CN108583434A - Auxiliary driving method, apparatus and system - Google Patents
Auxiliary driving method, apparatus and system Download PDFInfo
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- CN108583434A CN108583434A CN201810344499.6A CN201810344499A CN108583434A CN 108583434 A CN108583434 A CN 108583434A CN 201810344499 A CN201810344499 A CN 201810344499A CN 108583434 A CN108583434 A CN 108583434A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000010586 diagram Methods 0.000 claims abstract description 62
- 230000000007 visual effect Effects 0.000 claims abstract description 20
- 230000003993 interaction Effects 0.000 claims description 40
- 238000003860 storage Methods 0.000 claims description 37
- 230000035807 sensation Effects 0.000 claims description 36
- 230000005540 biological transmission Effects 0.000 claims description 9
- 241001465754 Metazoa Species 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 5
- 238000004590 computer program Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 7
- 206010039203 Road traffic accident Diseases 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
- B60R2300/205—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using a head-up display
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
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- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
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- Traffic Control Systems (AREA)
- Instrument Panels (AREA)
Abstract
Embodiment of the disclosure discloses a kind of auxiliary driving method, apparatus and system, is related to automobile technical field, can solve the problem of to make driver be unable to judge accurately upcoming traffic situation because the reasons such as weather cause field of front vision fuzzy in the prior art.The method of embodiment of the disclosure includes mainly：It obtains at a distance from the object in the particular range of vehicle and the visual field front, the three-dimensional model diagram of the object and heat source X-Y scheme；According to the distance, the three-dimensional model diagram and the heat source X-Y scheme, the contour of object figure for being labeled with distance and energy indicator body type is generated；The contour of object figure is sent to head-up display, is shown so that the head-up display projects to the contour of object figure on the windshield of the vehicle.Embodiment of the disclosure is primarily adapted for use in the scene that auxiliary driver drives vehicle.
Description
Technical field
Embodiment of the disclosure is related to automobile technical field, more particularly to a kind of auxiliary driving method, apparatus and system.
Background technology
With the development of the society, automobile almost becomes the vehicles necessary to every household so that people’s lives are got over
It is more convenient to come.However, as the automobile on road is more and more, traffic safety increasingly attracts attention.Especially in dense fog, sleet
Or can it is optionally poor in the case of, the field of front vision of driver is fuzzy, is unable to judge accurately upcoming traffic situation, to very
It is easy to happen traffic accident, causes car breakdown or even casualties.Therefore, how in the case where field of front vision is fuzzy,
It is a great problem for needing to capture at present that driver's accurate judgement upcoming traffic situation, which can be allowed,.
Invention content
Embodiment of the disclosure mainly provides the following technical solutions：
In a first aspect, embodiment of the disclosure provides a kind of auxiliary driving method, the method includes：
It obtains at a distance from the object in the particular range of vehicle and the visual field front, the three-dimensional model diagram of the object and heat source two
Dimension figure；
According to the distance, the three-dimensional model diagram and the heat source X-Y scheme, generation is labeled with distance and can indicant
The contour of object figure of body type；
The contour of object figure is sent to head-up display, so that the head-up display throws the contour of object figure
It is shown on shadow to the windshield of the vehicle.
Second aspect, embodiment of the disclosure provide a kind of auxiliary driving device, and described device includes：
Acquiring unit, for obtaining vehicle at a distance from the object in particular range in front of the visual field, the three-dimensional of the object
Illustraton of model and heat source X-Y scheme；
Generation unit, for according to the distance, the three-dimensional model diagram and the heat source X-Y scheme, generation be labeled with away from
From and can indicator body type contour of object figure；
Transmission unit, for the contour of object figure to be sent to head-up display, so that the head-up display is by institute
It states contour of object figure and projects on the windshield of the vehicle and shown.
The third aspect, embodiment of the disclosure provide a kind of storage medium, and the storage medium includes the program of storage,
Wherein, equipment where the storage medium being controlled when described program is run executes the auxiliary driving method described in first aspect.
Fourth aspect, embodiment of the disclosure provide a kind of human-computer interaction device, and described device includes storage medium；And
One or more processor, the storage medium are coupled with the processor, and the processor is configured as depositing described in execution
The program instruction stored in storage media；The auxiliary driving method described in first aspect is executed when described program instruction operation.
5th aspect, embodiment of the disclosure provide a kind of DAS (Driver Assistant System), including human-computer interaction device, laser thunder
It reaches, thermal sensation camera and head-up display；Wherein, the human-computer interaction device is taken the photograph with the laser radar, the thermal sensation respectively
As head is connected with the head-up display；
The laser radar, for measuring vehicle at a distance from the object in particular range in front of the visual field and generating the object
The distance and the three-dimensional model diagram are sent to the human-computer interaction device by the three-dimensional model diagram of body；
The thermal sensation camera, the heat source X-Y scheme for generating the object, and the heat source X-Y scheme is sent to
The human-computer interaction device；
The human-computer interaction device, the distance, the three-dimensional model diagram and described for obtaining laser radar transmission
The heat source X-Y scheme that thermal sensation camera is sent, and according to the distance, the three-dimensional model diagram and the heat source X-Y scheme,
The contour of object figure for being labeled with distance and energy indicator body type is generated, the contour of object figure is sent to head-up display；
The head-up display, the physical contours figure sent for receiving the human-computer interaction device, and will be described
Contour of object figure is projected on the windshield of the vehicle and is shown.
Above description is only the general introduction of embodiment of the disclosure technical solution, in order to better understand the reality of the disclosure
Apply the technological means of example, and can be implemented in accordance with the contents of the specification, and in order to allow the above-mentioned of embodiment of the disclosure and
Other objects, features and advantages can be clearer and more comprehensible, below the special specific implementation mode for lifting embodiment of the disclosure.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit are common for this field
Technical staff will become clear.Attached drawing only for the purpose of illustrating preferred embodiments, and is not considered as to the disclosure
Embodiment limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 shows a kind of flow chart for auxiliary driving method that embodiment of the disclosure provides；
Fig. 2 shows a kind of auxiliary that embodiment of the disclosure provides to drive exemplary plot；
Fig. 3 shows the flow chart for another auxiliary driving method that embodiment of the disclosure provides；
Fig. 4 shows a kind of composition frame chart for auxiliary driving device that embodiment of the disclosure provides；
Fig. 5 shows the composition frame chart for another auxiliary driving device that embodiment of the disclosure provides；
Fig. 6 shows a kind of structural schematic diagram for DAS (Driver Assistant System) that embodiment of the disclosure provides.
Specific implementation mode
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
In a first aspect, embodiment of the disclosure provides a kind of auxiliary driving method, as shown in Figure 1, the method is main
Including：
101, it obtains at a distance from the object in the particular range of vehicle and the visual field front, the three-dimensional model diagram of the object and heat
Source X-Y scheme.
Wherein, the object includes track, people, vehicle, animal, house, other fixed objects and other loose impediments.
When the object includes track, vehicle can be vehicle at a distance from track at a distance from the both sides of track, or vehicle
At a distance from the port of track.
Increasingly due to the phenomenon that in real life, road both sides, shop doorway place the objects such as statue, plastic pattern
It is more, and these statues, plastic pattern are often the shape of people or animal, thus only according to object three-dimensional model diagram be can not be accurate
The type of true judgment object, to be unable to judge accurately the mobility of object.Therefore, in order to object is subsequently recognized accurately
Type, in addition to need obtain object three-dimensional model diagram other than, it is also necessary to the heat source X-Y scheme for obtaining object, by the way that the two is tied
It closes to identify an object.Wherein, it can be laser thunder to measure vehicle with object distance, the equipment of product body three-dimensional models figure
It reaches, the equipment of product body heat source X-Y scheme can be thermal sensation camera.Its specific equipment, does not limit herein.And laser
Radar and thermal sensation camera can also control the working time with real-time working by user.
In addition, particular range can be 120 degree of ranges in front of the visual field in front of the visual field, it can also be other ranges, specifically may be used
With depending on actual demand.
102, according to the distance, the three-dimensional model diagram and the heat source X-Y scheme, generation is labeled with distance and can refer to
Show the contour of object figure of kind of object.
Vehicle is got at a distance from each object in front in human-computer interaction device (such as HMI), the three-dimensional mould of each object
After type figure and heat source X-Y scheme, can kind of object first be identified according to three-dimensional model diagram and heat source X-Y scheme, then further according to object
Body type and at a distance from object, come generate be labeled with distance and can indicator body type contour of object figure.For example, can be
The upper right corner of each contour of object figure marks out distance, and upper left side marks out type；It for another example, can be in each contour of object figure
The upper right corner marks out distance, and variety classes are indicated with different outline patterns, and if humans and animals are red contours, vehicle is green
Colour wheel is wide, and the fixed objects such as house, statue are grey profiles.
103, the contour of object figure is sent to head-up display, so that the head-up display is by the contour of object
Figure is projected on the windshield of the vehicle and is shown.
After the contour of object figure for obtaining each object, in order to allow driver in the case where not bowing, so that it may to see
The relevant information of these contour of object figures causes driving safety hidden danger to avoid bowing, and can be sent to contour of object figure
Head-up display (Head Up Display, abbreviation HUD), the windshield that contour of object figure is projected to vehicle by HUD is enterprising
Row display.Either any weather causes forward visibility poor as a result, and driver can be clearly seen on the windshield
The profile diagram of objects in front, at a distance from object, the type of object, and according to these information securities drive.
It should be noted that the contour of object figure of display is actually a field of front vision X-Y scheme, do not include merely
The profile of each individual, also has relative position relation, realizes the effect on the windshield by the displaying of front real picture.
As shown in Fig. 2, having at 12m it can be seen that thering is a pedestrian to go across the road at the 7m of front on the windshield of vehicle
Automobile wanted crossroad, had seat building at 15m, the road width travelled is 5m, and driver can be according to these letters
Breath carries out Reduced Speed Now.
The auxiliary driving method that embodiment of the disclosure provides can be obtained first in front of vehicle and the visual field in particular range
The distance of object, the three-dimensional model diagram of object and heat source X-Y scheme, then according to distance, three-dimensional model diagram and heat source X-Y scheme,
It is labeled with the contour of object figure of distance and energy indicator body type, the contour of object figure is finally sent to head-up display, with
Just contour of object figure is projected on the windshield of vehicle and is shown by head-up display, to which either what weather causes
Forward visibility is poor, driver can be clearly seen on the windshield the profile diagram of objects in front, at a distance from object,
The type of object, and then accurate judgement upcoming traffic situation avoid the traffic accident caused by field of front vision is fuzzy.
Second aspect, according to the method described in first aspect, another embodiment of the disclosure additionally provides a kind of auxiliary
Drive manner, as shown in figure 3, the method includes mainly：
201, it after receiving the enabled instruction of user, triggers laser radar and thermal sensation camera is started to work.
It is pointed out in the step 101 of above-described embodiment, laser radar with measurement distance and can generate the threedimensional model of object
Figure, thermal sensation camera can generate the heat source X-Y scheme of object, and laser radar and thermal sensation camera can with real-time working,
User (such as driver) can be controlled by.When controlling the work of laser radar and thermal sensation camera by driver, can save
Resource consumption extends service life of equipment.
Wherein, the specific implementation of the working condition of laser radar and thermal sensation camera is controlled by driver to be：
Driver can click start button on the interface of human-computer interaction device so that and human-computer interaction device receives enabled instruction,
Then it triggers laser radar and thermal sensation camera is started to work；It, can be in human-computer interaction when driver does not need this functionality
Close button is clicked on the interface of device so that human-computer interaction device triggers laser radar and thermal sensation camera is stopped.
202, obtain the vehicle of the lidar measurement at a distance from the object in particular range in front of the visual field, it is described sharp
The heat source two dimension for the object that the three-dimensional model diagram and the thermal sensation camera for the object that optical radar generates generate
Figure.
After human-computer interaction device triggers laser radar and thermal sensation camera is started to work, the laser emitter of laser radar
Rotation, is simultaneously emitted by multi beam single line laser, and vehicle-surroundings object generates reflection, the laser pick-off of laser radar after encountering laser
Device receives reflection photon, by the distance of time calculating laser emitter to object, and passes through the reflection of multi beam single line laser, raw
At the three-dimensional model diagram of periphery object, finally it will be sent to human-computer interaction with the three-dimensional model diagram of object at a distance from object and fill
It sets；Thermal sensation camera detects objects in front heat source, generates the heat source X-Y scheme of institute detecting object, and by the heat source X-Y scheme of object
It is sent to human-computer interaction device.
203, according to the distance, the three-dimensional model diagram and the heat source X-Y scheme, generation is labeled with distance and can refer to
Show the contour of object figure of kind of object.
Specifically, human-computer interaction device can identify institute first according to the three-dimensional model diagram of same object and heat source X-Y scheme
State the type of object；Then the contour of object figure of the kind of object can be indicated by generating；Finally around the contour of object figure
Specific location mark out the vehicle at a distance from the object, obtain be labeled with distance and can indicator body type object
Body profile diagram.
Wherein, generating the concrete methods of realizing of the contour of object figure of energy indicator body type can be：According to the kind of object
Class generates the contour of object figure of the object, so that the outline pattern of different types of object is different；And/or generate mark
There is the contour of object figure of kind of object.
Illustratively, the profile of people can be set to red, the profile of animal is set to pink colour, by the profile of vehicle
It is set as green, sets the profile of other fixed objects to grey；Alternatively, the specific location mark directly around contour of object
Outpour kind of object；Alternatively, while pattern difference, kind of object is marked out.
In addition, the object closer apart from vehicle, is worth driver's concern.In order to allow driver more intuitively rapidly to look for
To the closer object of distance, the profile of the object can be carried out to unique setting, and/or, send out audio alert prompt.Namely
It says, when object is less than predetermined threshold value at a distance from the vehicle, the profile of corresponding object is arranged to flicker state；And/or
When object is less than predetermined threshold value at a distance from the vehicle, audio alert prompt is sent out.Wherein, audio alert prompt includes object
The type of body, at a distance from object and the direction etc. of object.
204, the contour of object figure is sent to head-up display, so that the head-up display is by the contour of object
Figure is projected on the windshield of the vehicle and is shown.
205, it after receiving the halt instruction of user, triggers the laser radar and the thermal sensation camera stops work
Make.
The auxiliary driving method that embodiment of the disclosure provides, can not only show the phase of objects in front on the windshield
Close information, to allow driver without bow, without being concerned about weather outside in the case of, it will be able to clearly know upcoming traffic feelings
Condition can also allow driver to control the unlatching and end of this function, and then save device resource.
The third aspect, according to Fig. 1 or shown in Fig. 3 methods, another embodiment of the disclosure additionally provides a kind of auxiliary
Pilot instrument, as shown in figure 4, described device includes mainly：
Acquiring unit 31, for obtaining at a distance from the object in front of vehicle and the visual field in particular range, the object three
Dimension module figure and heat source X-Y scheme；
Generation unit 32, for being labeled with according to the distance, the three-dimensional model diagram and the heat source X-Y scheme, generation
The contour of object figure of distance and energy indicator body type；
Transmission unit 33, for the contour of object figure to be sent to head-up display, so that the head-up display will
The contour of object figure is projected on the windshield of the vehicle and is shown.
In some embodiments, the acquiring unit 31, for obtain the vehicle of lidar measurement with before the visual field
The three-dimensional model diagram for the object that the distance of object in square particular range, the laser radar generate and thermal sensation camera shooting
It is first-born at the object heat source X-Y scheme.
In some embodiments, as shown in figure 5, described device further includes：
Trigger element 34 is taken the photograph for after receiving the enabled instruction of user, triggering the laser radar and the thermal sensation
As head is started to work；And/or after receiving the halt instruction of user, the laser radar and the thermal sensation camera are triggered
It is stopped.
In some embodiments, as shown in figure 5, the generation unit 32 includes：
Identification module 321 identifies the kind of the object for the three-dimensional model diagram and heat source X-Y scheme according to same object
Class；
Generation module 322, for generating the contour of object figure that can indicate the kind of object；
Labeling module 323, for the specific location around the contour of object figure mark out the vehicle with it is described
The distance of object.
In some embodiments, as shown in figure 5, the generation module 322, for the type according to object, described in generation
The contour of object figure of object, so that the outline pattern of different types of object is different；And/or it generates and is labeled with kind of object
Contour of object figure.
It in some embodiments, alarm unit 35 will when being used to be less than predetermined threshold value at a distance from the vehicle when object
The profile of corresponding object is arranged to flicker state；And/or it when object is less than predetermined threshold value at a distance from the vehicle, sends out
Audio alert prompts.
In some embodiments, the object include track, people, vehicle, animal, house, other fixed objects and other
Loose impediment.
In some embodiments, the generation unit 32 is additionally operable to when the object includes track, the vehicle and institute
The distance for stating track includes the vehicle at a distance from the track both sides.
Described device includes pocessor and storage media, above-mentioned acquiring unit, generation unit, transmission unit, trigger element
It is stored in a storage medium, is stored in a storage medium by processor execution above-mentioned as program unit with alarm unit etc.
Program unit realizes corresponding function.
Include kernel in above-mentioned processor, is gone in storage medium to transfer corresponding program unit by kernel.Kernel can be set
One or more is set, assists driver to drive vehicle by adjusting kernel parameter, is made because field of front vision is fuzzy to reduce
At traffic accident quantity.
The auxiliary driving device that embodiment of the disclosure provides can be obtained first in front of vehicle and the visual field in particular range
The distance of object, the three-dimensional model diagram of object and heat source X-Y scheme, then according to distance, three-dimensional model diagram and heat source X-Y scheme,
It is labeled with the contour of object figure of distance and energy indicator body type, the contour of object figure is finally sent to head-up display, with
Just contour of object figure is projected on the windshield of vehicle and is shown by head-up display, to which either what weather causes
Forward visibility is poor, driver can be clearly seen on the windshield the profile diagram of objects in front, at a distance from object,
The type of object, and then accurate judgement upcoming traffic situation avoid the traffic accident caused by field of front vision is fuzzy.In addition, may be used also
The unlatching and end of this function are controlled to allow driver, and then saves device resource.
The auxiliary driving device that the embodiment of the third aspect provides, can be executing the reality of first aspect or second aspect
Apply the auxiliary driving method that example is provided, the relevant meaning being used for and specific embodiment may refer to first aspect or
Associated description in the embodiment of second aspect, is no longer described in detail herein.
Fourth aspect, embodiment of the disclosure provide a kind of storage medium, and the storage medium includes the program of storage,
Wherein, equipment where the storage medium being controlled when described program is run executes the auxiliary described in first aspect or second aspect
Drive manner.
Storage medium may include the volatile memory in computer-readable medium, random access memory (RAM)
And/or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes at least one
Storage chip.
5th aspect, embodiment of the disclosure provide a kind of human-computer interaction device, and described device includes storage medium；And
One or more processor, the storage medium are coupled with the processor, and the processor is configured as depositing described in execution
The program instruction stored in storage media；The auxiliary executed described in first aspect or second aspect when described program instruction operation drives
Method.
6th aspect, embodiment of the disclosure provide a kind of DAS (Driver Assistant System), as shown in fig. 6, including human-computer interaction
Device 41, laser radar 42, thermal sensation camera 43 and head-up display 44；Wherein, the human-computer interaction device 41 respectively with institute
State laser radar 42, the thermal sensation camera 43 is connected with the head-up display 44；
The laser radar 42, for measuring vehicle at a distance from the object in particular range in front of the visual field and described in generation
The distance and the three-dimensional model diagram are sent to the human-computer interaction device 41 by the three-dimensional model diagram of object；
The thermal sensation camera 43, the heat source X-Y scheme for generating the object, and the heat source X-Y scheme is sent
To the human-computer interaction device 41；
The human-computer interaction device 41, for obtain laser radar 42 transmission the distance, the three-dimensional model diagram and
The heat source X-Y scheme that the thermal sensation camera 43 is sent, and according to the distance, the three-dimensional model diagram and the heat source
X-Y scheme generates the contour of object figure for being labeled with distance and energy indicator body type, the contour of object figure is sent to head-up
Display 44；
The head-up display 44, the physical contours figure for receiving the transmission of the human-computer interaction device 41, and will
The contour of object figure is projected on the windshield of the vehicle and is shown.
In some embodiments, the human-computer interaction device 41, is additionally operable to after receiving the enabled instruction of user, triggering
The laser radar 42 and the thermal sensation camera 43 are started to work；
And/or after receiving the halt instruction of user, triggers the laser radar 42 and the thermal sensation camera 43 stops
Only work.
In some embodiments, the human-computer interaction device 41, for the three-dimensional model diagram and heat source according to same object
X-Y scheme identifies the type of the object；The contour of object figure of the kind of object can be indicated by generating；In the contour of object figure
The specific location of surrounding marks out the vehicle at a distance from the object.
In some embodiments, the human-computer interaction device 41 generates the object of the object for the type according to object
Body profile diagram, so that the outline pattern of different types of object is different；And/or generate the object wheel for being labeled with kind of object
Exterior feature figure.
In some embodiments, the human-computer interaction device 41, for being preset when object is less than at a distance from the vehicle
When threshold value, the profile of corresponding object is arranged to flicker state；And/or when object is less than default threshold at a distance from the vehicle
When value, audio alert prompt is sent out.
In some embodiments, the object include track, people, vehicle, animal, house, other fixed objects and other
Loose impediment.
In some embodiments, when the object includes track, the vehicle includes described at a distance from the track
Vehicle is at a distance from the track both sides.
The DAS (Driver Assistant System) that embodiment of the disclosure provides, can first obtain lidar measurement by human-computer interaction device
Vehicle and the visual field in front of at a distance from object in particular range, the heat source that the three-dimensional model diagram of object and thermal sensation camera generate
X-Y scheme is labeled with the object wheel of distance and energy indicator body type then according to distance, three-dimensional model diagram and heat source X-Y scheme
Exterior feature figure, is finally sent to head-up display, so that contour of object figure is projected to vehicle by head-up display by the contour of object figure
Windshield on shown, cause forward visibility poor to either what weather, driver can be in the glass that keeps out the wind
The profile diagram of objects in front can be clearly seen on glass, at a distance from object, the type of object, and then accurate judgement upcoming traffic feelings
Condition avoids the traffic accident caused by field of front vision is fuzzy.Further, it is also possible to allow driver to control unlatching and the knot of this function
Beam, and then save device resource.
Embodiment of the disclosure additionally provides a kind of computer program product, when being executed on human-computer interaction device, fits
In the program code for executing initialization there are as below methods step：
It obtains at a distance from the object in the particular range of vehicle and the visual field front, the three-dimensional model diagram of the object and heat source two
Dimension figure；
According to the distance, the three-dimensional model diagram and the heat source X-Y scheme, generation is labeled with distance and can indicant
The contour of object figure of body type；
The contour of object figure is sent to head-up display, so that the head-up display throws the contour of object figure
It is shown on shadow to the windshield of the vehicle.
It should be understood by those skilled in the art that, embodiment of the disclosure can be provided as method, system or computer program
Product.Therefore, embodiment of the disclosure can be used complete hardware embodiment, complete software embodiment or combine software and hardware
The form of the embodiment of aspect.Moreover, it wherein includes that computer is available that embodiment of the disclosure, which can be used in one or more,
It is real in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code
The form for the computer program product applied.
The application is the flow chart of the method for reference embodiment of the disclosure, equipment (system) and computer program product
And/or block diagram describes.It should be understood that each flow in flowchart and/or the block diagram can be realized by computer program instructions
And/or the combination of the flow and/or box in box and flowchart and/or the block diagram.These computer programs can be provided to refer to
Enable the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to generate
One machine so that by the instruction that computer or the processor of other programmable data processing devices execute generate for realizing
The device for the function of being specified in one flow of flow chart or multiple flows and/or one box of block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, computing device includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include computer-readable medium in volatile memory, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology realizes information storage.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic tape cassette, tape magnetic disk storage or other magnetic storage apparatus
Or any other non-transmission medium, it can be used for storage and can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
Including so that process, method, commodity or equipment including a series of elements include not only those elements, but also wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
There is also other identical elements in process, method, commodity or equipment.
It will be understood by those skilled in the art that embodiment of the disclosure can be provided as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or combining software and hardware aspects can be used in embodiment of the disclosure
The form of embodiment.Moreover, it wherein includes computer available programs generation that embodiment of the disclosure, which can be used in one or more,
The meter implemented in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of code
The form of calculation machine program product.
It these are only embodiments herein, be not intended to limit this application.To those skilled in the art,
The application can have various modifications and variations.It is all within spirit herein and principle made by any modification, equivalent replacement,
Improve etc., it should be included within the scope of claims hereof.
Claims (18)
1. a kind of auxiliary driving method, which is characterized in that the method includes：
Obtain at a distance from the object in front of vehicle and the visual field in particular range, the three-dimensional model diagram of the object and heat source it is two-dimentional
Figure；
According to the distance, the three-dimensional model diagram and the heat source X-Y scheme, generation is labeled with distance and can indicator body kind
The contour of object figure of class；
The contour of object figure is sent to head-up display, so that the head-up display projects to the contour of object figure
It is shown on the windshield of the vehicle.
2. according to the method described in claim 1, it is characterized in that, obtaining vehicle and the object in particular range in front of the visual field
Distance, the three-dimensional model diagram of the object and heat source X-Y scheme include：
The vehicle of lidar measurement is obtained at a distance from the object in particular range in front of the visual field, laser radar life
At the object three-dimensional model diagram and thermal sensation camera generate the object heat source X-Y scheme.
3. according to the method described in claim 2, it is characterized in that, the method further includes：
After receiving the enabled instruction of user, triggers the laser radar and the thermal sensation camera is started to work；
And/or after receiving the halt instruction of user, triggers the laser radar and the thermal sensation camera is stopped.
4. according to the method described in claim 1, it is characterized in that, according to the distance, the three-dimensional model diagram and the heat
Source X-Y scheme, generation is labeled with distance and the contour of object figure of energy indicator body type includes：
According to the three-dimensional model diagram of same object and heat source X-Y scheme, the type of the object is identified；
The contour of object figure of the kind of object can be indicated by generating；
Specific location around the contour of object figure marks out the vehicle at a distance from the object.
5. according to the method described in claim 4, it is characterized in that, generating the contour of object figure packet that can indicate the kind of object
It includes：
According to the type of object, the contour of object figure of the object is generated, so that the outline pattern of different types of object is not
Together；
And/or generate the contour of object figure for being labeled with kind of object.
6. according to the method described in claim 1, it is characterized in that, the method further includes：
When object is less than predetermined threshold value at a distance from the vehicle, the profile of corresponding object is arranged to flicker state；
And/or when object is less than predetermined threshold value at a distance from the vehicle, audio alert prompt is sent out.
7. method according to any one of claim 1 to 6, which is characterized in that the object include track, people, vehicle,
Animal, house, other fixed objects and other loose impediments.
8. the method according to the description of claim 7 is characterized in that when the object includes track, the vehicle with it is described
The distance in track includes the vehicle at a distance from the track both sides.
9. a kind of auxiliary driving device, which is characterized in that described device includes：
Acquiring unit, for obtaining vehicle at a distance from the object in particular range in front of the visual field, the threedimensional model of the object
Figure and heat source X-Y scheme；
Generation unit, for according to the distance, the three-dimensional model diagram and the heat source X-Y scheme, generation be labeled with distance and
The contour of object figure of energy indicator body type；
Transmission unit, for the contour of object figure to be sent to head-up display, so that the head-up display is by the object
Body profile diagram is projected on the windshield of the vehicle and is shown.
10. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein run in described program
When control the storage medium where equipment perform claim require auxiliary driving method described in any one of 1 to 8.
11. a kind of human-computer interaction device, which is characterized in that described device includes storage medium；And one or more processor,
The storage medium is coupled with the processor, and the processor, which is configured as executing the program stored in the storage medium, to be referred to
It enables；Perform claim requires the auxiliary driving method described in any one of 1 to 8 when described program instruction operation.
12. a kind of DAS (Driver Assistant System), which is characterized in that including human-computer interaction device, laser radar, thermal sensation camera and head-up
Display；Wherein, the human-computer interaction device respectively with the laser radar, the thermal sensation camera and the head-up display
It is connected；
The laser radar, for measuring vehicle at a distance from the object in particular range in front of the visual field and generating the object
The distance and the three-dimensional model diagram are sent to the human-computer interaction device by three-dimensional model diagram；
The thermal sensation camera, the heat source X-Y scheme for generating the object, and the heat source X-Y scheme is sent to described
Human-computer interaction device；
The human-computer interaction device, the distance, the three-dimensional model diagram and the thermal sensation for obtaining laser radar transmission
The heat source X-Y scheme that camera is sent, and according to the distance, the three-dimensional model diagram and the heat source X-Y scheme, generate
It is labeled with the contour of object figure of distance and energy indicator body type, the contour of object figure is sent to head-up display；
The head-up display, the physical contours figure sent for receiving the human-computer interaction device, and by the object
Profile diagram is projected on the windshield of the vehicle and is shown.
13. system according to claim 12, which is characterized in that the human-computer interaction device is additionally operable to receiving use
After the enabled instruction at family, triggers the laser radar and the thermal sensation camera is started to work；
And/or after receiving the halt instruction of user, triggers the laser radar and the thermal sensation camera is stopped.
14. system according to claim 12, which is characterized in that the human-computer interaction device, for according to same object
Three-dimensional model diagram and heat source X-Y scheme, identify the type of the object；The contour of object of the kind of object can be indicated by generating
Figure；Specific location around the contour of object figure marks out the vehicle at a distance from the object.
15. system according to claim 14, which is characterized in that the human-computer interaction device, for the kind according to object
Class generates the contour of object figure of the object, so that the outline pattern of different types of object is different；And/or generate mark
There is the contour of object figure of kind of object.
16. system according to claim 12, which is characterized in that the human-computer interaction device, for when object with it is described
When the distance of vehicle is less than predetermined threshold value, the profile of corresponding object is arranged to flicker state；And/or when object and the vehicle
Distance be less than predetermined threshold value when, send out audio alert prompt.
17. the system according to any one of claim 12 to 16, which is characterized in that the object includes track, people, vehicle
, animal, house, other fixed objects and other loose impediments.
18. system according to claim 17, which is characterized in that when the object includes track, the vehicle and institute
The distance for stating track includes the vehicle at a distance from the track both sides.
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| CN108583434B (en) | 2020-05-15 |
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