CN109035239A - Road equipment inspection method and vehicle based on automatic Pilot technology - Google Patents
Road equipment inspection method and vehicle based on automatic Pilot technology Download PDFInfo
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- CN109035239A CN109035239A CN201810878838.9A CN201810878838A CN109035239A CN 109035239 A CN109035239 A CN 109035239A CN 201810878838 A CN201810878838 A CN 201810878838A CN 109035239 A CN109035239 A CN 109035239A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
- G06T2207/30184—Infrastructure
Abstract
The present invention provides a kind of road equipment inspection methods and vehicle based on automatic Pilot technology, comprising: automatic driving vehicle obtains automatic traveling crane planning information, the information including planning path of driving a vehicle；According to the acquisition of information road equipment mark information of driving planning path, location information, Image Acquisition control information and standard picture information including road equipment；The location information of automatic driving vehicle is obtained during according to driving planning path automatic running to reservation position in real time；When the location information of the location information of automatic driving vehicle and road equipment matches, the Image Acquisition in the progress predetermined position of automatic driving vehicle obtains the image information of road equipment；The corresponding standard picture information of location information of the image information and road equipment of road equipment is matched, road equipment testing result data are exported；When for abnormal data, road equipment is generated according to the image information of the location information of vehicle and road equipment and reports information to be sent to background server extremely.
Description
Technical field
The present invention relates to automatic Pilot applied technical field more particularly to a kind of road equipments based on automatic Pilot technology
Inspection method and vehicle.
Background technique
It is an entitled " Air Wonder in the 1930s that this idea of automatic Pilot technology, which first appears,
Stories " monthly magazine science fiction magazine on.But until 1986, the NavLab 1 that Carnegie Mellon University produces just was calculated
Upper first is driven and the automobile of non-human driving by computer.Since at that time, as benz, BMW, Audi, masses, Ford etc.
The well-known automotive giants in the whole world begin to set about researching and developing automatic Pilot technology, 10 years especially nearest, even Google, Intel,
The science and technology such as apple manufacturer also joined among the research of automatic Pilot.
In order to more easily distinguish and define automatic Pilot technology, the classification of automatic Pilot is just at a major issue.At present
Two generally acknowledged classifying systems of Global Auto industry are by United States highways safety management bureau (abbreviation NHTSA) and the world respectively
What robot engineering Shi Xuehui (abbreviation SAE) was proposed.Wherein, the automatic Pilot technology of L4 and L5 rank can be known as completely certainly
Dynamic driving technology, has arrived this rank, automobile can own under the case where intervening completely without driver
Driver behavior, attention can also be placed in terms of others and such as work or rest by driver.But the difference of the two exists
In the automatic Pilot of L4 rank is suitable under the scene of part, typically refers in city or on highway.And L5 rank is then
It is required that autonomous driving vehicle can be accomplished to drive vehicle driving completely under any scene.
Current automatic Pilot technology is to be serviced in the case where occupied vehicle mostly, in automatic Pilot
In the case that technology reaches its maturity, how to meet personnel's seating while realize more functions, setting foot in more fields, be this
The problem of invention is inquired into emphatically.
Summary of the invention
The purpose of the embodiment of the present invention is that a kind of road equipment inspection method and vehicle based on automatic Pilot technology is provided,
The road equipment mark information along road can be obtained automatically according to the traffic route of planning on the way in vehicle driving, and to being marked
Road equipment carry out Image Acquisition and comparison, output test result data, so that it is determined that whether road equipment normal.Using this
The method of invention can report information realization to be not necessarily to the road equipment real-time monitoring of system-wide section by the multiple vehicles of synthesis
It additionally pays manpower and material resources and carries out special road equipment inspection, play the role of Ultra Low Cost and effective monitoring.
In view of this, in a first aspect, the embodiment of the invention provides a kind of road equipments based on automatic Pilot technology
Inspection method, comprising:
Automatic driving vehicle obtains automatic traveling crane planning information；The automatic traveling crane planning information includes driving planning path
Information；
The automatic driving vehicle according to it is described driving planning path acquisition of information road equipment mark information；The road
Road facility mark information includes the location information of road equipment, Image Acquisition control information and standard picture information；
The automatic driving vehicle according to the driving planning path automatic running to the reservation position during it is real
When obtain the location information of the automatic driving vehicle；
It is described automatic when the location information of the location information of the automatic driving vehicle and the road equipment matches
The one or more ambient image acquisition devices for driving vehicle carry out the figure in predetermined position according to described image acquisition control information
As acquisition, the image information of the road equipment is obtained；
The corresponding standard picture information of the location information of the image information and the road equipment that match the road equipment,
Export road equipment testing result data；
When the road equipment testing result data are abnormal data, the automatic driving vehicle is driven automatically according to described
The image information of the location information and the road equipment of sailing vehicle generates road equipment and reports information extremely, is sent to backstage and takes
Business device.
Preferably, the automatic driving vehicle obtains automatic traveling crane planning information specifically:
The automatic driving vehicle generates the automatic traveling crane planning information according to the user's reservation information received；It is described
User's reservation information includes information, the present bit confidence of the information of subscription time and the automatic driving vehicle for reserving position
Breath.
Preferably, the automatic driving vehicle obtains automatic traveling crane planning information specifically:
The automatic driving vehicle generates the automatic traveling crane planning information according to the driving information on services received；It is described
Driving information on services includes the information of destination locations and the current location information of the automatic driving vehicle.
Preferably, the method also includes:
The automatic driving vehicle receives the road equipment mark information acquisition instructions；
Obtain the information in driving planning section；
The automatic driving vehicle according to the driving plan section carry out automatic running, and the automatic running on the way
It controls each ambient image acquisition device and real time image collection is carried out to driving planning section, obtain driving planning road
Section image information；
It plans that processing is marked in section image information according to the driving, obtains the road equipment mark information.
It is further preferred that described plan that processing is marked in section image information according to the driving, the road is obtained
Road facility mark information specifically:
User is received according to the mark information of the driving planning section image information input；The mark information includes
Road facility ID；
Institute is generated according to the location information in the road equipment ID and the mark information corresponding driving planning section
State road equipment mark information.
It is further preferred that described plan that processing is marked in section image information according to the driving, the road is obtained
Road facility mark information specifically:
The figure of road equipment in the driving planning section image information according to default road equipment model automatic identification
Picture, and a corresponding road equipment ID is generated to each road equipment that identification obtains；
According to the road equipment ID of the road equipment for identifying and obtaining and the road equipment corresponding driving planning road
Location information in section generates the road equipment mark information.
It is further preferred that location information and the road of the automatic driving vehicle according to the automatic driving vehicle
The image information of facility generates road equipment and reports information extremely specifically:
The automatic driving vehicle is according to the location information of the road equipment and the image information pair of the road equipment
It should obtain the road equipment ID of the road equipment；
According to the image information of the location information of the automatic driving vehicle, the road equipment ID and the road equipment
It generates the road equipment and reports information extremely.
In second aspect, the embodiment of the invention provides a kind of, and the road equipment based on automatic Pilot technology checks vehicle,
The road equipment checks that vehicle is automatic driving vehicle described in above-mentioned first aspect.
The road equipment inspection method based on automatic Pilot technology of the offer of the embodiment of the present invention, can be in vehicle driving
On the way the road equipment mark information along road is obtained according to the traffic route of planning automatically, and the road equipment marked is carried out
Image Acquisition and comparison, output test result data, so that it is determined that whether road equipment is normal.It, can using method of the invention
To report information realization to the road equipment real-time monitoring of system-wide section by comprehensive multiple vehicles, without additionally paying manpower object
Power carries out special road equipment inspection, plays the role of Ultra Low Cost and effective monitoring.
Detailed description of the invention
Fig. 1 is the road equipment inspection method flow chart provided in an embodiment of the present invention based on automatic Pilot technology.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
The road equipment inspection method based on automatic Pilot technology of the offer of the embodiment of the present invention, can be applied to the modern times
Change in city, provides the inspection data of road equipment on the way in driving for municipal administration and relevant departments, realize low cost, high precision
The road equipment inspection service of degree, high coverage rate.It is illustrated below by specific embodiment.
Fig. 1 is the road equipment inspection method flow chart provided in an embodiment of the present invention based on automatic Pilot technology, in conjunction with
Shown in Fig. 1, the road equipment inspection method of the invention based on automatic Pilot technology mainly includes the following steps:
Step 110, automatic driving vehicle obtains automatic traveling crane planning information；
Specifically, automatic traveling crane planning information refers to that vehicle is based on user demand or based on itself form demand, passes through
Navigation map data, road conditions service data of traffic information service of map navigation service etc., according to the position of automatic driving vehicle
The route of the arrival reservation position calculated automatically and the information of duration are set, wherein specifically including the driving planning for reaching reservation position
The information in path and it is expected that duration.
Automatic traveling crane planning information can be to be generated when automatic driving vehicle goes to and welcomes the emperor according to user's reservation, can also
To be to be generated after user takes automatic driving vehicle according to the destination that user goes to.
For example, automatic driving vehicle can generate automatic traveling crane planning information according to the user's reservation information received；With
Family reservation information includes the information for reserving position, the current location information of the information of subscription time and automatic driving vehicle.Automatically
Vehicle is driven according to the corresponding navigation map data of information acquisition of the information of the reservation position of user and the current location of vehicle
With road conditions service data, and reasonable route planning is determined in conjunction with subscription time, to generate the driving for reaching reservation position
The information of planning path and it is expected that duration.
For another example, automatic driving vehicle generates automatic traveling crane planning information according to the driving information on services received；Drive clothes
Information of being engaged in includes the information of destination locations and the current location information of automatic driving vehicle.Automatic driving vehicle is according to destination
The corresponding navigation map data of information acquisition and road conditions service data of the current location of the information and vehicle of position close to determine
The route planning of reason, to generate the information and pre- timing for reaching the driving planning path of reservation position (i.e. destination locations)
It is long.
It certainly, is that automatic driving vehicle after being sent to passenger, moored by Automatic-searching parking place there are also a kind of situation
During vehicle, automatic traveling crane planning information can be also generated.At this point, automatically forming the reservation position i.e. parking position in planning information
It sets.
Which kind of either above-mentioned situation, in automatic traveling crane planning information all include drive a vehicle planning path information.
Step 120, automatic driving vehicle according to driving planning path acquisition of information road equipment mark information；
Specifically, road equipment mark information includes the location information of road equipment, Image Acquisition control information and standard
Image information；
Road equipment mark information is by passing through handmarking after carrying out Image Acquisition to road in advance or passing through people
Work intelligent self-learning carries out what label automatically obtained after identifying road equipment again.In a specific example, road equipment
The acquisition modes of mark information can be such that
Step S1: automatic driving vehicle receives road equipment mark information acquisition instructions；
Step S2: the information in driving planning section is obtained；
Step S3: automatic driving vehicle carries out automatic running according to driving planning section, and controls on the way in automatic running
Each ambient image acquisition device carries out real time image collection to driving planning section, obtains driving planning section image information；
Ambient image acquisition device includes the camera being mounted on automatic driving vehicle car body and can perceive object
The radar and other detector assemblies of shape and/or material, can be with 360 degrees omnidirection to carrying out ring around automatic driving vehicle
Border Image Acquisition.It can be by being adopted on the way using these ambient image acquisition devices to the realtime graphic of ambient enviroment in traveling
Collection obtains driving planning section image information.
Step S4: processing is marked according to driving planning section image information, obtains road equipment mark information.
It wherein, can be by receiving user according to driving planning section image letter when for by the way of handmarking
The mark information of input is ceased to realize.Mark information includes road equipment ID；Then according to road equipment ID and mark information pair
The location information in driving planning section answered generates road equipment mark information.
When being marked using artificial intelligence self study, it can be driven a vehicle and be advised according to default road equipment model automatic identification
The image of the road equipment in the image information of section is drawn, and preset rules are based on to each road equipment that identification obtains and generate one
A corresponding road equipment ID；Then the road equipment ID of the road equipment obtained according to identification and the corresponding driving of road equipment
Plan that the location information in section generates road equipment mark information.
The type of road equipment can include but is not limited to: well lid, traffic mark board, pavement strip, guardrail, isolated gate,
Line of sight inducement sign etc..Preferably, it can reflect out the type of road equipment by road equipment ID.
Step 130, it is obtained in real time during automatic driving vehicle is according to driving planning path automatic running to reservation position
Take the location information of automatic driving vehicle；
After obtaining road equipment mark information, automatic driving vehicle driving on the way, according to vehicle-mounted positioning device,
Such as GPS positioning device, the location information of vehicle is obtained in real time.
Step 140, determine whether the location information of automatic driving vehicle matches with the location information of road equipment；
Automatic driving vehicle is by the road equipment of real-time location information and set each road equipment mark information
Location information matched.Automatic driving vehicle is by the location information of real-time location information and a road equipment certain
When in range, that is, it is considered successful match.
For example, the location information when road equipment is at 100 meters of the section A on the right side of road, automatic driving vehicle will be real-time
Location information shows that it drives to road center at 99 meters of the section A, and setting range is 3 meters, is considered successful match at this time.
If mismatched, the location information for continuing to execute step 130 obtains in real time.
If it does, then executing step 150.
Step 150, when the location information of the location information of automatic driving vehicle and road equipment matches, automatic Pilot
One or more ambient image acquisition devices of vehicle control the Image Acquisition that information carries out predetermined position according to Image Acquisition, obtain
To the image information of road equipment；
Specifically, the Image Acquisition of the location information of corresponding each road equipment controls information, it is respectively provided with different controls
Data processed.These control data are used to control the ambient image acquisition device of different location on automatic driving vehicle with different figures
As acquisition parameter carries out Image Acquisition.
That is, after the Image Acquisition control information of a corresponding location information is obtained, Image Acquisition control letter
Breath can be resolved and generate the control signal to the ambient image acquisition device of setting, open to control environment image collecting device
It is dynamic to carry out Image Acquisition.
Step 160, the corresponding standard picture information of the location information of the image information and road equipment that match road equipment,
Export road equipment testing result data；
Specifically, the location information by road equipment can correspond to obtain standard picture information, standard picture information is
The image data of the standard picture of the road equipment obtained according to road equipment mark information.
According to location information, the standard picture of the image information of the road equipment collected and same position information is believed
Breath is compared, so that it is determined that whether the testing result data of the road equipment are normal.
Particularly for the generation of testing result data, image processing techniques can use, for standard picture information and road
The image information of road facility carries out the extraction and comparison of feature pixel, is then determined whether by similarity normally to examine
Survey result data.Such as when similarity is lower than given threshold, determine that the testing result data are exception.
By taking a specific example as an example: including the image data of a sewage treatment well well lid in standard picture information, lead to
The extraction to feature pixel is crossed, the well that the edge contour information and profile that can get the well lid in image information are surrounded
The pixel information of lid image.When the case where being lost in case of well lid, according to the image information of accessed road equipment
In can still identify the pixel of center that the edge contour information of well lid position and the profile are surrounded
Information.However at this point, the color-values of the pixel of the color-values or gray value of the pixel of the center and well lid image or
Gray value has apparent deviation.Pass through the amount of reasonable set deviation, it will be able to which whether accurate judgement, which currently occurs well lid, is lost
The exception of mistake.
Step 170, when road equipment testing result data are abnormal data, automatic driving vehicle is according to automatic Pilot vehicle
Location information and road equipment image information generate road equipment report information extremely, be sent to background server.
Specifically, the present invention is executed to exception in the case that the testing result data obtained for comparison are abnormal data
Data report.It is realized by reporting to the location information of the road equipment to note abnormalities and the transmission of image data, so that after
Platform server can timely receive the abnormality detection result of road equipment, to carry out respective handling in time, to avoid because
The exception of road equipment and cause traffic accident or unknown losses.
In specific implementation procedure, automatic driving vehicle is according to the location information of road equipment and the image of road equipment
Information correspondence obtains the road equipment ID of road equipment；Then according to the location information of automatic driving vehicle, road equipment ID and
The image information of road equipment generates road equipment and reports information extremely.
Preferably, after background server receives and reports information extremely, information judgement can be reported different according to abnormal
Normal reporting types then carry out the abnormal distribution for reporting information according to abnormal reporting types or according to location information, are sent to
The user terminal of corresponding road equipment maintenance user, to carry out effective road equipment maintenance, maintenance processing or scene inspection
It looks into.
The road equipment inspection method based on automatic Pilot technology of the offer of the embodiment of the present invention, can be in vehicle driving
On the way the road equipment mark information along road is obtained according to the traffic route of planning automatically, and the road equipment marked is carried out
Image Acquisition and comparison, output test result data, so that it is determined that whether road equipment is normal.It, can using method of the invention
To report information realization to the road equipment real-time monitoring of system-wide section by comprehensive multiple vehicles, without additionally paying manpower object
Power carries out special road equipment inspection, plays the role of Ultra Low Cost and effective monitoring.
The above-mentioned road equipment inspection method of the present invention can be implemented in automatic driving vehicle, which can be with
Road equipment inspection is carried out while normal driving, it is only necessary to which carrying out Image Acquisition shooting to road equipment in traveling figure is
It can.Using the vehicle, whole work of road equipment inspection can be realized, without additionally paying manpower and material resources and time, significantly
Cost is saved, and detects coverage rate height, real-time is good.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above specific embodiment has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Illustrate, it should be understood that the above is only a specific embodiment of the invention, the protection model that is not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (8)
1. a kind of road equipment inspection method based on automatic Pilot technology, which is characterized in that the road equipment inspection method
Include:
Automatic driving vehicle obtains automatic traveling crane planning information；The automatic traveling crane planning information includes the letter of driving planning path
Breath；
The automatic driving vehicle according to it is described driving planning path acquisition of information road equipment mark information；The road is set
Applying mark information includes the location information of road equipment, Image Acquisition control information and standard picture information；
The automatic driving vehicle according to the driving planning path automatic running to the reservation position during obtain in real time
Take the location information of the automatic driving vehicle；
When the location information of the location information of the automatic driving vehicle and the road equipment matches, the automatic Pilot
One or more ambient image acquisition devices of vehicle are adopted according to the image that described image acquisition control information carries out predetermined position
Collection, obtains the image information of the road equipment；
The corresponding standard picture information of the location information of the image information and the road equipment that match the road equipment, output
Road equipment testing result data；
When the road equipment testing result data are abnormal data, the automatic driving vehicle is according to the automatic Pilot vehicle
Location information and the road equipment image information generate road equipment report information extremely, be sent to background service
Device.
2. the road equipment inspection method according to claim 1 based on automatic Pilot technology, which is characterized in that it is described from
The dynamic vehicle that drives obtains automatic traveling crane planning information specifically:
The automatic driving vehicle generates the automatic traveling crane planning information according to the user's reservation information received；The user
Reservation information includes the information for reserving position, the current location information of the information of subscription time and the automatic driving vehicle.
3. the road equipment inspection method according to claim 1 based on automatic Pilot technology, which is characterized in that it is described from
The dynamic vehicle that drives obtains automatic traveling crane planning information specifically:
The automatic driving vehicle generates the automatic traveling crane planning information according to the driving information on services received；The driving
Information on services includes the information of destination locations and the current location information of the automatic driving vehicle.
4. the road equipment inspection method according to claim 1 based on automatic Pilot technology, which is characterized in that the side
Method further include:
The automatic driving vehicle receives the road equipment mark information acquisition instructions；
Obtain the information in driving planning section；
The automatic driving vehicle plans that section carries out automatic running according to the driving, and controls on the way in the automatic running
Each ambient image acquisition device carries out real time image collection to driving planning section, obtains driving planning section figure
As information；
It plans that processing is marked in section image information according to the driving, obtains the road equipment mark information.
5. the road equipment inspection method according to claim 4 based on automatic Pilot technology, which is characterized in that described
Processing is marked according to driving planning section image information, obtains the road equipment mark information specifically:
User is received according to the mark information of the driving planning section image information input；The mark information includes that road is set
Apply I D；
The road is generated according to the location information in the road equipment I D and the mark information corresponding driving planning section
Road facility mark information.
6. the road equipment inspection method according to claim 4 based on automatic Pilot technology, which is characterized in that described
Processing is marked according to driving planning section image information, obtains the road equipment mark information specifically:
The image of road equipment in the driving planning section image information according to default road equipment model automatic identification, and
One corresponding road equipment I D is generated to each road equipment that identification obtains；
According in the road equipment I D of the road equipment for identifying and obtaining and the road equipment corresponding driving planning section
Location information generate the road equipment mark information.
7. the road equipment inspection method according to claim 5 or 6 based on automatic Pilot technology, which is characterized in that institute
It states automatic driving vehicle and road is generated according to the location information of the automatic driving vehicle and the image information of the road equipment
Facility reports information extremely specifically:
The automatic driving vehicle is according to the location information of the road equipment and the image information of the road equipment to deserved
To the road equipment I D of the road equipment；
It is raw according to the image information of the location information of the automatic driving vehicle, the road equipment I D and the road equipment
Information is reported extremely at the road equipment.
8. a kind of road equipment based on automatic Pilot technology checks vehicle, which is characterized in that the road equipment checks vehicle
For any automatic driving vehicle of the claims 1-6.
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| CN112585656A (en) * | 2020-02-25 | 2021-03-30 | 华为技术有限公司 | Method and device for identifying special road conditions, electronic equipment and storage medium |
| CN111985457A (en) * | 2020-09-11 | 2020-11-24 | 北京百度网讯科技有限公司 | Traffic facility damage identification method, device, equipment and storage medium |
| CN113347595A (en) * | 2021-04-28 | 2021-09-03 | 惠州市德赛西威汽车电子股份有限公司 | Road condition monitoring system and method based on V2X module |
| CN113347595B (en) * | 2021-04-28 | 2023-01-24 | 惠州市德赛西威汽车电子股份有限公司 | Road condition monitoring system and method based on V2X module |
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