CN109808600A - The method for visualizing and device of the perception information of automatic driving vehicle - Google Patents
The method for visualizing and device of the perception information of automatic driving vehicle Download PDFInfo
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- CN109808600A CN109808600A CN201910011535.1A CN201910011535A CN109808600A CN 109808600 A CN109808600 A CN 109808600A CN 201910011535 A CN201910011535 A CN 201910011535A CN 109808600 A CN109808600 A CN 109808600A
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Abstract
The embodiment of the present invention provides the method for visualizing and device of a kind of perception information of automatic driving vehicle, by the perception information for obtaining automatic driving vehicle；Control display shows the perception information.To, enable long-range controllers, security official or passenger inside the vehicle in real time, accurately know perception information, understand the environmental information of automatic Pilot vehicle periphery, improve user experience.
Description
Technical field
The present embodiments relate to vehicle technology more particularly to a kind of visualization sides of the perception information of automatic driving vehicle
Method and device.
Background technique
Automatic driving vehicle is also known as automatic driving vehicle, computer drives vehicle or wheeled mobile robot, is that one kind passes through
Computer system realizes unpiloted intelligent automobile, and automatic driving vehicle is by artificial intelligence, vision calculating, radar, monitoring dress
Set with global positioning system cooperative cooperating, allow computer automatically to operate motor vehicles.
In the prior art, the sensing module of automatic driving vehicle carries out at fusion according to the collected information of various kinds of sensors
Reason obtains perception information to get the related data of vehicle-periphery is arrived, and automated driving system is according to the phase of vehicle-periphery
Close the driver behavior that data instruct automatic driving vehicle.
However, security official or passenger inside the vehicle can not know perception information, and user experience is not using the method for the prior art
It is good.
Summary of the invention
The embodiment of the present invention provides the method for visualizing and device of a kind of perception information of automatic driving vehicle, so that safety
Member or passenger inside the vehicle know perception information, understand the environmental information of automatic Pilot vehicle periphery, improve user experience.
In a first aspect, the embodiment of the present invention provides a kind of method for visualizing of the perception information of automatic driving vehicle, comprising:
Obtain the perception information of automatic driving vehicle；
Control display shows the perception information.
Optionally, the control display shows the perception information, comprising:
It controls the display being set in automatic driving vehicle and shows the perception information.
Optionally, the control display shows the perception information, comprising:
The display of control automatic Pilot tele-control system shows the perception information.
Optionally, the perception information for obtaining automatic driving vehicle, comprising:
Monitoring information is obtained from the monitoring device for being set to automatic driving vehicle；
Fusion treatment is carried out to the monitoring information, obtains the perception information.
Optionally, the perception information includes:
Environmental information around the automatic driving vehicle.
Optionally, the environmental information around the automatic driving vehicle includes:
Appearance, the shape and/or position of dynamic object；
And/or；
Appearance, the shape and/or position of stationary body.
Optionally, the perception information further include: the prediction of dynamic object in the environment around the automatic driving vehicle
Information, the predictive information include travel speed and/or driving direction.
Optionally, the monitoring device includes:
Sensor and camera, the sensor include at least one of following:
Millimetre-wave radar；
Ultrasonic radar；
Laser radar；
Camera.
Second aspect, the embodiment of the present invention provide a kind of visualization device of the perception information of automatic driving vehicle, comprising:
Module is obtained, for obtaining the perception information of automatic driving vehicle；
Control module shows the perception information for controlling display.
Optionally, the display that the control module is specifically used for that control is set in automatic driving vehicle shows the sense
Know information.
Optionally, the display that the control module is specifically used for control automatic Pilot tele-control system shows the sense
Know information.
Optionally, the module that obtains is specifically used for obtaining monitoring letter from the monitoring device for being set to automatic driving vehicle
Breath；Fusion treatment is carried out to the monitoring information, obtains the perception information.
Optionally, the perception information includes:
Environmental information around the automatic driving vehicle.
Optionally, the environmental information around the automatic driving vehicle includes:
Appearance, the shape and/or position of dynamic object；
And/or；
Appearance, the shape and/or position of stationary body.
Optionally, the perception information further include: the prediction of dynamic object in the environment around the automatic driving vehicle
Information, the predictive information include travel speed and/or driving direction.
Optionally, the monitoring device includes:
Sensor and camera, the sensor include at least one of following:
Millimetre-wave radar；
Ultrasonic radar；
Laser radar；
Camera.
The third aspect, the embodiment of the present invention provide a kind of visualization device of the perception information of automatic driving vehicle, including
Memory and processor, the processor execute the program instruction in the memory, for realizing described in first aspect from
The method for visualizing of the dynamic perception information for driving vehicle.
Fourth aspect, the embodiment of the present invention provide a kind of storage medium, and the storage medium is used to store computer program,
The computer program for realizing the perception information of automatic driving vehicle described in first aspect method for visualizing.
The method for visualizing and device of the perception information of automatic driving vehicle provided in an embodiment of the present invention, by being obtained from
The dynamic perception information for driving vehicle；Control display shows the perception information.To so that long-range controllers, interior peace
Crew or passenger inside the vehicle can in real time, accurately know perception information, understand the environmental information of automatic Pilot vehicle periphery, mention
High user experience.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the flow diagram of the method for visualizing embodiment one of the perception information of automatic driving vehicle of the present invention；
Fig. 2 is the flow diagram of the method for visualizing embodiment two of the perception information of automatic driving vehicle of the present invention；
Fig. 3 is the flow diagram of the method for visualizing embodiment two of the perception information of automatic driving vehicle of the present invention；
Fig. 4 is that a kind of structure of the visualization device of the perception information of automatic driving vehicle provided in an embodiment of the present invention is shown
It is intended to；
Fig. 5 is the structure of the visualization device of the perception information of another automatic driving vehicle provided in an embodiment of the present invention
Schematic diagram.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Description and claims of this specification and term " first ", " second ", " third " " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein for example can be to remove
Sequence other than those of illustrating or describe herein is implemented.In addition, term " includes " and " having " and theirs is any
Deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, production
Product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for this
A little process, methods, the other step or units of product or equipment inherently.
Automatic driving vehicle and automatic Pilot tele-control system wireless communication connect.
On-vehicle host and display are provided on automatic driving vehicle, display can be the display of mobile terminal, such as:
Smart phone, plate or notebook etc., are also possible to Vehicular display device, can also both have, in this regard, the embodiment of the present invention
With no restrictions.Wherein, the screen size of Vehicular display device can be greater than the screen size of mobile terminal, and the display of mobile terminal is main
The relevant information of vehicle is understood for security official, Vehicular display device is mainly used for the relevant information that passenger on vehicle understands vehicle.
On-vehicle host and display communication connection, can in a wired manner or wirelessly communicate to connect, in this regard,
The embodiment of the present invention is with no restriction.
The perception information that the embodiment of the present invention passes through acquisition automatic driving vehicle；It controls display and shows perception information.From
And long-range controllers, person's car security official or passenger inside the vehicle is enabled in real time, accurately to know perception information, understand
Environmental information around automatic driving vehicle improves user experience.
Technical solution of the present invention is described in detail with specifically embodiment below.These specific implementations below
Example can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
Fig. 1 is the flow diagram of the method for visualizing embodiment one of the perception information of automatic driving vehicle of the present invention, this
The method of embodiment is executed by on-vehicle host, can also be by the electronic equipment with wireless communication module, processor and display
It executes, in this regard, the embodiment of the present invention is with no restriction.As shown in Figure 1:
S101: the perception information of automatic driving vehicle is obtained.
Wherein, perception information includes: the environmental information around automatic driving vehicle.
It wherein, include dynamic object and/or stationary body, specifically, appearance, shape including dynamic object in environmental information
Shape and/or position etc., appearance, shape and/or position of stationary body etc..
Wherein, dynamic object is for example: pedestrian, motor vehicles or non power driven vehicle；Stationary body is for example: road edge, trees,
Road sign, lane or other barriers etc..
Optionally, in perception information can also include dynamic object predictive information, predictive information include travel speed and/
Or driving direction.
S102: the display that control is set in automatic driving vehicle shows the perception information.
Wherein, a kind of possible implementation, on-vehicle host and the connection of display wireless communication or wire communication connect,
On-vehicle host controls display and shows perception information.
Alternatively possible implementation, the electronic equipment with wireless communication module, processor and display is from vehicle-mounted
Host obtains perception information, and control display shows perception information.
Another possible implementation, electronic equipment are led to each monitoring device being set on automatic driving vehicle
Letter obtains monitoring information, carries out fusion treatment to the monitoring information, obtains perception information, and controls display display perception
Information.
The display of mobile terminal refers to the display on mobile electronic equipment.
The content that the display and Vehicular display device of mobile terminal are shown may be the same or different, in this regard, the present invention is real
Apply example with no restrictions.
The perception information that the present embodiment passes through acquisition automatic driving vehicle；Control the display being set in automatic driving vehicle
Device shows the perception information.To, enable security official or passenger inside the vehicle in real time, accurately know perception information,
The environmental information around automatic driving vehicle is solved, improves user experience, and can determine to drive automatically according to ambient condition information
It sails vehicle and improves the driving safety of automatic driving vehicle with the presence or absence of driving safety problem in order to carry out manual intervention early
Property.
Fig. 2 is the flow diagram of the method for visualizing embodiment two of the perception information of automatic driving vehicle of the present invention, this
The method of embodiment is executed by automatic Pilot tele-control system, as shown in Figure 2:
S201: the perception information of automatic driving vehicle is obtained.
This step is similar with S101, and referring to the detailed description of S101, details are not described herein again.
S202: the display that control is set to automatic Pilot tele-control system shows the perception information.
Automatic Pilot tele-control system is provided with display, and the various information of vehicle is monitored convenient for long-range controllers,
By display show automatic driving vehicle perception information, can make long-range controllers in real time, accurately know sense
Know information.
The perception information that the present embodiment passes through acquisition automatic driving vehicle；Control is set to automatic Pilot tele-control system
Display show the perception information.To, enable long-range controllers in real time, accurately know perception information,
Understand the environmental information of automatic Pilot vehicle periphery, improves user experience, and can determine according to ambient condition information automatic
Driving vehicle whether there is driving safety problem, in order to carry out manual intervention early, improve the traveling peace of automatic driving vehicle
Quan Xing.
Optionally, Fig. 1 and embodiment illustrated in fig. 2 can also combine, it is, automatic Pilot can be set to
Display in vehicle shows the perception information, while also showing in the display for being set to automatic Pilot tele-control system
The driving safety problem of automatic driving vehicle can be further improved in the perception information.
Fig. 3 is the flow diagram of the method for visualizing embodiment two of the perception information of automatic driving vehicle of the present invention, Fig. 3
It is the description of a kind of possible implementation of S101 on the basis of Fig. 1 or embodiment illustrated in fig. 2, as shown in Figure 3:
S301: monitoring information is obtained from the monitoring device for being set to automatic driving vehicle.
At least one monitoring device is provided on automatic driving vehicle, by setting automatic driving vehicle different parts with
The information of Overall Acquisition vehicle-periphery.
Wherein, monitoring device include but is not limited to it is following at least one:
Millimetre-wave radar, ultrasonic radar, laser radar and camera.
Wherein, millimetre-wave radar is detected and is positioned to object using radio wave.Millimetre-wave radar can be extracted effectively
The depth of field and velocity information, cognitive disorders object have the ability of certain penetrating fog, cigarette and dust.
Ultrasonic radar actively issues the high-frequency sound for being higher than human auditory's level.It, will be ultrasonic using the characteristic of ultrasonic wave
Wave signal is converted into the sensor of other energy signals, has the characteristics that frequency is high, wavelength is short, diffraction phenomenon is small, to liquid, admittedly
The penetrability of body is stronger, can help vehicle detection external environment that vehicle is and guided to make this for autonomous driving vehicle appropriate
Reaction.It is mainly used for vehicle braking auxiliary system and reversing radar, avoids collision and rub for detecting barrier.Due to sound wave
It is relatively slow, therefore can detecte to one centimetre or smaller difference.Regardless of illumination level, since apart from short, they are all
It can avenge, equally well work under conditions of mist and rain.
For laser radar unlike millimetre-wave radar, it is laser rather than radio wave that laser radar, which relies on,.Laser thunder
Static and dynamic object can be detected up to system, and high-resolution several picture, range image and the speed of detected object are provided
Image.
Camera can identify the environmental informations such as pedestrian, bicycle, motor vehicle, road-rail trace, guideboard, signal lamp, can
One be used to support realize lane keep auxiliary, lane departure warning, forward direction anti-collision warning, pedestrian impact early warning, panorama to park,
The functions such as driver fatigue early warning.
Above-mentioned monitoring device can obtain different monitoring informations.
S302: fusion treatment is carried out to monitoring information, obtains perception information.
The monitoring information that multiple monitoring devices obtain is concentrated in together comprehensive analysis more accurately may be used by sensing module
Environmental information around automatic driving vehicle is described by ground.
The present embodiment, by from be set to automatic driving vehicle monitoring device obtain monitoring information, to monitoring information into
Row fusion treatment, obtains perception information, for security official or passenger inside the vehicle can in real time, accurately know perception information, understand
Environmental information around automatic driving vehicle provides support.
On the basis of the above embodiments, optionally, the core rendering engine for executing above-described embodiment can be supported to pacify simultaneously
Tall and erect, ios and webpage (web) end etc..
Fig. 4 is that a kind of structure of the visualization device of the perception information of automatic driving vehicle provided in an embodiment of the present invention is shown
It is intended to, as indicated at 4, comprising: obtain module 401 and control module 402.Wherein, module 401 is obtained for obtaining automatic Pilot vehicle
Perception information；Control module 402 shows the perception information for controlling display.
Optionally, the display that the control module 402 is specifically used for that control is set in automatic driving vehicle shows institute
State perception information.
Optionally, the display that the control module 402 is specifically used for control automatic Pilot tele-control system shows institute
State perception information.
Optionally, the module 401 that obtains is specifically used for obtaining monitoring from the monitoring device for being set to automatic driving vehicle
Information；Fusion treatment is carried out to the monitoring information, obtains the perception information.
Optionally, the perception information includes: the environmental information around the automatic driving vehicle.
Optionally, the environmental information around the automatic driving vehicle includes:
Appearance, the shape and/or position of dynamic object；
And/or；
Appearance, the shape and/or position of stationary body.
Optionally, the perception information further include: the prediction of dynamic object in the environment around the automatic driving vehicle
Information, the predictive information include travel speed and/or driving direction.
Optionally, the monitoring device includes:
Sensor and camera, the sensor include at least one of following:
Millimetre-wave radar；
Ultrasonic radar；
Laser radar；
Camera.
The device of the present embodiment accordingly can be used for executing the technical solution of any shown embodiment of the method for Fig. 1-Fig. 3,
Realization principle is similar, and details are not described herein again.
The present embodiment obtains the perception information of automatic driving vehicle by obtaining module；Control module control display is shown
The perception information.To enable long-range controllers, interior security official or passenger inside the vehicle in real time, accurately to know
Perception information understands the environmental information of automatic Pilot vehicle periphery, improves user experience.
Fig. 5 is the structure of the visualization device of the perception information of another automatic driving vehicle provided in an embodiment of the present invention
Schematic diagram, comprising: memory 121, processor 122 and communication interface 123, wherein memory 121, processor 122 and communication connect
Mouth 123 can communicate；Illustratively, memory 121, processor 122 and communication interface 123 can be logical by communication bus 124
Letter, the memory 121 execute the sense of automatic driving vehicle described in Fig. 1 for storing computer program, the processor 122
Know information visuallization method.
Optionally, communication interface 123 can also include transmitter and/or receiver.
Optionally, above-mentioned processor can be central processing unit (Central Processing Unit, CPU), may be used also
To be other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC) etc..General processor can be microprocessor or
The processor is also possible to any conventional processor etc..It can be embodied directly in conjunction with the step of method disclosed in the present application
Hardware processor executes completion, or in processor hardware and software module combination execute completion.
The application provides a kind of storage medium, and the storage medium is for storing computer program, the computer program
For realizing the method for visualizing of the perception information of any automatic driving vehicle of Fig. 1-Fig. 3.
The application provides a kind of chip, which is used to support the visualization device of the perception information of automatic driving vehicle real
Function shown in existing the embodiment of the present application is (for example, obtain the perception information of automatic driving vehicle；Control is set to automatic Pilot vehicle
Display in shows described perception information etc..), which is specifically used for chip system, which can be by chip
It constitutes, also may include chip and other discrete devices.When realizing the above method is the chip in the first equipment, chip packet
Processing unit is included, further, chip can also include communication unit, and the processing unit for example can be processor, work as core
When piece includes communication unit, the communication unit for example can be input/output interface, pin or circuit etc..Processing unit is held
All or part performed by each processing module acts in row the embodiment of the present application, communication unit is executable corresponding receive or
Sending action, for example, receiving the configuration signal etc. that the network equipment is sent.In another specific embodiment, connecing in the application
The processing module of receiving unit can be the processing unit of chip, and the receiving module or sending module that control equipment are the communication of chip
Unit.
The embodiment of the present application is referring to the method, equipment (system) and computer program product according to the embodiment of the present application
Flowchart and/or the block diagram describe.It should be understood that can be realized by computer program instructions in flowchart and/or the block diagram
The combination of process and/or box in each flow and/or block and flowchart and/or the block diagram.It can provide these calculating
Processing of the machine program instruction to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices
Unit is to generate a machine, so that the instruction executed by computer or the processing unit of other programmable data processing devices
It generates for realizing the function specified in one or more flows of the flowchart and/or one or more blocks of the block diagram
The device of energy.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
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 include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (18)
1. a kind of method for visualizing of the perception information of automatic driving vehicle characterized by comprising
Obtain the perception information of automatic driving vehicle；
Control display shows the perception information.
2. the method according to claim 1, wherein the control display shows the perception information, comprising:
It controls the display being set in automatic driving vehicle and shows the perception information.
3. the method according to claim 1, wherein the control display shows the perception information, comprising:
The display of control automatic Pilot tele-control system shows the perception information.
4. method according to claim 1-3, which is characterized in that the perception letter for obtaining automatic driving vehicle
Breath, comprising:
Monitoring information is obtained from the monitoring device for being set to automatic driving vehicle；
Fusion treatment is carried out to the monitoring information, obtains the perception information.
5. according to the method described in claim 4, it is characterized in that, the perception information includes:
Environmental information around the automatic driving vehicle.
6. according to the method described in claim 5, it is characterized in that, the environmental information around the automatic driving vehicle includes:
Appearance, the shape and/or position of dynamic object；
And/or；
Appearance, the shape and/or position of stationary body.
7. according to the method described in claim 5, it is characterized in that, the perception information further include: the automatic driving vehicle
The predictive information of dynamic object in the environment of surrounding, the predictive information includes travel speed and/or driving direction.
8. described according to the method described in claim 4, it is characterized in that, the monitoring device includes: sensor and camera
Sensor includes at least one of following:
Millimetre-wave radar；
Ultrasonic radar；
Laser radar；
Camera.
9. a kind of visualization device of the perception information of automatic driving vehicle characterized by comprising
Module is obtained, for obtaining the perception information of automatic driving vehicle；
Control module shows the perception information for controlling display.
10. device according to claim 9, which is characterized in that the control module is specifically used for control and is set to automatically
The display driven in vehicle shows the perception information.
11. device according to claim 9, which is characterized in that it is remote that the control module is specifically used for control automatic Pilot
The display of process control system shows the perception information.
12. according to the described in any item devices of claim 9-11, which is characterized in that the acquisition module is specifically used for from setting
Monitoring information is obtained in the monitoring device of automatic driving vehicle；Fusion treatment is carried out to the monitoring information, obtains the perception
Information.
13. device according to claim 12, which is characterized in that the perception information includes:
Environmental information around the automatic driving vehicle.
14. device according to claim 13, which is characterized in that the environmental information packet around the automatic driving vehicle
It includes:
Appearance, the shape and/or position of dynamic object；
And/or；
Appearance, the shape and/or position of stationary body.
15. device according to claim 13, which is characterized in that the perception information further include: the automatic Pilot vehicle
The predictive information of dynamic object in environment around, the predictive information includes travel speed and/or driving direction.
16. device according to claim 12, which is characterized in that the monitoring device includes:
Sensor and camera, the sensor include at least one of following:
Millimetre-wave radar；
Ultrasonic radar；
Laser radar；
Camera.
17. a kind of visualization device of the perception information of automatic driving vehicle, which is characterized in that including memory and processor,
The processor executes the program instruction in the memory, for realizing the described in any item automatic Pilots of claim 1-8
The method for visualizing of the perception information of vehicle.
18. a kind of storage medium, which is characterized in that the storage medium is for storing computer program, the computer program
For realizing the method for visualizing of the perception information of the described in any item automatic driving vehicles of claim 1-8.
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