CN109785642A - Vehicular intelligent inducible system - Google Patents
Vehicular intelligent inducible system Download PDFInfo
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- CN109785642A CN109785642A CN201910205021.XA CN201910205021A CN109785642A CN 109785642 A CN109785642 A CN 109785642A CN 201910205021 A CN201910205021 A CN 201910205021A CN 109785642 A CN109785642 A CN 109785642A
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Abstract
The invention proposes a kind of Vehicular intelligent inducible systems.The system includes: data signal acquisition device, data-signal processing unit, control signal generating apparatus, signal receiving/transmission device, signal receiving device and the vehicle that corresponding actions are generated according to control signal.Data signal acquisition device is arranged except vehicle, and the travel route of vehicle is divided into several sections, and each section setting data signal acquisition device acquires vehicle and block information and handled by data-signal processing unit.According to the information of processing, the control signal that signal generating apparatus generates control vehicle is controlled, control signal is transmitted to vehicle by signal receiving/transmission device and signal receiving device, and vehicle generates corresponding movement, the intercommunication in each section completes the induction of vehicle from origin to destination.
Description
Technical field
The present invention relates to intelligent mobile fields, propose a kind of signal acquisition of Vehicular intelligent inducible system, processing and control
The method of system.
Background technique
Intellectual inducing can largely reduce urban congestion, lower environmental pressure, and it is convenient to improve Public Traveling.Closely
Year, with the continuous development of electronic technology, artificial intelligence and vehicle electric, it is made of sensor, controller, vehicle actuator
Vehicular intelligent inducible system be also constantly progressive.But the development that Vehicular intelligent inducible system experienced many decades does not still have
Functionization, for a protrusion the reason is that the composition of existing Vehicular intelligent inducible system is unreasonable, control algolithm is excessively complicated.Vehicle at present
The most important signal pickup assembly of intelligent inducing system, visual sensor (camera), integral with vehicle setting, vehicle exists
The image acquired in operation is all movement relative to vehicle.Stationary body (such as building, trees etc.) in these images
It is animated, occupies a large amount of computing resource in this way, while also resulting in the complication of control algolithm.
Summary of the invention
Based on the above deficiency, is constituted the invention proposes a kind of new intellectual inducing and control method, concrete scheme is as follows:
A kind of Vehicular intelligent inducible system characterized by comprising data signal acquisition device, data-signal processing unit, control
Signal generating apparatus processed, signal receiving/transmission device, signal receiving device, and the vehicle according to control signal generation corresponding actions:
The data signal acquisition device is arranged except vehicle, and the travel route of vehicle is divided into several sections, each
The information that the data signal acquisition device acquires the vehicle and the section, the data-signal processing unit is arranged in section
The information of the vehicle and the section is handled, information generates control vehicle to the control signal generating apparatus according to treated
Control signal, the control signal is transmitted to the vehicle by the signal receiving/transmission device and the signal receiving device.
Moreover, the data-signal processing unit of the vehicle current interval and the vehicle are gone at the data-signal in section
It manages device and carries out data exchange, induce the vehicle from the current interval to the traveling for going to section.
Moreover, the data signal acquisition device acquires the information of the stationary body in the section, dynamic object and the vehicle,
The data-signal processing unit calculates the speed of the vehicle and the dynamic object, position according to the stationary body information
It sets.
Moreover, the data signal acquisition device acquires the stationary body in the section, dynamic object and the vehicle
Information, including from the static state vehicle visual angle not detectable dynamic object and can not detected completely from the vehicle visual angle
Object, the control signal generating apparatus control institute according to the information of the stationary body, the dynamic object and the vehicle
State the movement of vehicle.
Moreover, the data signal acquisition device acquires the stationary body in the section, dynamic object and the vehicle
Information, and the vehicle receives the static and dynamic object information that the vehicle goes to section in current interval.
Moreover, the control signal generating apparatus is according to the stationary body information of current interval, dynamic object and the vehicle
Information, and go to the stationary body in section, dynamic object information generate vehicle control signal, pass through the signal transmitting and receiving
Device and the control signal receiving device are transmitted to the vehicle.
Moreover, the control signal receiving device is set to the vehicle, the vehicle receives dress according to the signal processed
It sets received control signal and completes acceleration, deceleration and turning action.
Compared to existing system, the present invention can reduce the time of data processing, improve the accuracy of identification of dynamic object, and
And can be reduced costs to avoid distance mearuring equipments such as radar, the laser used in existing system, it reduces and can not detecting object
A possibility that colliding improves safety.
Detailed description of the invention
The system pie graph of Fig. 1 embodiment of the present invention 1.
The data processing mode figure of Fig. 2 embodiment of the present invention 1.
The vehicle of Fig. 3 embodiment of the present invention 1 and the speed of dynamic object and position calculate ideograph.
The tupe figure of the not detectable dynamic object in slave vehicle visual angle of Fig. 4 embodiment of the present invention 1.
The slave vehicle visual angle of Fig. 5 embodiment of the present invention 1 can not detect the processing figure of stationary body completely.
The vehicle of Fig. 6 embodiment of the present invention 1 is entered the control model figure for going to section by current interval.
The system pie graph of Fig. 7 embodiment of the present invention 2.
Specific embodiment
Embodiment 1
The intelligent inducing system of the present embodiment includes data signal acquisition device, data-signal processing unit, control signal generation
Device, signal receiving/transmission device, signal receiving device and the vehicle that corresponding actions are generated according to control signal.Data-signal is adopted
Acquisition means can be used camera, and data-signal processing unit can be used data processor, and control signal generating apparatus can be with
Using controller, the signal transceiver of public network or dedicated network, signal receiving device is can be used in signal receiving/transmission device
The signal receiver vehicle that public network perhaps dedicated network can be used can be internal combustion engine or motor drive, peace
Automobile equipped with steering, brake actuator.
System of the invention constitutes as shown in Figure 1.Camera 101a, 101b are arranged except automobile 106, signal receiver
105 are set in automobile 106.The travel route of automobile 106 from origin to destination is divided into several traveling sections, for simplification
Illustrate only to indicate section A, B.The system in the section A is by the section A camera 101a, A interval censored data processor 102a, A range restraint
Device 103a, A wayside signaling transceiver 104a are constituted.Equally, the system in the section B is by the section B camera 101b, B interval censored data
Device 102b, B range restraint device 103b, B wayside signaling transceiver 104b is managed to constitute.
The section A camera 101a shoots the stationary body and dynamic object in the section A, A interval censored data processor 102a processing
The data of the section A camera 101a.When automobile 106 is at the section A, A range restraint device 103a generates the automobile 106 to the section A
Acceleration, deceleration, steering controling signal, A wayside signaling transceiver 104a sends the control signal, and signal receiver 105 receives
The control signal.According to the control signal, be arranged in executing agency in automobile 106 complete to the acceleration of automobile 106, deceleration,
Course changing control.Equally, when automobile 106 is at the section B, the system in the section B executes identical movement.Moreover, the signal in the section A is received
The signal transceiver 104b in the hair section device 104a and B is communicated.In this way, by the connection in several sections, automobile 106 complete from
Traveling of the departure place to destination.
Data processing mode of the invention is as shown in Figure 2.Illustrate by taking movement of the automobile 106 in the section A as an example below.Camera shooting
Head 101a setting is travelling different plane with automobile 106, and the special stand vertical with automobile 106 is such as arranged in and (does not scheme
Show) on.The running region 201a of automobile 106 is defined as 106 driving direction of automobile a certain range of region all around.The section A
Camera 101a shoots the stationary body and dynamic object in the section A relative to camera 101a, and stationary body includes not in vehicle
The non-obstructing objects 202a(such as building of static state of running region 201a) and vehicle driving region 201a static-obstacle object
203a(such as sheds object), dynamic object includes not in the non-obstructing objects 204a(such as bicycle of the dynamic of vehicle driving region 201a)
With the dynamic disorder object 205a(such as other automobiles in route or travel by vehicle 201a).Stationary body is relative to camera 101a
Static, data processor 102a only needs a small amount of calculation resources to can recognize and accuracy of identification can be improved.Dynamic object
Although being dynamically that background environment existing for dynamic object is static relative to camera 101a for camera 101a
, data processor 102a can readily identify moving object in static background.In existing system, camera and automobile are set
It sets and moves together, all images of camera shooting are all movements, and compared to existing system, the present invention can reduce data
The time of processing improves the accuracy of identification of dynamic object.
The speed and position of vehicle and dynamic object calculate as shown in Figure 3.In the section A, shot according to camera 101a
The non-obstructing objects 202a of static state, static non-obstructing objects 206a and automobile 106 information, the speed of automobile 106 can be calculated
With the position in the section A.Because the position of static non-obstructing objects 202a and 206a is fixed, static non-obstructing objects 202a
It can be pre-stored in data processor 102a with 206a location information.From the image that camera 101a is shot, at data
Reason device 102a can recorde automobile 106 by the time of static non-obstructing objects 202a and 206a, according to non-obstructing objects 202a
The distance of non-obstructing objects 202a and 206a can be calculated with 206a location information, thus calculate automobile 106 speed and
Position of the automobile 106 in the section A.With the traveling of automobile, converting the different non-barriers of static state is object of reference, can be counted in real time
Calculate automobile 106 speed and automobile 106 the section A position.
Alternatively, because the section A relative to be relative to camera 101a it is fixed, camera 101a shooting image on
The coordinate that the section A can virtually be made is stored in data processor 102a.In this way, when automobile 106 is in A section travel, number
The position that automobile 106 can be directly determined according to the coordinate (x, y) of coordinate points 301 according to processor 102a, can pass through according to automobile
Cross the speed of 301 coordinate points and the time calculating automobile 106 of other 302 coordinate points.Same method can also calculate other dynamics
The position and speed of object.The position of automobile and dynamic object is calculated by the relativeness of stationary object, dynamic object and automobile
It sets and speed, can be to avoid the radar in existing system be used, the distance mearuring equipments such as laser reduce costs.
The method for handling not detectable dynamic object from 106 visual angle of automobile is as shown in Figure 4.Dynamically non-obstructing objects 204a
(such as bicycle) is travelled from the region 401 that the running region 201a with automobile 106 intersects to region 201a.201a and area in region
401 infall of domain has static non-obstructing objects 202a(such as building).Dynamically non-obstructing objects 204a is not or not the traveling area of automobile 106
On the 201a of domain, and blocking due to non-obstructing objects 202a, existing equipment can not detect dynamic from the visual angle of automobile 106
The non-obstructing objects 204a of state.The eminence that plane is travelled with automobile 106 is arranged in camera 101a, can detect the non-obstacle of dynamic
Object 204a, data processor 102a calculate its position and speed.Controller 103a makes early warning processing to automobile 106.In this way,
A possibility that colliding with the non-obstructing objects 204a of dynamic is reduced, safety is improved.
From 106 visual angle of automobile processing can not detect completely stationary body method it is as shown in Figure 5.Automobile 106 from traveling area
Domain 501a is into the driving process of running region 502a by curved areas 503a.Existing equipment can not from 106 visual angle of automobile
The information such as turning radius, the arc length of bend 503a can be detected completely.Camera 101a, which is arranged in, travels plane with automobile 106
Eminence and opposing stationary with bend 503a.In this way, the image shot by camera 101a, with above-mentioned coordinate method,
Data processor 102a can calculate automobile in the position and speed of bend 503a.Controller 103a according to the position of automobile,
Turning radius, the arc length of speed and the bend 503a pre-saved can be turned with Accurate Control of Automotive 106.In this way, avoiding vehicle
To opposite vehicle when carrying camera turning, the processing of the mass data such as bend surrounding static object improves real-time and reliable
Property.
Automobile is as shown in Figure 6 by the control model that the section A enters the section B.Automobile 106 is in A section travel, by the section A
Equipment control, before entering the section B by the section A, the signal transceiver 104b in the section B sends the static-obstacle thing in the section B
Body 203b, the non-obstructing objects 204b of dynamic, dynamic disorder object 205b position and speed information to the section A signal transceiver
104a.The calculation method of these information is identical with the section A.In this way, the controller 103a in the section A is according to the automobile 106 in the section A
Position, speed and the static-obstacle object 203b obtained from the section B, the non-obstructing objects 204b of dynamic, dynamic disorder object 205b
Position, velocity information control automobile 106 movement, ensure that will not collide in the section A, B junction, improve vehicle
Driving safety.
In this way, for static non-obstructing objects, controller can maintain the current motion state of automobile in the section A.It is right
In the non-obstructing objects of dynamic, data processor can calculate its position and speed, and controller makes early warning processing to automobile.For
Static-obstacle object and dynamic disorder object, processor can calculate its position and speed, and controller can control automobile progress
Evade.In the section B, automobile completes identical movement, and by the connection in each section, automobile is completed from origin to destination
Traveling.
Embodiment 2
In the present embodiment and identical part of embodiment 1 no longer illustrates, only illustrates and the different part of embodiment 1.
The data signal acquisition device of the present embodiment, signal receiving device, the setting of vehicle are same as Example 1, signal
Processing unit, control signal generating apparatus, sender unit use centralized layout's mode.
System constitutes the non-obstructing objects 202a of static state, static-obstacle thing as shown in fig. 7, the camera 101a shooting section A
The image of body 203a, the non-obstructing objects 204a of dynamic, dynamic disorder object 205a and automobile 106, these images are believed by data
Number transmitter 702a is sent to data processing computer 703, the non-obstructing objects of static state in the same camera 101b acquisition section B
The image of 202b, static-obstacle object 203b, the non-obstructing objects 204b of dynamic, dynamic disorder object 205b, these images pass through
Data-signal transmitter 702b is sent to data processing computer 703.Data processing computer 703 calculates automobile 106 and the area A, B
Between dynamic, the position and speed of stationary body, control computer according to the position and speed of each object generate control instruction,
Control the traveling of automobile 106.In this way, data processing computer can handle the information between multi-region simultaneously, system effectiveness is improved
With the control precision to vehicle.
Embodiment 1,2 has used an automobile to be illustrated in section A, B, but be not limited to that an automobile, it can
With simultaneously to section A, the more automobiles of B are controlled.Moreover, the travel route of vehicle is not limited to 2 sections, Ke Yihua
It is divided into multiple sections.
Moreover, above-mentioned section A, B and vehicle are not limited to carry out intellectual inducing to the automobile of road interval, further include
Intellectual inducing is carried out to the engineering truck in mine section, intellectual inducing is carried out to the agricultural machinery in farmland section, to the object in warehouse section
It flows vehicle and carries out intellectual inducing.
Claims (7)
1. a kind of Vehicular intelligent inducible system, it is characterised in that: including data signal acquisition device, data-signal processing unit,
Control signal generating apparatus, signal receiving/transmission device, signal receiving device and the vehicle that corresponding actions are generated according to control signal
,
The data signal acquisition device is arranged except vehicle, and the travel route of vehicle is divided into several sections, each
The information that the data signal acquisition device acquires the vehicle and the section, the data-signal processing unit is arranged in section
The information of the vehicle and the section is handled, information generates control vehicle to the control signal generating apparatus according to treated
Control signal, the control signal is transmitted to the vehicle by the signal receiving/transmission device and the signal receiving device.
2. a kind of Vehicular intelligent inducible system as described in claim 1, it is characterised in that: the data of the vehicle current interval
Signal processing apparatus and the vehicle go to the data-signal processing unit in section to carry out data exchange, induce the vehicle from institute
State the traveling that current interval goes to section described in.
3. a kind of Vehicular intelligent inducible system as claimed in claim 1 or 2, it is characterised in that: the data signal acquisition dress
The information of the stationary body, dynamic object and the vehicle that acquire the section is set, the data-signal processing unit is according to institute
It states stationary body information and calculates the speed of the vehicle and the dynamic object, position.
4. a kind of Vehicular intelligent inducible system as claimed in claim 1 or 2, it is characterised in that: the data signal acquisition dress
The information of the stationary body, dynamic object and the vehicle that acquire the section is set, including not detectable from the vehicle visual angle
Dynamic object and the stationary body that can not be detected completely from the vehicle visual angle, the control signal generating apparatus is according to institute
State stationary body, the information of the dynamic object and the vehicle controls the movement of the vehicle.
5. a kind of Vehicular intelligent inducible system as claimed in claim 1 or 2, it is characterised in that: the data signal acquisition dress
The information of the stationary body, dynamic object and the vehicle that acquire the section is set, and the vehicle is inscribed in current interval
Receive the static and dynamic object information that the vehicle goes to section.
6. a kind of Vehicular intelligent inducible system as described in claim 1, it is characterised in that: the control signal generating apparatus root
According to the stationary body information of current interval, the information of dynamic object and the vehicle, and go to the stationary body in section, dynamic
Object information generates vehicle control signal, is transmitted to by the signal receiving/transmission device and the control signal receiving device described
Vehicle.
7. a kind of Vehicular intelligent inducible system as described in claim 1, it is characterised in that: the control signal receiving device is set
It is placed in the vehicle, the vehicle completes acceleration, deceleration and turning action according to the received control signal of signal receiving device processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910205021.XA CN109785642A (en) | 2019-03-18 | 2019-03-18 | Vehicular intelligent inducible system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910205021.XA CN109785642A (en) | 2019-03-18 | 2019-03-18 | Vehicular intelligent inducible system |
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| CN109785642A true CN109785642A (en) | 2019-05-21 |
Family
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| CN201910205021.XA Withdrawn CN109785642A (en) | 2019-03-18 | 2019-03-18 | Vehicular intelligent inducible system |
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| CN106415690A (en) * | 2014-06-12 | 2017-02-15 | 奥迪股份公司 | Method for determining position data for use during the operation of a vehicle system of a motor vehicle, and position-data determining and distributing system |
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Application publication date: 20190521 |