of the road are normal, and there is no extinguishing condition. If the street lamps on two sides of the road are damaged, the light signal intensity detected by any channel of the left channel and the right channel of the two-channel yaw detection system 2 is not within the preset normal value range, the special road lighting system is determined to be in an abnormal condition, the concerned indication control signal is output, and the concerned indication control signal is displayed by the head-up display device.
Further, the head-up display apparatus 3 is also configured to display the above-described instruction control signal in the form of a graphic. The head-up display device 3 includes a sign area and a plurality of signal lamps, the signal lamps are distributed in two rows on the left and right of the sign area, the sign area is used for displaying the indication graphics in the indication control signal, and the signal lamps are used for displaying the signal lamps according to the indication control signal.
The number of the signal lamps is 6, the 6 signal lamps are distributed in the left column and the right column of the mark area, and the 6 signal lamps are used for displaying the signal lamps according to the indication control signals.
As shown in fig. 3, fig. 3 is a schematic diagram of the head-up display device displaying a straight-going indication control signal, wherein 6 signal lamps are respectively and symmetrically distributed on two sides of a mark area, the signal lamps on the two sides respectively represent driving environments on two sides of a vehicle, a green lamp represents normal, a red lamp represents danger prohibition, a yellow lamp represents that a special road lighting system is in an abnormal condition, the driving environment is unknown, and the special road lighting system needs to be concerned by a vehicle driver.
As shown in fig. 3, the sign area of the head-up display device displays a straight arrow, and green lights in two columns of signal lights on the left and right of the sign area are both on, which indicates that the environment on both sides of the vehicle is normal, and the vehicle can continue to move straight. As shown in fig. 4, fig. 4 is a schematic diagram of the head-up display device displaying a left turn indication control signal, a sign area of the head-up display device displays a graph representing the left turn, a green light on the left side of the sign area is on, a red light on the right side of the sign area is on, and represents a danger on the right side, and the head-up display device needs to turn left.
As shown in fig. 5, fig. 5 is a schematic diagram of a right turn indication control signal displayed by the head-up display device, wherein a marking area of the head-up display device displays a figure for indicating the right turn, and a red light on the left side of the marking area, a green light on the right side of the marking area, indicate the danger on the left side, and require the right turn. As shown in fig. 6, 7, 8, and 9, fig. 6 is a schematic diagram of danger signals on two sides of the head-up display device, fig. 7 is a schematic diagram of interference signal display on the left side of the head-up display device, fig. 8 is a schematic diagram of left interference and right interference prohibition signal display of the head-up display device, fig. 9 is a schematic diagram of left interference and right interference prohibition signal display of the head-up display device, and fig. 10 is a schematic diagram of interference signal display on two sides of the head-up display device. When any one of the two channels of the two-channel yaw detection system 2 detects that the road driving environment is in an abnormal condition, a yellow light on the side where the channel is located is on, if the road driving environment is normal, the display of signal lights on the left side and the right side of the head-up display device respectively shows the vehicle yaw conditions on the left side and the right side of the vehicle, and the graph of the head-up display device 3 shows the required driving direction of the vehicle at the moment. The driver can control the traveling direction of the vehicle according to the instruction control signal displayed in the head-up display device.
Referring to fig. 11, fig. 11 is a schematic diagram of a driving system according to the present invention, in a severe weather condition, in an embodiment of the present invention, human eye vision provides a clear human eye vision image formed in a human eye vision environment for a dedicated road lighting system, machine vision provides vehicle positioning information, i.e., a yaw condition, detected by the road lighting system and a dual-channel yaw detection system, the human eye vision and the machine vision depth are integrated into a fusion of a display pattern of a head-up display device and a road vision image in human eyes in a human brain, the dedicated road lighting system provides a clear vision environment for human eyes by improving human eye contour sharpness, stereoscopic sharpness and color sharpness, a driver stores an acquired optical signal in the brain and issues a driving instruction, and the vehicle acquires optical signal data through the dual-channel yaw detection system, processes data of a light intensity calculation analyzer, and performs positioning and analysis of a driving state based on a light intensity dynamic balance principle, and finally, sending a vehicle running state signal, displaying the vehicle running state signal on the head-up display device and sending a driving instruction, and controlling the vehicle to run by using the cross inspection of human vision and machine vision by a driver. In the vehicle yaw warning and control system, the manual driving operation priority processing is adhered to, and the machine can be forcibly operated after the manual operation fails.
A second embodiment of the present invention provides a vehicle yaw warning and control method, which is applied to the vehicle yaw warning and control system of the first embodiment.
Referring to fig. 12, fig. 12 is a schematic flowchart of a vehicle yaw warning and controlling method according to a second embodiment of the present invention, the method includes steps 101 to 103:
102, acquiring an optical signal in the special road lighting system by the dual-channel yaw detection system, and making a corresponding indication control signal according to the optical signal;
and 103, displaying the indication control signal by the head-up display device to form machine vision of the vehicle so that the driver controls the driving direction of the vehicle through cross check of the machine vision and human eye vision.
The special road lighting system can provide clear lighting environment for human vision, so that a driver can see the road environment where the vehicle is located clearly in the environment of severe weather, and the rear-end collision and collision conditions of the vehicle are avoided. The double-channel yaw detection system judges the yaw condition of the vehicle by acquiring the light signals in the road lighting system and analyzing the light intensity distribution conditions of the light signals acquired in the two channels, then makes corresponding indication on the condition, outputs an indication control signal, displays the indication control signal by the head-up display device, and accordingly controls the vehicle correspondingly by a driver according to the indication control signal to avoid the yaw condition of the vehicle.
It should be noted that, the above-mentioned cross check sum depth fusion of human vision and machine vision is used to perform warning control on the yaw of the motor vehicle in driving under severe weather conditions.
As can be seen from the above-mentioned yaw warning and controlling method for a vehicle illustrated in FIG. 12, the special road lighting system provides the lighting environment required by human vision, so that the driver forms a human vision image of the driving environment through the windshield of the vehicle, and the driver controls the vehicle through the human vision image, thereby avoiding rear-end collision and collision of the vehicle, meanwhile, the dual-channel yaw detection system acquires an optical signal in the special road illumination system and makes a corresponding indication control signal according to the optical signal, the head-up display device displays the indication control signal to form machine vision of the vehicle, a driver adjusts the driving direction of the vehicle according to the displayed machine vision, and the driving direction of the vehicle is controlled by utilizing the machine vision and human eye vision at the same time, the conditions of rear-end collision, yawing and the like of the vehicle are avoided in severe weather, and the driving safety of the vehicle is ensured.
Further, referring to fig. 13, fig. 13 is a schematic flowchart of the step 102, where the step 102 is specifically the step 201 to the step 206:
and step 206, if the right yaw is determined, outputting a left-turning indication control signal.
Specifically, the light intensity detector is set to be a left channel and a right channel, and light signals on the left side and the right side are respectively obtained, and the obtained light signals are visible light or other electromagnetic waves. The light intensity detector is specifically high directive property wireless illuminometer, and this high directive property wireless illuminometer's quantity is two, and two high directive property illuminometers obtain the light signal of left and right sides respectively to in transmitting the light signal to the light intensity calculation analyzer. The light intensity calculation analyzer adopts a dynamic balance algorithm, and determines the driving state of the vehicle by analyzing the balance relation of the light intensity signal sequence of the double channels in the space and time dimensions. If the light intensity signal sequence is in a balanced state in the space and time dimensions, the vehicle is determined to be in a normal driving state, a straight indication control signal is output, the head-up display device displays the straight indication control signal, if the light intensity signal sequence is in an unbalanced state in the space and time dimensions, the vehicle is determined to be in a yawing state, a yawing warning signal is output, whether yawing is left yawing is determined, if the yawing is left yawing, a right turning indication control signal is output, the head-up display device displays the right turning indication control signal, if the yawing is right yawing, a left turning indication control signal is output, and the head-up display device displays a left indication control signal. The driver makes corresponding control to the vehicle by observing the road condition and the indication control signal displayed by the head-up display device.
The sampling period of the light intensity detector in the dual-channel yaw detection system for acquiring the optical signal is less than 0.01 second, the calculation accuracy of the light intensity calculation analyzer is centimeter level, the display period of the head-up display device is less than 0.02 second, and the display accuracy is decimeter level, so that the dual-channel yaw detection system has high accuracy in yaw positioning of the vehicle in severe weather. The invention converts the measured reflected wave of the prior art into a measured optical signal, converts the distance measurement calculation into optical signal intensity comparison, enables the yaw positioning of the vehicle to reach the centimeter level, and enables the detection frequency and the real-time calculation speed to support the vehicle speed to reach 40 km/h.
Further, the vehicle yaw warning and control method further comprises the following steps: the embedded vehicle control system acquires a yaw warning signal output by the light intensity calculation analyzer, judges whether the duration time of the yaw warning signal exceeds preset time, and controls the vehicle to run according to the indication of an indication control signal output by the light intensity calculation analyzer if the duration time of the yaw warning signal exceeds the preset time.
The embedded vehicle control system is provided with a control instruction system and a servo mechanism for comprehensively controlling the running state of the motor vehicle, when the duration time of the obtained off-course warning signal exceeds the preset time, the driver can not normally and completely complete correct driving operation, and the embedded vehicle control system controls the vehicle to run according to the indication of the indication control signal at the moment, so that all-weather intelligent safe driving is realized. And if the duration time of the obtained yaw warning signal does not exceed the preset time, controlling the driving direction of the vehicle by the driver according to the cross check and depth fusion of the human vision and the machine vision.
It should be noted that, in the control strategy of the vehicle yaw warning and control system, a principle of manual autonomous driving priority is adhered to, and only after it is determined that a driver cannot complete correct driving operation completely and an accident may occur, the vehicle is controlled by a machine, so that all-weather intelligent safe driving is realized.
It should be further noted that the yaw condition of the light intensity detected by the dual-channel yaw detection system is detected under the condition that the light source can be normally obtained, that is, the street lamps on both sides of the road are normal and are not extinguished, if the street lamps on both sides of the road are damaged, the light signal intensity detected by any of the left and right dual-channels of the dual-channel yaw detection system is not within the preset normal value range, it is determined that the dedicated road lighting system is in an abnormal condition, a focused indication control signal is output, and the focused indication control signal is displayed by the head-up display device.
Further, the specific steps of step 103 are: the head-up display apparatus displays the above-described indication control signal in the form of a graphic. The head-up display equipment comprises a mark area and 6 signal lamps, wherein the 6 signal lamps are distributed in two rows on the left and right of the mark area, the mark area is used for displaying an indication graph in the indication control signal, and the 6 signal lamps are used for displaying the signal lamps according to the indication control signal.
As shown in fig. 3, fig. 3 is a schematic diagram of a straight-ahead instruction display of the head-up display device, wherein 6 signal lamps are respectively and symmetrically distributed on two sides of a mark area, the signal lamps on the two sides respectively represent driving environments on two sides of a vehicle, a green lamp represents normal, a red lamp represents danger prohibition, a yellow lamp represents that a special road lighting system is in an abnormal condition, and the driving environment condition is unknown and needs to be paid attention by a driver of the vehicle.
As shown in fig. 3, the sign area of the head-up display device displays a straight arrow, and green lights in two columns of signal lights on the left and right of the sign area are both on, which indicates that the environment on both sides of the vehicle is normal, and the vehicle can continue to move straight. As shown in fig. 4, fig. 4 is a schematic diagram of the head-up display device displaying a left turn indication control signal, a sign area of the head-up display device displays a graph representing the left turn, a green light on the left side of the sign area is on, a red light on the right side of the sign area is on, and represents a danger on the right side, and the head-up display device needs to turn left.
As shown in fig. 5, fig. 5 is a schematic diagram of a right turn indication control signal displayed by the head-up display device, wherein a marking area of the head-up display device displays a figure for indicating the right turn, and a red light on the left side of the marking area, a green light on the right side of the marking area, indicate the danger on the left side, and require the right turn. As shown in fig. 6, 7, 8, and 9, fig. 6 is a schematic diagram of displaying danger signals on two sides of the head-up display device, fig. 7 is a schematic diagram of displaying interference signals on the left side of the head-up display device, fig. 8 is a schematic diagram of displaying a left interference signal and a right interference signal of the head-up display device, fig. 9 is a schematic diagram of displaying the left interference signal and the right interference signal of the head-up display device, and fig. 10 is a schematic diagram of displaying interference signals on two sides of the head-up display device. When any one of the two channels of the two-channel yaw detection system detects that the road driving environment is in an abnormal condition, a yellow light on the side where the channel is located is on, if the road driving environment is normal, the display of signal lights on the left side and the right side of the head-up display device respectively shows the vehicle yaw conditions on the left side and the right side of the vehicle, and the graph of the head-up display device shows the required driving direction of the vehicle at the moment. The driver can control the traveling direction of the vehicle according to the instruction control signal displayed in the head-up display device.
As shown in fig. 11, in severe weather conditions, in the embodiment of the present invention, human vision provides a clear human vision image formed by a human vision environment for the dedicated road lighting system, machine vision provides yaw information, which is detected by the road lighting system and the dual-channel yaw detection system, for the vehicle positioning information, which is the yaw condition, for the road lighting system and the dual-channel yaw detection system, the human vision and the machine vision are deeply integrated into a depth integration of a display pattern of the head-up display device and a road vision image in human eyes in a human brain, the dedicated road lighting system provides a clear vision environment for the human eyes by improving a contour sharpness, a stereoscopic sharpness and a color sharpness of human eyes, a driver stores an acquired optical signal in the brain and sends a driving instruction, and meanwhile, the vehicle performs data acquisition by the dual-channel yaw detection system, data processing of the light intensity calculation analyzer and analysis of a vehicle positioning and a driving state based on a light intensity dynamic balance principle, and finally, sending a vehicle running state signal, displaying the vehicle running state signal on the head-up display device and sending a driving instruction, and controlling the vehicle to run by using the cross inspection of human vision and machine vision by a driver. In the vehicle yaw warning and control system, the manual driving operation priority processing is adhered to, and the machine can be forcibly operated after the manual operation fails.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In view of the above description of the method and system for warning and controlling yaw of a vehicle provided by the present invention, those skilled in the art will recognize that changes may be made in the embodiments and applications of the invention, and accordingly, the disclosure is not intended to limit the invention.
Claims (10)
1. A vehicle yaw warning and control system, comprising: a special road lighting system, a two-channel yaw detection system and a head-up display device;
the special road lighting system is used for providing a lighting environment required by human vision so that a driver can form a human vision image of a driving environment through a windshield of the vehicle;
the dual-channel yaw detection system is used for acquiring optical signals in the special road lighting system and making corresponding indication control signals according to the optical signals;
the head-up display device is used for displaying the indication control signal and forming machine vision of the vehicle, so that a driver can control the driving direction of the vehicle through cross verification of the machine vision and the human eye vision.
2. The vehicle yaw warning and control system of claim 1, wherein the dedicated roadway lighting system employs high penetration and high display light sources.
3. The vehicle yaw warning and control system of claim 2, wherein the dual channel yaw detection system comprises: a light intensity detector and a light intensity calculating analyzer;
the light intensity detector is used for acquiring a light signal emitted by the light source;
the light intensity calculation analyzer is used for determining the driving state of the vehicle by judging whether the light intensity signal sequence of the light signal is in a balanced state in space and time dimensions;
if the vehicle is in the balanced state, determining that the vehicle is in a normal running state, and outputting a straight running indication control signal;
if the vehicle is in the unbalanced state, determining that the vehicle is in a yaw state, outputting a warning signal of yaw, determining whether the yaw is left yaw, if so, outputting a right-turn indication control signal, and if so, outputting a left-turn indication control signal.
4. The vehicle yaw alert and control system of claim 3, further comprising an embedded vehicle control system;
the embedded vehicle control system is used for acquiring the yaw warning signal output by the light intensity calculation analyzer and judging whether the duration time of the yaw warning signal exceeds preset time or not;
and if the preset time is exceeded, controlling the vehicle to run according to the indication of the indication control signal.
5. The vehicle yaw alert and control system of claim 1, wherein the heads up display device is further configured to display the indication control signal in a graphical form.
6. The vehicle yaw alert and control system according to claim 1, wherein the heads-up display device includes a sign area and a plurality of signal lights, the plurality of signal lights being distributed between two left and right columns of the sign area, the sign area being configured to display an indication graphic in the indication control signal, the plurality of signal lights being configured to display the signal lights according to the indication control signal.
7. The vehicle yaw warning and control system of claim 3, wherein the light intensity detector is configured as a left channel and a right channel for obtaining light signals from the left and right sides, respectively, the obtained light signals being visible light or other electromagnetic waves.
8. A vehicle yaw warning and control method for use in the system of claim 4, the method comprising:
the special road lighting system provides a lighting environment required by human vision so that a driver forms a human vision image of a driving environment through a windshield of the vehicle;
the dual-channel yaw detection system acquires an optical signal in the special road lighting system and makes a corresponding indication control signal according to the optical signal;
the head-up display device displays the indication control signal to form machine vision of the vehicle, so that a driver controls the driving direction of the vehicle through cross checking of the machine vision and the human eye vision.
9. The method of claim 8, wherein the step of the two-channel yaw detection system acquiring a light signal in the dedicated roadway lighting system and making a corresponding indication control signal based on the light signal comprises:
the light intensity detector acquires a light signal emitted by the light source;
the light intensity calculation analyzer determines the driving state of the vehicle by judging whether the light intensity signal sequence of the light signal is in a balanced state in space and time dimensions;
if the vehicle is in the balanced state, determining that the vehicle is in a normal running state, and outputting a straight running indication control signal;
if the vehicle is in the unbalanced state, determining that the vehicle is in a yaw state, outputting a warning signal of yaw, determining whether the yaw is left yaw, if so, outputting a right-turn indication control signal, and if so, outputting a left-turn indication control signal.
10. The method as claimed in claim 9, wherein the embedded vehicle control system obtains the yaw warning signal output by the light intensity calculating analyzer, determines whether the duration of the yaw warning signal exceeds a preset time, and controls the vehicle to run according to the indication of the indication control signal if the duration of the yaw warning signal exceeds the preset time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711375315.4A CN108128246B (en) | 2017-12-19 | 2017-12-19 | Vehicle yaw warning and control method and system |
| PCT/CN2017/117601 WO2019119334A1 (en) | 2017-12-19 | 2017-12-21 | Vehicle yaw warning and control method and system |
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| CN201711375315.4A CN108128246B (en) | 2017-12-19 | 2017-12-19 | Vehicle yaw warning and control method and system |
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| CN108128246B true CN108128246B (en) | 2021-01-08 |
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| CN112218786A (en) * | 2019-03-26 | 2021-01-12 | 深圳大学 | Driving control method and device under severe weather, vehicle and driving control system |
| CN113119862B (en) * | 2020-01-15 | 2023-09-12 | 未来（北京）黑科技有限公司 | Head-up display device for driving assistance |
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| WO2019119334A1 (en) | 2019-06-27 |
| CN108128246A (en) | 2018-06-08 |
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