CN109515316A - A kind of intersection intelligent driving auxiliary system and method - Google Patents
A kind of intersection intelligent driving auxiliary system and method Download PDFInfo
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- CN109515316A CN109515316A CN201811208675.XA CN201811208675A CN109515316A CN 109515316 A CN109515316 A CN 109515316A CN 201811208675 A CN201811208675 A CN 201811208675A CN 109515316 A CN109515316 A CN 109515316A
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- 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
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Abstract
The present invention relates to a kind of intersection intelligent driving auxiliary system and method, which includes: detection module (1): the module detects environmental information, including traffic lights, surrounding vehicles and the motion information of pedestrian；CPU module (2): the module carries out intelligent decision according to vehicle motion data and environmental information and obtains driving decision-making assistant information；Control module (3): the module carries out intelligent control according to the driving decision-making assistant information of CPU module (2)；Alarm module (4): the module carries out security warning according to decision-making assistant information is driven；Gui interface (5): for showing the driving decision-making assistant information of CPU module (2).Compared with prior art, information exchange when energy intelligent reminding vehicle launch of the present invention and processing are turned between vehicle and vehicle, realizes intelligent driving miscellaneous function.
Description
Technical field
The present invention relates to intelligent driving ancillary techniques, more particularly, to a kind of intersection intelligent driving auxiliary system and side
Method.
Background technique
Intersection and T shape crossing wagon flow are concentrated, and the density of population is big, and environment is complicated, and it is more to be well-known traffic accident
Fa Yifa.Accident in intersection is all caused by human error mostly.Out of global range, absent minded,
Misjudgment, lane blocking and current be obstructed of other vulnerable roads user are to cause traffic accident, the chief-criminal of injures and deaths is caused to bring disaster upon
It is first.In fact, counting according to US Department of Transportation, the traumatizing traffic accident of the whole America 51% and 28% lethal traffic accident all occur intersecting
Crossing.Che-road the wireless communication technique, vehicle placement technology, driver that research hotspot focuses primarily upon bus or train route collaboration exist
The behavioral trait of intersection and safe aided algorithm etc..
The traffic condition of intersection often allows the detection to pedestrian and cyclist to become difficult.Vulnerable road user
Even other vehicles, can usually be blocked by other automobiles and urban infrastructure.The difficult point of detection is mainly by sensor yin
Caused by the factors such as shadow and field obscuration.
The difficult point of intersection auxiliary system is that wagon flow is concentrated, and the density of population is big, and environment is complicated, it is above-mentioned in the prior art
Targeted, high efficiency solution is not proposed to intersection complex environment.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of intersection intelligence
Driving assistance system and method.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of intersection intelligent driving auxiliary system, the system include:
Detection module: the module detects environmental information, including traffic lights, surrounding vehicles and the motion information of pedestrian；
CPU module: the module drives auxiliary according to vehicle motion data and environmental information progress intelligent decision acquisition
Help decision information；
Control module: the module carries out intelligent control according to the driving decision-making assistant information of CPU module；
Alarm module: the module carries out security warning according to decision-making assistant information is driven；
Gui interface: for showing the driving decision-making assistant information of CPU module.
The detection module includes more mesh cameras, laser radar and V2X.
The CPU module includes:
Traffic lights recognition unit: the unit identifies traffic sign lamp；
Turning intention assessment unit: lane line index, steering angle of wheel and the turn signal letter that the unit passes through vehicle
Number prediction turning be intended to；
Obstacle recongnition of objects unit: the unit obtains the obstacle target object and determination and obstacle mesh of Ackermann steer angle
Mark the personal distance of object；
Intelligent decision unit: the unit to vehicle launch and stops carrying out decision according to the traffic sign lamp of identification, simultaneously
It is intended to according to turning and the personal distance of obstacle target object carries out decision to the driving status of Ackermann steer angle.
The alarm module includes interface alarm unit and acoustics alarm unit, and the interface alarm unit is in GUI circle
Security warning is carried out on face, the acoustics alarm unit makes a sound warning message.
The control module carries out intelligent control and specifically includes: the automatic retarding of Intelligent control automobile or in safe feelings
Intelligent parking under condition.
A kind of intersection intelligent driving householder method, this method are based on above-mentioned intelligent driving auxiliary system, the side
Method includes the following steps:
(1) environmental information is detected, including traffic lights, surrounding vehicles and the motion information of pedestrian；
(2) intelligent decision is carried out according to environmental information and obtains driving decision-making assistant information；
(3) intelligent driving is carried out according to driving decision-making assistant information, while carries out security alarm and drives aid decision letter
The display of breath.
Step (2) specifically includes:
(21) traffic sign lamp is identified；
(22) it is intended to by the lane line index of vehicle, steering angle of wheel and the turning of turn signal signal estimation；
(23) the obstacle target object of Ackermann steer angle and the personal distance of determination and obstacle target object are obtained；
(24) to vehicle launch and stop carrying out decision according to the traffic sign lamp of identification, while according to turning intention and barrier
The personal distance of target object is hindered to carry out decision, the driving status of the Ackermann steer angle to the driving status of Ackermann steer angle
Including turning speed recommended value.
Step (3) specifically includes: control module controls Vehicular intelligent deceleration or the intelligent parking under security situation；Warning
Module shows that the personal distance of obstacle target object carries out security warning, while alarm module is at vehicle and obstacle target object
Acoustical alarm is carried out when risk distance；Gui interface shows turning speed recommended value.
Compared with prior art, the present invention has the advantage that the present invention is by more mesh cameras, laser radar and V2X
Comprehensively utilized, when red turn of intersection traffic lamp green, intelligent reminding vehicle launch and processing turning when vehicle with
Information exchange between vehicle is vehicle when intersection is turned, and provides the alarm ability with safe prediction while providing
It is recommended that cornering speed, avoid driver when turning by intersection because of traffic accident caused by emergency situations, it is real
Existing intelligent driving miscellaneous function.
Detailed description of the invention
Fig. 1 is the structural block diagram of intelligent driving auxiliary system in intersection of the present invention；
Fig. 2 is the flow diagram of vehicle start and stop intelligent control in the embodiment of the present invention.
In figure, 1 is detection module, and 2 be CPU module, and 3 be control module, and 4 be alarm module, and 5 be GUI circle
Face.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.Note that the following embodiments and the accompanying drawings is said
Bright is substantial illustration, and the present invention is not intended to be applicable in it object or its purposes is defined, and the present invention does not limit
In the following embodiments and the accompanying drawings.
Embodiment
As shown in Figure 1, a kind of intersection intelligent driving auxiliary system, the system include:
Detection module 1: the module detects environmental information, including traffic lights, surrounding vehicles and the motion information of pedestrian；
CPU module 2: the module carries out intelligent decision according to vehicle motion data and environmental information and obtains driving
Decision-making assistant information；
Control module 3: the module carries out intelligent control according to the driving decision-making assistant information of CPU module 2；
Alarm module 4: the module carries out security warning according to decision-making assistant information is driven；
Gui interface 5: for showing the driving decision-making assistant information of CPU module 2.
Detection module 1 includes more mesh cameras, laser radar and V2X.
CPU module 2 includes:
Traffic lights recognition unit: the unit identifies traffic sign lamp；
Turning intention assessment unit: lane line index, steering angle of wheel and the turn signal letter that the unit passes through vehicle
Number prediction turning be intended to；
Obstacle recongnition of objects unit: the unit obtains the obstacle target object and determination and obstacle mesh of Ackermann steer angle
The personal distance of object is marked, specifically, which obtains data letter from laser radar (LiDAR), more mesh cameras and V2X
Breath, for determining position, the size, outer shape of obstacle target object, further identify pedestrian movement tendency, receive vehicle with
Information exchange between vehicle and this vehicle ambient enviroment is perceived, calculated between this vehicle and pedestrian, vehicle and other barriers
Distance, and safe distance is being calculated, it alarms if beyond safe distance；
Intelligent decision unit: the unit to vehicle launch and stops carrying out decision according to the traffic sign lamp of identification, simultaneously
It is intended to according to turning and the personal distance of obstacle target object carries out decision to the driving status of Ackermann steer angle.
Alarm module 4 includes interface alarm unit and acoustics alarm unit, and the interface alarm unit is on gui interface 5
Security warning is carried out, acoustics alarm unit makes a sound warning message.
Control module 3 carries out intelligent control and specifically includes: the automatic retarding of Intelligent control automobile or under security situation
Intelligent parking.
Gui interface 5 is used to operate and show that the driving decision-making assistant information of CPU module 2 and intelligence to suggest turning
Curved speed.
The present invention by more mesh cameras, laser radar and V2X comprehensive utilization, red turn of intersection traffic lamp it is green when, intelligence
Information exchange when can remind vehicle launch and processing turning between vehicle and vehicle is vehicle when intersection is turned,
There is provided, there is the alarm ability of safe prediction to provide suggestion cornering speed simultaneously, and driver is avoided to turn by intersection
When curved due to emergency situations caused by traffic accident.
A kind of intersection intelligent driving householder method, this method are based on above-mentioned intelligent driving auxiliary system, and method includes
Following steps:
(1) environmental information is detected, including traffic lights, surrounding vehicles and the motion information of pedestrian；
(2) intelligent decision is carried out according to environmental information and obtains driving decision-making assistant information；
(3) intelligent driving is carried out according to driving decision-making assistant information, while carries out security alarm and drives aid decision letter
The display of breath.
Step (2) specifically includes:
(21) traffic sign lamp is identified；
(22) it is intended to by the lane line index of vehicle, steering angle of wheel and the turning of turn signal signal estimation；
(23) the obstacle target object of Ackermann steer angle and the personal distance of determination and obstacle target object are obtained；
(24) to vehicle launch and stop carrying out decision according to the traffic sign lamp of identification, while according to turning intention and barrier
The personal distance of target object is hindered to carry out decision to the driving status of Ackermann steer angle, the driving status of Ackermann steer angle includes turning
Curved speed suggestion value.
Step (3) specifically includes: control module 3 controls Vehicular intelligent deceleration or the intelligent parking under security situation；It is alert
Show that module 4 shows that the personal distance of obstacle target object carries out security warning, while alarm module 4 is in vehicle and obstacle target pair
As carrying out acoustical alarm when being in risk distance；Gui interface 5 shows turning speed recommended value.
Specifically, this method includes vehicle start and stop intelligent control and turning Decision Control, wherein vehicle start and stop are intelligently controlled
The control flow of system is as shown in Figure 2, comprising:
Step 1: obtaining respective intrinsic parameter and outer parameter to more mesh camera calibrations.
Step 2: piece image is respectively shot in real time from different perspectives using more mesh cameras on automobile, it is more
1 image of mesh camera is benchmark image, and more 2 images of mesh camera are alignment image, and more mesh camera n images are calibration image,
To navigate to current vehicle correspondence traffic sign lamp to be followed itself；
Step 3: the signal conversion of identification traffic sign lamp in real time, when red eye switchs to greensignal light, inspection
Survey module 1, which is synchronized data information by sensor, is transmitted to middle pressure processor, and CPU module 2 judges driver 1.5
If second starting vehicle, can not touch alarm module 4；If also inactive vehicle " will be opened to the sending of gui interface 5 in 1.5 seconds
It is dynamic " flashing font, and the synchronous acoustic equipment by alarm module 4 reminds driver actuation.
Vehicle turning Decision Control includes the following steps:
Step 1: recognition unit of turning when vehicle approaching intersection is based on more mesh cameras and identifies traffic lane line, together
When pass through CAN bus obtain wheel steering angle and turn signal signal；
Step 2: 2 comprehensive descision of CPU module and predict driver turning be intended to；
Step 3: the system is put prediction result to driver, driver's default on record by the acoustic equipment of alarm module 4
This prediction result is then not necessarily to any operation；If fruit prediction result mistake, driver can correctly turn in gui interface 5 to place
Curved direction is intended to；
Step 4: synchronous feedback is to detection after the turn direction that CPU module 2 obtains correct driver is intended to
The object identification unit of module 1, detection module 1 obtains turning by laser radar (LiDAR), more mesh cameras and V2X
Data information on route；
Step 5, CPU module 2 pass through intelligence computation so that it is determined that the position of target, size, outer shape, into
The movement tendency of one step identification pedestrian receives the information exchange between vehicle and vehicle and perceives this vehicle ambient enviroment, calculates this vehicle
The distance between pedestrian, vehicle and other barriers, and safe distance is being calculated, exist on one side if being less than safe distance
Flash for prompting on gui interface 5, while warning is issued by the acoustic equipment of alarm module 4, while making intelligent speed suggestion.
Above embodiment is only to enumerate, and does not indicate limiting the scope of the invention.These embodiments can also be with other
Various modes are implemented, and can make in the range of not departing from technical thought of the invention it is various omit, displacement, change.
Claims (8)
1. a kind of intersection intelligent driving auxiliary system, which is characterized in that the system includes:
Detection module (1): the module detects environmental information, including traffic lights, surrounding vehicles and the motion information of pedestrian；
CPU module (2): the module drives auxiliary according to vehicle motion data and environmental information progress intelligent decision acquisition
Help decision information；
Control module (3): the module carries out intelligent control according to the driving decision-making assistant information of CPU module (2)；
Alarm module (4): the module carries out security warning according to decision-making assistant information is driven；
Gui interface (5): for showing the driving decision-making assistant information of CPU module (2).
2. a kind of intersection intelligent driving auxiliary system according to claim 1, which is characterized in that the detection mould
Block (1) includes more mesh cameras, laser radar and V2X.
3. a kind of intersection intelligent driving auxiliary system according to claim 1, which is characterized in that the centre
Managing device module (2) includes:
Traffic lights recognition unit: the unit identifies traffic sign lamp；
Turning intention assessment unit: the unit is pre- by the lane line index of vehicle, steering angle of wheel and steering modulating signal
Turning is surveyed to be intended to；
Obstacle recongnition of objects unit: the unit obtains the obstacle target object and determination and obstacle target pair of Ackermann steer angle
The personal distance of elephant；
Intelligent decision unit: the unit to vehicle launch and stops carrying out decision, while basis according to the traffic sign lamp of identification
Turning is intended to and the personal distance of obstacle target object carries out decision to the driving status of Ackermann steer angle.
4. a kind of intersection intelligent driving auxiliary system according to claim 1, which is characterized in that the warning mould
Block (4) includes interface alarm unit and acoustics alarm unit, and the interface alarm unit carries out safe police on gui interface (5)
Show, the acoustics alarm unit makes a sound warning message.
5. a kind of intersection intelligent driving auxiliary system according to claim 1, which is characterized in that the control mould
Block (3) carries out intelligent control and specifically includes: the automatic retarding of Intelligent control automobile or the intelligent parking under security situation.
6. a kind of intersection intelligent driving householder method, which is characterized in that this method is based on claim 1~6 any one
The intelligent driving auxiliary system, the method include the following steps:
(1) environmental information is detected, including traffic lights, surrounding vehicles and the motion information of pedestrian；
(2) intelligent decision is carried out according to environmental information and obtains driving decision-making assistant information；
(3) intelligent driving is carried out according to driving decision-making assistant information, while carries out security alarm and drives decision-making assistant information
Display.
7. a kind of intersection intelligent driving householder method according to claim 6, which is characterized in that step (2) is specific
Include:
(21) traffic sign lamp is identified；
(22) it is intended to by the lane line index of vehicle, steering angle of wheel and the turning of turn signal signal estimation；
(23) the obstacle target object of Ackermann steer angle and the personal distance of determination and obstacle target object are obtained；
(24) to vehicle launch and stop carrying out decision according to the traffic sign lamp of identification, while according to turning intention and obstacle mesh
The personal distance for marking object carries out decision to the driving status of Ackermann steer angle, and the driving status of the Ackermann steer angle includes
Turning speed recommended value.
8. a kind of intersection intelligent driving householder method according to claim 7, which is characterized in that step (3) is specific
It include: the deceleration of control module (3) control Vehicular intelligent or the intelligent parking under security situation；Alarm module (4) shows obstacle
The personal distance of target object carries out security warning, at the same alarm module (4) vehicle and obstacle target object be in it is dangerous away from
From when carry out acoustical alarm；Gui interface (5) shows turning speed recommended value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811208675.XA CN109515316A (en) | 2018-10-17 | 2018-10-17 | A kind of intersection intelligent driving auxiliary system and method |
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| CN201811208675.XA CN109515316A (en) | 2018-10-17 | 2018-10-17 | A kind of intersection intelligent driving auxiliary system and method |
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| CN112506170A (en) * | 2020-11-20 | 2021-03-16 | 北京赛目科技有限公司 | Driver model based test method and device |
| CN114333380A (en) * | 2021-12-13 | 2022-04-12 | 重庆长安汽车股份有限公司 | Traffic light identification method and system based on camera and V2x, and vehicle |
| CN114919581A (en) * | 2022-05-11 | 2022-08-19 | 中南大学 | Behavior decision method and computer device for intelligent vehicle unordered intersection |
| CN115230581A (en) * | 2022-06-22 | 2022-10-25 | 东风柳州汽车有限公司 | Vehicle turning alarm method, device, equipment and storage medium |
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| CN115230581B (en) * | 2022-06-22 | 2024-05-24 | 东风柳州汽车有限公司 | Vehicle turning alarm method, device, equipment and storage medium |
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Application publication date: 20190326 |