CN108875658A - A kind of object identifying method based on V2X communication apparatus - Google Patents
A kind of object identifying method based on V2X communication apparatus Download PDFInfo
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- CN108875658A CN108875658A CN201810667228.4A CN201810667228A CN108875658A CN 108875658 A CN108875658 A CN 108875658A CN 201810667228 A CN201810667228 A CN 201810667228A CN 108875658 A CN108875658 A CN 108875658A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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Abstract
The present invention relates to a kind of object identifying method based on V2X communication apparatus, this method be used for make main view point on the move on road wouldn't visible object identify, wherein this method comprises the following steps：The image of object is obtained by the Vision imaging system of another auxiliary view on road, and determines a series of position coordinates of the trend of object under auxiliary view using the image；A series of position coordinates of the trend of object under auxiliary view are sent to main view point by the V2X communication apparatus of auxiliary view；Calculate relative position coordinates of the main view point relative to auxiliary view；A series of position coordinates of the trend of object under auxiliary view are converted into a series of position coordinates under main view point based on the relative position coordinates；And a series of position coordinates based on object under main view point show the trend of object on the display of main view point.
Description
Technical field
The present invention relates to V2X communication technique field, more particularly it relates to a kind of based on V2X communication apparatus
Object identifying method.
Background technique
In order to promote the safety and intelligence of traffic system, the concept of intelligent transportation system is just gradually risen.In recent years
The exploitation of intelligent transportation system is concentrated mainly on car networking field, wherein V2X (Vehicle-To-Everything) car networking skill
Art is even more the following automatic Pilot, the basis of intelligent transport system and key, it can be by obtaining real-time road, road letter
The traffic informations such as breath, pedestrian information realize the communication between vehicle and vehicle, vehicle and base station, base station and base station, to improve driving peace
Quan Xing, congestion is reduced, traffic efficiency is improved, reduces traffic accident rate, car entertainment information is provided.
Existing V2X technology is mainly set using the wireless radio frequency discrimination RFID technology that is loaded on vehicle, sensor, radar
It is standby to obtain vehicle driving situation and peripheral path environmental information, and these information are carried out by D2D technology by end-to-end transmission,
Then the shared of in entire car networking system information is realized.By the analysis processing to these information, can join in time to vehicle
Correspondence target in net system carries out early warning, such as the cooperation ditch between various anticollisions, the prompting of anti-overturning, vehicle passes to
And on road vulnerable to hurting sb.'s feelings group and special emergency vehicle gives way and warns.
For example, Suzhou automotive research institute of Tsinghua University proposes a kind of application in patent document CN201620800164.7
In the HMI display system of V2X scene, trackside information and image are obtained based on communicating with roadside device, and pass through connection HMI mould
Block realization driver interacts display with external environment, and driver is made to have more intuitive understanding to ambient enviroment.Wherein, this is
System is obtained by traffic controller, Traffic flow detecting device, meteorological condition detection device, Tunnel testing equipment, radar module etc.
Pick-up ambient condition information, and corresponding continuously right-angled intersection early warning, intersection are carried out by analyzing these information
Anti-collision warning, low visibility early warning or unsighted early warning, these early warning are in the form of corresponding HMI display interface to driver
It presents.This display mode cannot effectively show external environment, and driver need to watch middle control display screen attentively to obtain external information,
Driving safety can be had an impact.In addition, the system needs to use a series of complex such as radar, meteorological condition detection device and holds high
Expensive ancillary equipment increases research and development cost, and can not detect pedestrian by roadside device.Furthermore the system, which is put forth effort on, borrows
The environmental information for helping mobile unit and roadside device driver is made to know vehicle periphery can not carry out inter-vehicle communication.
Chongqing Mail and Telephones Unvi proposes a kind of city crossroad based on C-V2X in patent document CN201810011640.0
Mouth pedestrian detection identifying system, the system are taken by the interaction of C-V2X mobile phone and other vehicle network terminations by C-V2X mobile phone
C-V2X mobile phone carrier is judged with the location of person, speed, direction of advance etc. for the probability of pedestrian, to avoid that will take action
Slow vehicle, Vehicular occupant are erroneously identified as pedestrian.The system is set using C-V2X mobile phone instead of traditional detections of radar
It is standby, cost has been saved to a certain extent and still has been able to be detected in the case where target is blocked, but it requires to own
The object for participating in identifying system carries C-V2X equipment, and can only determine whether C-V2X mobile phone carrier is pedestrian, can not
The specific trend of pedestrian is intuitively presented to vehicle driver.
Summary of the invention
To solve the problems, such as that one or more in the prior art, the present invention propose a kind of object based on V2X communication apparatus
Recognition methods, this method can be that main viewpoint (such as rear car) provides it by the auxiliary view (such as front truck) on traffic route
The vision imaging of blind area, so that it is originally sightless on road to enable the driver of rear car " to see " with intuitive way
(being blocked by auxiliary view) target object and its movement trend, improve drive safety, reduce traffic accident,.
According to the present invention, a kind of object identifying method based on V2X communication apparatus is provided, this method is on the move for making
Main view point on road wouldn't visible object identify, wherein this method comprises the following steps：By another on road
The Vision imaging system of one auxiliary view obtains the image of object, and determines the trend of object under auxiliary view using the image
A series of position coordinates；A series of positions by the V2X communication apparatus of auxiliary view by the trend of object under auxiliary view
It sets coordinate and is sent to main view point；Calculate relative position coordinates of the main view point relative to auxiliary view；It is sat based on the relative position
A series of position coordinates of the trend of object under auxiliary view are converted into a series of position coordinates under main view point by mark；With
And a series of position coordinates based on object under main view point show the trend of object on the display of main view point.
Wherein, the main view point and auxiliary view can be the vehicles or pedestrians for carrying V2X communication apparatus.
Wherein, the trend of object is shown that the step on the display of main view point may include：Structure on the display
Virtual target is built, and determines the virtual target in the display based on a series of position coordinates of the object under main view point
Motion profile on device.
Wherein, the virtual target can be rendered as the form of the fictitious outline of symbol, arrow or object.
Wherein, when the virtual target is rendered as the form of the fictitious outline of object, the method may also include：To auxiliary
The image of object acquired in the Vision imaging system of viewpoint is helped to carry out image procossing, to extract the outer of object from background image
Shape profile；With the fictitious outline according to appearance profile reconstructed object on the display of main view point of extracted object, and base
The motion profile of the fictitious outline on the display is determined in a series of position coordinates of the object under main view point.
Wherein, the display can be HUD display.
Wherein, the V2X communication apparatus can assist the trend of object by dedicated short-range communication technology or 4G or 5G
A series of position coordinates under viewpoint are sent to main view point.
Wherein, the step of calculating relative position coordinates of the main view point relative to auxiliary view may include：Determine main view point and
The current position coordinates of auxiliary view；Determine that main view point and auxiliary regard with based on the current position coordinates of main view point and auxiliary view
Relative position coordinates between point.
Wherein, the sightless object is the object blocked for main view point by auxiliary view.
Wherein, the object blocked by auxiliary view can be pedestrian, vehicle or barrier on road.
The above-mentioned object identifying method based on V2X communication apparatus at least has the following advantages that：
Prevent the object on road from causing front vehicle to generate thing due to cannot noticing the object in time because being blocked by front truck
Therefore drive safety is improved, reduce traffic accident；
Road information can be fed back to driver in a manner of intuitive, convenient, allow the operator to visually " see
See " originally invisible on road/object (such as pedestrian) for being blocked and its movement trend；
Show that ambient condition information is presented to vehicle driver in equipment by HUD, driver does not need to watch middle control screen attentively
Obtain road information.
It is used to illustrate the specific reality of certain principles of the invention together with attached drawing by include this paper attached drawing and then
Mode is applied, other feature possessed by method of the invention and advantage will be apparent or more specifically illustrated.
Detailed description of the invention
Now will present invention is described in more detail and with reference to attached drawing, in the accompanying drawings：
Fig. 1 shows showing for the system for implementing the object identifying method according to the present invention based on V2X communication apparatus
It is intended to；
Fig. 2 shows the streams of the object identifying method based on V2X communication apparatus of an exemplary embodiment of the present invention
Cheng Tu, this method is used to that main view point (such as vehicle B) to be made intuitively to see on road by auxiliary view (vehicle A) originally can not
The target object O (such as pedestrian) seen；
Fig. 3 shows the detailed process for determining position coordinates of the target object O under main view point by auxiliary view；
Fig. 4 shows by object identifying method shown in Fig. 2 on the windshield of vehicle B what intuitively display was blocked
The schematic diagram of object (pedestrian).
Specific embodiment
The object based on V2X communication apparatus realized according to the present invention is described below with reference to accompanying drawings and by embodiment
Recognition methods.In the following description, numerous specific details are set forth to make person of ordinary skill in the field more comprehensively
Ground understands the present invention.But for the technical staff in technical field it is evident that realization of the invention can not have this
It is some in a little details.On the contrary, it may be considered that implement the present invention with any combination of following feature and element, and nothing
Whether it is related to different embodiments by them.Therefore, various aspects, feature, embodiment and advantage below is used for illustrative purposes only
And it is not construed as the element or restriction of claim, unless clearly proposing in the claims.
On vehicle driving road, not all object can be seen by vehicle driver.For example, working as front and back two
Vehicle A and B simultaneously on lane when driving, the partial visual field of rear car B can be sheltered from by front truck A, especially front truck A be vehicle compared with
When big lorry, SUV, bus, after cannot be introduced by the vehicle of pedestrian, park that front truck A is blocked or barrier etc.
The visual field of vehicle B, this makes the driver of rear car B that can not obtain the global visual field of ambient enviroment, causes puzzlement to driver, sternly
Traffic accident is resulted even in when weight.
The present invention proposes a kind of object identifying method based on V2X communication apparatus, it is intended to by auxiliary view (such as vehicle
A the auxiliary view of blind area) is provided for main viewpoint (such as vehicle B), enables main view point on the move on road
Sightless object (such as pedestrian) identifies.Herein, term " sightless object " refer to for main view point and
It says sightless object, such as the object blocked by auxiliary view, refers in particular to the pedestrian being blocked on vehicle driving road, vehicle
Or barrier.
Fig. 1 shows showing for the system for implementing the object identifying method according to the present invention based on V2X communication apparatus
It is intended to, which is intended to show by windscreen to provide the auxiliary view of blind area for driver.Specifically, front truck A first
The image information of pedestrian is captured by its vehicle-mounted camera and position of the pedestrian under front truck coordinate system is determined based on the image information
Set coordinate, subsequent front truck A is by its transmitter (such as V2X communication apparatus) by identified pedestrian position coordinate to neighbouring vehicle
It is broadcasted.Here, V2X communication apparatus can broadcast to neighbouring vehicle by dedicated short-range communication technology DSRC or 4G or 5G and believe
Number.
Rear car B (rear car B can not see pedestrian originally) in broadcasting area in front truck A is received by its receiver
The pedestrian's coordinate that front truck transmits.It can determine it will be apparent to a skilled person that being separately installed on vehicle A and B
The locating module of current location, and its location information is also sent to rear car B by front truck A, is especially destined to the electronics of rear car B
Control unit ECU, the electronic control unit can determine relative position between the two based on the current location information of vehicle A and B
Coordinate.As another example, the relative position that cloud server receives the location information of vehicle A, B and determines the two can also be used
Coordinate.
Obtaining relative position coordinates of the pedestrian between the position coordinates and front truck A and rear car B under front truck coordinate system
Later, rear car B can calculate position coordinates of the pedestrian under rear car coordinate system.And rear car B is by its head up display (HUD)
The position of projection trip people is referred to for driver on windshield.It is as described herein " main other than vehicle A, B of citing
Viewpoint " and " auxiliary view " may also include the pedestrian for carrying V2X communication apparatus.
Fig. 2 shows the streams of the object identifying method based on V2X communication apparatus of an exemplary embodiment of the present invention
Cheng Tu, the object identifying method are used to make main view point (such as vehicle B) on the move to road by auxiliary view (such as vehicle A)
Road wouldn't visible target object O (such as pedestrian) identify.Come below with reference to the step S101 to S106 in Fig. 2 detailed
Each step of thin description this method.
Firstly, obtaining target pair by the Vision imaging system of road vehicle A (auxiliary view) in step s101
The image of elephant, and position coordinates (step S102) of the target object at vehicle A are determined using the image.Due under normal conditions
Target object and/or vehicle A are in movement, therefore the image that the Vision imaging system of vehicle A obtains is the one of target object
The continuous image sequence of series, and the position coordinates of identified target object are the movement trends that can indicate target object
A series of variations position coordinates sequence.
After determining position coordinates of the target object at vehicle A, communicated in step s 103 by the V2X of vehicle A
Position coordinates of the target object at vehicle A are sent to vehicle B (main view point) by equipment.Here, V2X communication apparatus can be by special
The position coordinates of target object are sent to vehicle B with short-range communication technology (DSRC) or 4G or 5G.In addition, dividing on vehicle A and B
The locating module that can determine its current location is not installed, vehicle B member can be determined based on vehicle A and B current location information
Relative position coordinates (step S104) between the two.In addition, the phase that long-range cloud server determines vehicle A, B can also be used
To position coordinates.
Then, in step s105, based on the relative position coordinates between vehicle A and vehicle B by target object in vehicle A
Under position coordinates be converted into the position coordinates at vehicle B.
Finally, in step s 106, position coordinates based on target object at vehicle B are by the movement trend of target object
It is shown on the HUD display of vehicle B.Specifically, the step can be for example including：It is constructed on the HUD display of vehicle B empty
Quasi- target, and the movement of the position coordinates real-time control virtual target by target object O at vehicle B, that is to say, that
The virtual target is sat in the motion profile on the HUD display of vehicle B based on a series of positions of the target object O under main view point
Mark determines.
Wherein, virtual target constructed on the HUD display of vehicle B can be rendered as symbol, arrow or target object
The form of fictitious outline.For example, when virtual target is rendered as the form of the fictitious outline of target object, it is also necessary to vehicle A
Vision imaging system acquired in the image of target object carry out image procossing to extract target object from background image
Appearance profile.Target object is rebuild on the HUD display of vehicle B subsequently, based on the appearance profile of extracted target object
Fictitious outline, and the movement of the position coordinates real-time control fictitious outline using target object at vehicle B.
Fig. 3 is shown for determining the illustrative detailed of position coordinates of the target object O at vehicle B by vehicle A
Process.The process is summarized as follows：Position coordinates (x of the pedestrian at vehicle A is determined firstA, yA), then or at the same time, utilize
Centimeter Level GPS system realizes the precise positioning of vehicle A, B and determines their relative positional relationship, finally utilizes the positional relationship
Realize pedestrian's coordinate from vehicle A coordinate system to the conversion of vehicle B coordinate system.Wherein, GPS system is by the location information of vehicle A, B
It is sent to cloud server or the electronic control unit ECU of vehicle B by the I/O interface of GPS terminal, by being burnt in advance
Software program in the chip of cloud server or ECU calculates the relative positional relationship of vehicle A, B.
According to a preferred embodiment, position coordinates (x of the pedestrian at vehicle A is being determinedA, yA), the position of vehicle A sits
Mark (x1, x1) and driving direction 1 and vehicle B position coordinates (x2, x2) and driving direction 2 after, first determine whether vehicle A's
Whether driving direction 1 and the driving direction of vehicle B 2 are identical, if identical, calculate the spacing between two vehicles：
Also, judge whether the spacing d between vehicle A, B is less than predetermined value (such as 10m), if it is less than predetermined value, then
Calculate angle of the B vehicle relative to A vehicle：
θ=arctan [(y1-y2)/(x1-x2)],
Subsequently, based on position coordinates (x of the pedestrian at vehicle AA, yA) and vehicle A, B between spacing d and angle, θ,
Calculate position coordinates of the pedestrian at vehicle B：
xB=xA+dcosθ
yB=yA+dsinθ。
Fig. 4 shows using object identifying method shown in Fig. 2 on the windshield of vehicle B what intuitively display was blocked
The schematic diagram of pedestrian.As shown in figure 4, be in the blind area of vehicle B by the vehicle A pedestrian blocked, it is according to the present invention right
As recognition methods, auxiliary view is provided for vehicle B by vehicle A, the virtual portrait of pedestrian is accordingly projected to the gear of vehicle B
On wind glass, the driver of vehicle B is enabled to be intuitive to see sightless pedestrian originally and its movement trend.Projection pattern
In such a way that projector rebuilds virtual portrait on the windshield, which is controlled by the pedestrian's coordinate after resolving
As mobile, to replace the pedestrian being blocked.Specifically, the image information of pedestrian is obtained simultaneously by the Vision imaging system of vehicle A
The appearance profile that pedestrian is extracted based on the image information, rebuilds pedestrian's based on the appearance profile on the HUD display of vehicle B
Virtual portrait, and the position coordinates real-time control void of the pedestrian obtained using the method according to fig. 2 or in Fig. 3 at vehicle B
The movement of anthropomorphic picture.In addition, the virtual target on HUD display can also be rendered as the form of symbol, arrow.
Object identifying method based on V2X communication apparatus according to above-described embodiment, can be by traffic route
On auxiliary view (such as front truck) be main viewpoint (such as rear car) vision imaging of its blind area is provided, to make rear car
Driver " can see " sightless (being blocked by auxiliary view) object and its movement originally on road with intuitive way
Trend, it is therefore prevented that the object on road causes front vehicle to generate thing due to cannot noticing the object in time because being blocked by front truck
Therefore drive safety is improved, reduce traffic accident.
Those of ordinary skill in the art will appreciate that：Realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned includes：ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.In each method embodiment of the present invention, the serial number of each step is simultaneously
The non-sequencing for being used to limit each step, for those of ordinary skill in the art, before not making the creative labor
It puts, the successive of each step is changed also within protection scope of the present invention.
Although the present invention has been disclosed in the preferred embodiments as above, the present invention is not limited to this.Any those skilled in the art
Member, made various changes and modification, should all be included in protection scope of the present invention without departing from the spirit and scope of the present invention
It is interior, therefore protection scope of the present invention should be defined by the scope defined by the claims..
Claims (10)
1. a kind of object identifying method based on V2X communication apparatus, this method is for making main view point on the move on road
Wouldn't visible object identified, wherein this method comprises the following steps：
The image of the object is obtained by the Vision imaging system of another auxiliary view on road, and is determined using the image
A series of position coordinates of the trend of the object under auxiliary view；
A series of position coordinates of the trend of object under auxiliary view are sent to master by the V2X communication apparatus of auxiliary view
Viewpoint；
Calculate relative position coordinates of the main view point relative to auxiliary view；
A series of position coordinates of the trend of object under auxiliary view are converted into main view based on the relative position coordinates
A series of position coordinates under point；And
A series of position coordinates based on the object under main view point show the trend of object on the display of main view point.
2. according to the method described in claim 1, wherein, the main view point and auxiliary view are to carry V2X communication apparatus
Vehicles or pedestrians.
3. method according to claim 1 or 2, wherein showing the trend of the object on the display of main view point
The step of include：
Virtual target is constructed on the display, and is determined based on a series of position coordinates of the object under main view point
The motion profile of the virtual target on the display.
4. according to the method described in claim 3, wherein, the virtual target is rendered as the virtual wheel of symbol, arrow or object
Wide form.
5. according to the method described in claim 4, wherein, when the virtual target is rendered as the form of the fictitious outline of object
When, the method also includes：
The image of object acquired in Vision imaging system to auxiliary view carries out image procossing, to extract from background image
The appearance profile of object；With
According to the fictitious outline of the appearance profile of extracted object reconstructed object on the display of main view point, and based on described
Position coordinates of the object under main view point determine the motion profile of the fictitious outline on the display.
6. method according to claim 1 or 2, wherein the display is HUD display.
7. method according to claim 1 or 2, wherein the V2X communication apparatus is by dedicated short-range communication technology or 4G
Or a series of position coordinates of the trend of object under auxiliary view are sent to main view point by 5G.
8. method according to claim 1 or 2, wherein calculate relative position coordinates of the main view point relative to auxiliary view
The step of include：
Determine main view point and the current position coordinates of auxiliary view；With
The relative position coordinates between main view point and auxiliary view are determined based on the current position coordinates of main view point and auxiliary view.
9. method according to claim 1 or 2, wherein the sightless object is to be assisted for main view point
The object that viewpoint is blocked.
10. according to the method described in claim 9, wherein, the object blocked by auxiliary view is the pedestrian on road, vehicle
Or barrier.
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| CN109733283A (en) * | 2019-01-09 | 2019-05-10 | 吉林大学 | Be blocked obstacle recognition early warning system and identification method for early warning based on AR |
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| CN110457803A (en) * | 2019-07-31 | 2019-11-15 | 同济大学 | A kind of unmanned collaborative detection method |
| CN111731101A (en) * | 2020-08-21 | 2020-10-02 | 宁波均联智行科技有限公司 | AR-HUD display method and system fusing V2X information |
| CN113442833A (en) * | 2021-08-30 | 2021-09-28 | 宁波均联智行科技股份有限公司 | Auxiliary display method and device for vehicle entering and exiting tunnel |
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