CN109808711A - Automatic driving vehicle control method and system, automatic driving vehicle and vision prosthesis - Google Patents
Automatic driving vehicle control method and system, automatic driving vehicle and vision prosthesis Download PDFInfo
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- CN109808711A CN109808711A CN201811598562.5A CN201811598562A CN109808711A CN 109808711 A CN109808711 A CN 109808711A CN 201811598562 A CN201811598562 A CN 201811598562A CN 109808711 A CN109808711 A CN 109808711A
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Abstract
The present invention provides the automatic driving vehicle control method and system, automatic driving vehicle and vision prosthesis of a kind of view-based access control model prosthese, information is controlled by the eyeball that vision prosthesis is sent this method comprises: receiving, wherein, the generation step of the eyeball control information includes: to detect user eyeball motor message by vision prosthesis, and the user eyeball motor message is based on by vision prosthesis and extracts eye trajectory information, the eye trajectory information and predetermined movement track are subjected to matching judgment；When the eye trajectory information is matched with predetermined movement track, information is controlled using the eye trajectory information as eyeball；Eyeball control information is converted into corresponding control instruction, and respective operations are executed based on the control instruction.The present invention can be achieved blind person and control automatic driving vehicle by vision prosthesis, promotes the intelligence of automatic driving vehicle and vision prosthesis, is particularly suitable for intelligent driving of the blind person under special scenes.
Description
Technical field
The present invention relates to a kind of controls of the automatic driving vehicle of automatic Pilot technical field more particularly to view-based access control model prosthese
Method and system, automatic driving vehicle and vision prosthesis.
Background technique
Automatic Pilot technology is the bridge for meeting blind person's vehicle drive hope for blind community, and it is only to be conducive to blind person
From trip, the independent living ability of blind person is promoted.
However in Vehicular automatic driving, emergency situations may be met with, occupant intervention is needed to drive, it is existing to drive automatically
Sailing control system can not support the intervention of blind person to drive, and intelligence is lower.
Summary of the invention
The main purpose of the present invention is to provide a kind of automatic driving vehicle control methods of view-based access control model prosthese, it is intended to solve
The technical problem that certainly existing automatic driving control system can not support the intervention driving of blind person, intelligence lower.
To achieve the above object, the present invention provides a kind of automatic driving vehicle control method of view-based access control model prosthese, described
The automatic driving vehicle control method of view-based access control model prosthese the following steps are included:
It receives the eyeball sent by vision prosthesis and controls information, wherein the generation step that the eyeball controls information includes:
User eyeball motor message is detected by vision prosthesis, and the user eyeball motor message is based on by vision prosthesis and extracts eyeball
The eye trajectory information and predetermined movement track are carried out matching judgment by trace information；In the eye trajectory information and in advance
If motion profile matches, information is controlled using the eye trajectory information as eyeball；
Eyeball control information is converted into corresponding control instruction, and corresponding behaviour is executed based on the control instruction
Make.
Optionally, include: before described the step of detecting user eyeball motor message by vision prosthesis
Determine the driving mode rank that vehicle is presently in；
It is described that eyeball control information is converted into corresponding control instruction, and correspondence is executed based on the control instruction
The step of operation includes:
In the case where vehicle is in level-one automatic driving mode, controlled according to preset visual field instruction create-rule and the eyeball
Information generates corresponding target visual field instruction；
The shooting angle of adjustment visual field camera is instructed based on the target visual field.
Optionally, described that corresponding target is generated according to preset visual field instruction create-rule and eyeball control information
Visual field instruction；Based on the target visual field instruct adjustment visual field camera shooting angle the step of include:
Receive the headwork information of vision prosthesis transmission；
Become according to the target that the headwork information and eyeball control information calculate visual field camera shooting angle
Change track；
The shooting angle of the visual field camera is adjusted according to the object variations track.
Optionally, described that camera shooting angle in the visual field is calculated according to the headwork information and eyeball control information
The step of object variations track of degree includes:
The headwork information is parsed, eye motion direction and eye motion amplitude are obtained；
The eyeball control information is parsed, eye movement direction and eye movement amplitude are obtained；
Based on the eye motion direction and eye motion amplitude, eye movement direction and eye movement amplitude, determines and use
The change direction and amplitude of variation of the visual field focus at family, using the change direction of the visual field focus and amplitude of variation as the view
The object variations track of wild camera shooting angle.
Optionally, described that eyeball control information is converted into corresponding control instruction, and it is based on the control instruction
Execute respective operations the step of include:
In the case where vehicle is in second level automatic driving mode, preset steering instructions list is inquired, obtains the eyeball control
The corresponding target steering instructions of information execute corresponding driver behavior based on target steering instructions control vehicle.
Optionally, include: after described the step of obtaining eyeball control information corresponding target steering instructions
The predicted travel region of vehicle is calculated according to the target steering instructions and current vehicle position；
The road conditions image on the predicted travel region is obtained, object identification is carried out to the road conditions image, described in judgement
Whether there are obstacles on predicted travel region；
If there are barrier, output abnormality warnings on the predicted travel region.
Optionally, the automatic driving vehicle control method of the view-based access control model prosthese further include:
In the case where vehicle is in second level automatic driving mode, detecting has present count at pre-determined distance on vehicle heading
Purpose connecting way, outbound course inquiry prompt, wherein the preset number is greater than or equal to two；
It obtains current newest eyeball and controls information, target road is determined according to the newest eyeball control information, and
To the direction running of the target road；
Control vehicle is travelled to the target direction.
To achieve the above object, the present invention also provides a kind of automatic driving vehicle, the automatic driving vehicle includes vehicle control
Center, visual field camera, memory and the view-based access control model vacation that is stored in the memory and can be executed by vehicle control center
The automatic driving vehicle of body controls program, and the automatic driving vehicle control program of the view-based access control model prosthese is by vehicle control center
The step of automatic driving vehicle control method of view-based access control model prosthese as described above is realized when execution.
To achieve the above object, the present invention also provides a kind of vision prosthesis, the vision prosthesis includes the body being wirelessly connected
Interior device and device outside；The automatic driving vehicle control program of view-based access control model prosthese is also stored on the vision prosthesis, it is described
The automatic driving vehicle control program of view-based access control model prosthese realizes following steps when being executed by the vision prosthesis:
User eyeball motor message is detected, and the user eyeball motor message is based on by vision prosthesis and extracts eye trajectory
The eye trajectory information and predetermined movement track are carried out matching judgment by information；In the eye trajectory information and default fortune
When dynamic path matching, control information using the eye trajectory information as eyeball, and by the eyeball control information be sent to as
The upper automatic driving vehicle.
In addition, to achieve the above object, the present invention also provides a kind of controls of the automatic driving vehicle of view-based access control model prosthese to be
System, the automatic driving vehicle control system of the view-based access control model prosthese include automatic driving vehicle as described above and with it is described
The vision prosthesis of the wired or wireless connection of automatic driving vehicle；The vision prosthesis, for detecting user eyeball motor message, and
The user eyeball motor message is based on by vision prosthesis and extracts eye trajectory information, by the eye trajectory information and default fortune
Dynamic rail mark carries out matching judgment；When the eye trajectory information is matched with predetermined movement track, by the eye trajectory information
Information is controlled as eyeball, and eyeball control information is sent to vehicle；The automatic driving vehicle, for receiving by regarding
Feel that the eyeball that prosthese is sent controls information, and eyeball control information is converted into corresponding control instruction, and based on described
Control instruction executes respective operations.
The embodiment of the present invention passes through the information exchange of vision prosthesis and vehicle, the eyeball control letter for sending vision prosthesis to
Breath is corresponding with control instruction, and is controlled based on control instruction vehicle, so that user can be realized by vision prosthesis
Control to vehicle realizes timely discovery and control in time to automatic driving vehicle abnormal conditions, promotes vision prosthesis and vehicle
Intelligence, also promoted vehicle control user-friendliness, be particularly suitable for intelligent driving of the blind person under special scenes.
Detailed description of the invention
Fig. 1 is the automatic driving vehicle structural schematic diagram of the hardware running environment of the embodiment of the present invention；
Fig. 2 is an embodiment schematic diagram of vision prosthesis of the present invention；
Fig. 3 is an embodiment schematic diagram of the automatic driving vehicle control system the present invention is based on vision prosthesis；
Fig. 4 is another embodiment schematic diagram of the automatic driving vehicle control system the present invention is based on vision prosthesis；
Fig. 5 is that the present invention is based on the flow diagrams of one embodiment of automatic driving vehicle control method of vision prosthesis.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Referring to Figure 1, Fig. 1 is the structural schematic diagram of automatic driving vehicle provided by the present invention.
Automatic driving vehicle 10 may include: the components such as vehicle control center 101, visual field camera 102 and memory 103.
In automatic driving vehicle 10, vehicle control center 101 is connect with memory 103, and view-based access control model prosthese is stored on memory 103
Automatic driving vehicle controls program, and vehicle control center 101 can call driving automatically for the view-based access control model prosthese stored in memory 103
Vehicle control program is sailed, and the step of realizing embodiment as each such as the automatic driving vehicle control method of following view-based access control model prostheses.
It should be noted that " vehicle " in claims of the present invention and in following each embodiments is the abbreviation of automatic driving vehicle.
Memory 103 can be used for storing software program and various data.Memory 103 can mainly include storage program
Area and storage data area, wherein storing program area can application program needed for storage program area, at least one function (such as
The automatic driving vehicle of view-based access control model prosthese controls program) etc.；Storage data area may include database etc..Vehicle control center 101 is
The control centre of automatic driving vehicle 10, using the various pieces of various interfaces and the entire automatic driving vehicle 10 of connection,
By running or execute the software program and/or module that are stored in memory 103, and calls and be stored in memory 103
Data, execute automatic driving vehicle 10 various functions and processing data, to carry out whole control to automatic driving vehicle 10
System.
Visual field camera 102 for acquiring the image outside automatic driving vehicle, and the image of acquisition is sent to and is driven automatically
Sail vehicle；It also can receive the control instruction of automatic driving vehicle, and adjusted and shot according to control instruction.Automatic driving vehicle with
After vision prosthesis connection, the image transmitting that automatic driving vehicle acquires visual field camera 102 is to vision prosthesis, so that blind person uses
Correspondence image can be seen in family.Wherein, visual field camera 102 is connected by being rotatably connected part and cart base rotation, can be passed through
The shooting angle for being rotatably connected part conversion visual field camera 102 between rotation visual field camera 102 and pedestal.
Further, the present invention also provides a kind of vision prosthesis, vivo devices and device outside including wireless connection；Depending on
Feel the automatic driving vehicle control program that view-based access control model prosthese is also stored on prosthese, the automatic Pilot vehicle of the view-based access control model prosthese
Control program realizes following steps when being executed by vision prosthesis:
User eyeball motor message is detected, and the user eyeball motor message is based on by vision prosthesis and extracts eye trajectory
The eye trajectory information and predetermined movement track are carried out matching judgment by information；In the eye trajectory information and default fortune
When dynamic path matching, control information using the eye trajectory information as eyeball, and by the eyeball control information be sent to as
The upper automatic driving vehicle.
Such as the embodiment schematic diagram that Fig. 2 is vision prosthesis of the present invention.
In vision prosthesis 20 shown in Fig. 2, including device outside 21 and vivo devices 22；
Device outside 21 includes sequentially connected image capture module 211, image processing module 212, data coding module
213 and first communication module 214；Vivo devices 22 include sequentially connected second communication module 221, filter and amplifier
222, data decoder module 223, microcontroller 224 and microelectrode drive module 225；Device outside 21 and vivo devices 22 are logical
It crosses first communication module 214 and second communication module 221 carries out data communication, first communication module 214 and second communication module
221 can be wireless radio frequency modules, be attached communication by radio frequency signal.
Wherein, image capture module 211 can be CCD camera, send for capturing video image, and by picture signal
To image processing module 212, picture signal is converted to the electro photoluminescence of vision prosthesis microelectrode array by image processing module 212
Information, and pass through first communication module 214 after being encoded electro photoluminescence information by data coding module 213 and be sent to internal dress
Second communication module 221 in 22 are set, the electro photoluminescence information received is sent to filter and amplifier by second communication module 221
222 carry out signal amplification and filtering processing, and the electro photoluminescence information after filtering processing is sent to data decoder module 223 and is counted
Optic nerve is driven to produce according to decoded electro photoluminescence information according to decoding, then by microcontroller 224 and microelectrode drive module 225
Raw visual hallucination.
Optionally, inductor is installed in vision prosthesis for incuding user eyeball movement, and acquires user eyeball movement
Signal, inductor can be electrode inductor, and electrode inductor can be 4 or more, control eye movement by electrode detection
Muscle issue small electric pulse, acquire eye movement signal, by vision prosthesis image processing module 212 or filter with
Amplifier 222 amplifies and filters denoising to eye movement signal.Optionally, it is also installed for feeling in vision prosthesis
The inductor for answering user's head to move, can be acceleration transducer and gyroscope.
Further, the present invention also provides the automatic driving vehicle control system of view-based access control model prosthese, the automatic Pilots
Vehicle control system include automatic driving vehicle as described above and with the wired or wireless connection of the automatic driving vehicle
Vision prosthesis；
The vision prosthesis is transported for detecting user eyeball motor message, and by vision prosthesis based on the user eyeball
The eye trajectory information and predetermined movement track are carried out matching judgment by dynamic signal extraction eye trajectory information；In the eye
When sphere path curve information is matched with predetermined movement track, information is controlled using the eye trajectory information as eyeball, and by the eye
Ball control information is sent to vehicle；
The automatic driving vehicle controls information by the eyeball that vision prosthesis is sent for receiving, and by the eyeball control
Information processed is converted to corresponding control instruction, and executes respective operations based on the control instruction.
It is illustrated in figure 3 an embodiment schematic diagram of the automatic driving vehicle control system the present invention is based on vision prosthesis.
In the present embodiment, automatic driving vehicle 10 is connected with the device outside 21 of vision prosthesis 20, specifically, automatically
Driving vehicle 10 can be with 212 wired connection of image processing module of device outside 21, or can also be with the first of device outside 21
Communication module 214 is wirelessly connected, and is connected indirectly with image processing module 212 Deng；In aforementioned two kinds of connection types, automatic Pilot
The image that visual field camera 201 acquires is sent to device outside by vehicle 10, carries out image procossing, thorn to image by device outside
Vivo devices 22 are transmitted to after swashing the processing such as parameter calculation code.
It is illustrated in figure 4 another embodiment signal of the automatic driving vehicle control system the present invention is based on vision prosthesis
Figure.
In the present embodiment, automatic driving vehicle 10 is connected with the vivo devices 22 of vision prosthesis 20, can lead to second
Believe that module 221 is wirelessly connected, in this connection type, image that automatic driving vehicle 10 acquires visual field camera 201 into
Vivo devices 22 are sent directly to after the processing such as row image procossing, stimulation parameter calculation code.
It will be understood by those skilled in the art that automatic driving vehicle structure shown in Fig. 1 is not constituted to automatic Pilot
The restriction of vehicle, Fig. 2 shows vision prosthesis structure do not constitute the restriction to vision prosthesis, Fig. 3 or shown in Fig. 4 based on view
Feel prosthese automatic driving vehicle control system, do not constitute the restriction to the control system yet, may include than illustrate it is more or
Less component/module or different component layout/modules.
Based on above-mentioned relevant device and system, proposition is following, and the present invention is based on the automatic driving vehicle controlling parties of vision prosthesis
Each embodiment of method, wherein the user of " user " finger vision prosthese.
The present invention provides a kind of automatic driving vehicle control method of view-based access control model prosthese.
It is that the present invention is based on the processes of the automatic driving vehicle control method first embodiment of vision prosthesis referring to Fig. 5, Fig. 5
Schematic diagram.In the present embodiment, the present invention is based on the automatic driving vehicle control method of vision prosthesis the following steps are included:
Step S10 is received and is controlled information by the eyeball that vision prosthesis is sent, wherein the generation of the eyeball control information
Step includes: to detect user eyeball motor message by vision prosthesis, and be based on user eyeball movement letter by vision prosthesis
Number eye trajectory information is extracted, the eye trajectory information and predetermined movement track are subjected to matching judgment；In the eyeball rail
When mark information is matched with predetermined movement track, information is controlled using the eye trajectory information as eyeball；
It include the Connection Step of vision prosthesis and vehicle, vision prosthesis and vehicle before executing the step S10 of the present embodiment
It wired or wireless can connect；It is grasped in vision prosthesis and vehicle detection to vehicle control preparation is respectively carried out when interconnecting
Make.Vehicle control preparatory function specifically includes:
(1) vision prosthesis: vision prosthesis can directly initiate sensor module after detecting and connecting with vehicle, and induction is used
Family eye movement, and acquire user eyeball motor message, wherein sensor module can be electrode inductor, be examined by electrode
The small electric pulse that the oculomotor muscle of observing and controlling system issues, acquires eye movement signal；It can also be connect detecting with vehicle
Afterwards, it detects whether to receive eyeball induction instruction, after detecting eyeball induction instruction, just triggers priming inductor module,
In, eye movement induction instruction can be inputted operation or voice input operation triggering by user key-press.
(2) vehicle: vehicle can obtain the image of visual field camera shooting after detecting and connecting with vision prosthesis, and will
The image transmitting is to vision prosthesis, so that user can see the road conditions outside vehicle by vision prosthesis.Visual field camera can be
One or more cameras, visual field camera is used to acquire the image outside vehicle, thus visual field camera is mountable in vehicle times
Meaning can take the positions of vehicle outdoor scene, set or vehicle position all around for example, being installed on vehicle orientation.Visual field camera shooting
After machine acquires external image, by analog-digital chip, the image based on acquisition generates analog signal, and analog signal is by video solution
Code chip is decoded into image code stream, and image code stream is transmitted to vehicle control center.
When in the visual field, camera is multiple, the preset main camera from multiple visual field cameras, using main camera as view
The current lens for feeling prosthese, send vision prosthesis for the image that main camera is shot.Optionally, according to user in vision prosthesis
Input operation on upper or vehicle, can be by Shot change to other visual field cameras, i.e., by the figure of other visual field cameras shooting
As being sent to vision prosthesis, for example, preset main camera is vehicle front camera, the image for being initially transmitted to vision prosthesis is
The image of front camera shooting, detects the camera switching command of user's operation triggering, according to the camera switching command
It obtains user and it is expected the target camera being switched to, the current lens of vision prosthesis are switched to target camera, target is taken the photograph
The image transmitting shot as head is to vision prosthesis.
In one embodiment, vehicle directly transmits the image obtained from visual field camera (" the first image " hereinafter)
To the device outside of vision prosthesis, image preprocessing is carried out to the first image by device outside, and calculates and generates corresponding stimulation
Parameter is sent to vivo devices after encoding stimulation parameter, to stimulate user to generate the corresponding vision of the first image；In another reality
It applies in mode, the first image obtained from visual field camera is carried out image preprocessing by vehicle, and is calculated and generated corresponding stimulation
Stimulation parameter can be transmitted to vivo devices by device outside, stimulation parameter directly can also be wirelessly transmitted to body by parameter
Interior device, to stimulate user to generate the corresponding vision of the first image；In yet another embodiment, vehicle will be obtained from visual field camera
The first image obtained carries out image preprocessing, and the image obtained after pretreatment is sent to device outside, is carried out by device outside
The coding of stimulation parameter.
In the above-described embodiment, device outside/vehicle control center carries out image preprocessing to the first image, and calculates generation
Corresponding stimulation parameter, it may include: the gray level image of the first image is obtained first, using median filtering technology to the gray level image
It is pre-processed, the first image after being denoised；Edge extracting is carried out to the first image after denoising and edge swell obtains
Edge feature information；According to the parameter of microelectrode array in vivo devices, down-sampling is carried out to the first image, and obtain in vivo
The one-to-one dot matrix image of microelectrode array in device；According to the parameter of Microelectrode stimulation device, phase is calculated in conjunction with dot matrix image
The stimulation parameter answered.
It will be appreciated by persons skilled in the art that view-based access control model prosthese automatic driving vehicle control method it is subsequent
In step, the related description that the image that visual field camera is shot is sent to vision prosthesis is as above, repeats no more at correlation hereinafter.
After executing vehicle control preparatory function, vision prosthesis timing or real-time detection user eyeball motor message (user
Eye movement signal, that is, electro-ocular signal), and eye trajectory information is obtained from user eyeball motor message, eye trajectory packet
Eye movement direction and eye movement amplitude are included, eye trajectory information, which may also include, watches duration and/or eye movement sequence attentively.
Before vision prosthesis carries out eye trajectory information extraction to user eyeball motor message, further includes: to inductor
The user eyeball motor message detected amplifies through amplifier, user's eye of digital form is converted to through analog-to-digital conversion module
Ball motor message, then denoising is filtered to user eyeball motor message.Again from the eye movement letter after denoising
Eye trajectory information is extracted in number, specifically:
Feature vector is extracted from the waveform signal of eye movement signal, feature vector is represented by containing k element
Vector X=[x1, x2, x3…xk-2, xk-1, xk], wherein element x, is the amplitude of arbitrary point on waveform, and adjacent two element
Between time interval it is equal.
After extracting feature vector, the Euclidean distance between this feature vector and preset waveform template vector is calculated, institute is compared
There is the value of Euclidean distance and take the smallest Euclidean distance, the trace information of the corresponding waveform template vector of the minimum euclidean distance is
Eye trajectory information to be extracted.
Wherein, the corresponding relationship of the trace information of waveform template vector and eyeball is prestored in vision prosthesis.
Predetermined movement track includes same content with eye trajectory information, i.e. predetermined movement track includes eye movement
Direction and eye movement amplitude, predetermined movement track, which may also include, watches duration and/or eye movement sequence attentively.
The eye trajectory information of extraction and predetermined movement track are subjected to matching judgment, i.e., by the eye in eye trajectory information
The ball direction of motion, eye movement amplitude are carried out with the eye movement direction in predetermined movement track, eye movement amplitude pair respectively
Than judgement, the two eye movement direction is identical, eye movement amplitude is identical or eye movement amplitude error value is less than preset value
When (preset value is pre-stored in vision prosthesis), eye trajectory information is matched with predetermined movement track.
After determining that user eyeball movement is matched with predetermined movement track, information is controlled using eye trajectory information as eyeball,
And send it to vehicle.Eyeball controls information.
Eyeball control information is converted to corresponding control instruction, and is executed based on the control instruction by step S20
Respective operations.
The corresponding relationship of preset eyeball control information and vehicle control instruction in vehicle, corresponding relationship can be with mapping table shape
Formula storage can be controlled information by eyeball and inquire the corresponding control instruction of corresponding relationship mapping table acquisition, and corresponding relationship may be used also
To be packaged into functional module, by calling corresponding relationship module polls to obtain corresponding control instruction.
Control instruction such as can refer to brake, acceleration and deceleration, turn left and turn right at the Driving controls instruction, can also refer to open music,
The equipment control instruction such as body light is opened, is also possible to control the control instructions such as vehicle camera shooting angle.
Eyeball controls the corresponding relationship of information and control instruction, " opens sound for example, quickly can will continuously blink and be used as twice
It is happy " the corresponding eyeball control information of control instruction, eyeball can be moved toward left and stop 2 seconds as " turning left " control instruction
Corresponding eyeball controls information.
The present embodiment controls information by the eyeball that vision prosthesis is sent by receiving, wherein the eyeball control information
Generation step includes: to detect user eyeball motor message by vision prosthesis, and transported based on the user eyeball by vision prosthesis
The eye trajectory information and predetermined movement track are carried out matching judgment by dynamic signal extraction eye trajectory information；In the eye
When sphere path curve information is matched with predetermined movement track, information is controlled using the eye trajectory information as eyeball；By the eyeball
Control information is converted to corresponding control instruction, and executes respective operations based on the control instruction, i.e., by vision prosthesis with
The information exchange of vehicle, the eyeball control information for sending vision prosthesis to is corresponding with control instruction, and is based on control instruction pair
Vehicle is controlled, so that user can realize control to vehicle by vision prosthesis, promotes vision prosthesis and vehicle
Intelligence also promotes the user-friendliness of vehicle control.
Further, propose that the present invention is based on the automatic driving vehicle control methods of vision prosthesis the based on first embodiment
Two embodiments.
In the automatic driving vehicle control method second embodiment the present invention is based on vision prosthesis, wrapped before step S10
It includes:
Step S30 determines the driving mode rank that vehicle is presently in；
Vehicle is under different automatic Pilot ranks, and vision prosthesis also has different control authorities to vehicle.In vehicle control
The heart can directly acquire the driving mode rank setting of vehicle.Driving mode rank can independently be set by user；Can also by with
Family carries out limited autonomous setting under the scene restriction that Vehicular system is set, it may be assumed that Vehicular system presets different road conditions scenes pair
The control authority answered, such as, vehicle few for people lack scene, and user may be selected the gradational control authority of institute, scenes more for people,
User may only select the control authority of inferior grade, it is not possible to select high-grade control authority.
Further, in the present embodiment, step S20 includes:
Step S21, in the case where vehicle is in level-one automatic driving mode, according to preset visual field instruction create-rule and described
Eyeball controls information and generates corresponding target visual field instruction；The shooting angle of adjustment visual field camera is instructed based on the target visual field
Degree.
In the present embodiment, the driving mode rank of vehicle includes level-one automatic driving mode, under this driving mode, vehicle
Automatic Pilot degree it is high, corresponding vision prosthesis control authority is in lower grade, can be according to the eyeball moving track of user
Adjust the shooting angle of visual field camera, can be moved according to user eyeball and assign shooting angle adjustment instruction, promoted vehicle and
The intelligence of vision prosthesis.
The shooting angle for adjusting visual field camera, is mainly adjusted by rotation angle of the visual field camera compared to fixed pedestal
Degree is realized, in an adjustment example, determines that user eyeball is turned right rotation according to eyeball control information, then by visual field camera phase
It is rotated to the right compared with fixed pedestal.
In one embodiment, the preset visual field instructs create-rule are as follows: visual field control instruction in inquiry visual field instruction list
With the corresponding relationship of eye trajectory, the corresponding target visual field instruction of eyeball control information is obtained.Visual field instruction list can be to reflect
The form of firing table, information can be controlled according to eyeball inquire the mapping table and obtain the corresponding target visual field and instruct, can also pass through by
Eyeball controls the visual field instruction module of information input storage visual field instruction list, returns to the target visual field by visual field instruction module and refers to
It enables.Can preset visual field instruction list in the car, or can in vision prosthesis preset visual field instruction list, by vision prosthesis
It is transmitted to vehicle.
The shooting angle regulating object of visual field camera includes shooting angle moving direction and angle.By parsing eyeball
Control information can obtain eye movement direction and eye movement amplitude.
Shooting angle moving direction can be consistent with eye movement direction, for example, in the instruction list of the visual field, eyeball left-hand rotation pair
Answer visual field camera toward the control instruction turned left, eyeball, which is turned right, corresponds to the past control instruction turned right of visual field camera, turns on eyeball
The past control instruction moved up of visual field camera is corresponded to, turns corresponding visual field camera on eyeball toward the control instruction moved down；Shooting angle
Spending moving direction can also be inconsistent with oculomotor direction, can be set by user oneself or Vehicular system default is set in advance
It sets.The corresponding relationship in shooting angle moving direction and eye movement direction can be stored in the instruction list of the visual field, it may include on
Under, left and right, upper left side, lower left, the cameras shooting angle such as upper right side and lower right mobile control instruction.Visual field camera shooting
The mobile size of head shooting angle can be set to fixed size.
In another embodiment, the preset visual field instructs create-rule are as follows: obtains eyeball fortune from eyeball control information
Dynamic direction and eye movement amplitude generate the corresponding target visual field according to eye movement direction and eye movement amplitude and instruct, will
The direction of motion of visual field camera is adjusted to eye movement direction, and the motion amplitude of visual field camera is adjusted to eye movement width
Degree.
The visual field camera of information adjustment is controlled according to eyeball, the current lens of finger vision prosthese, i.e. user pass through vision
The affiliated camera of the image that prosthese is seen.
Further, according to preset visual field instruction create-rule and eyeball control information generation pair in step S21
The target visual field instruction answered；Based on the target visual field instruct adjustment visual field camera shooting angle the step of include:
Step S211 receives the headwork information of vision prosthesis transmission；
It, can if receiving the headwork information of vision prosthesis transmission when vehicle is in level-one automatic driving mode
According to the shooting angle of headwork information and eyeball control information adjustment visual field camera.
After determining the driving mode rank that vehicle is presently in, the driving mode rank that vehicle is presently in can be sent
To vision prosthesis, corresponding control information is acquired by vision prosthesis, is in level-one automatic driving mode in vehicle, vision prosthesis can
It acquires head action message and eyeball controls information, and be sent to vehicle as control information.
It can configure acceleration transducer and gyroscope in the device outside of vision prosthesis, for acquiring head action message.
Headwork, which will drive, is fixed on the eyes on head and moves, and then influences the field range of user, institute
Can be used head action message to indicate the movement of eyes, eye motion direction and eye can be obtained from the action message of head
Portion's motion amplitude, and according to eye motion direction and the shooting angle of eye motion amplitude adjustment camera.
Step S212 calculates visual field camera shooting angle according to the headwork information and eyeball control information
Object variations track；
Headwork information may include eye motion direction and eye motion amplitude, and it then includes eyeball that eyeball, which controls information,
The direction of motion and eye movement amplitude can determine the desired visual field of user according to headwork information and eyeball control information
Variation track, vehicle can calculate the target change for obtaining visual field camera shooting angle by the desired visual field variation track of user
Change track, object variations track can be overlapped with visual field variation track.
Specifically, step S212 includes:
The headwork information is parsed, eye motion direction and eye motion amplitude are obtained；Parse the eyeball control
Information obtains eye movement direction and eye movement amplitude；Based on the eye motion direction and eye motion amplitude, eyeball fortune
Dynamic direction and eye movement amplitude, determine the change direction and amplitude of variation of the visual field focus of user, by the visual field focus
The object variations track of change direction and amplitude of variation as the visual field camera shooting angle.
In present embodiment, the change direction of the visual field focus of user is used to indicate that user is desired with amplitude of variation
Visual field variation track.Eye motion direction and eye motion amplitude are one group of eye motion vector, eye movement direction and eyeball
Motion amplitude is one group of eye movement vector, can be obtained by the way that eye motion vector sum eye movement vector is carried out addition of vectors
To the change direction and amplitude of variation of visual field focus, using the change direction of visual field focus and amplitude of variation as object variations
The change direction and amplitude of variation of track.
Step S213 adjusts the shooting angle of the visual field camera according to the object variations track.
The shooting angle of visual field camera is rotated to the change direction of object variations track, and is rotated and object variations rail
The corresponding angle of the amplitude of variation of mark.
The present embodiment is in the case where vehicle is in level-one automatic driving mode, by the headwork for receiving vision prosthesis transmission
Information calculates the object variations track of visual field camera shooting angle, and root according to headwork information and eyeball control information
According to the shooting angle of object variations track adjustment visual field camera, vehicle may make to be changed according to user's eye and eyeball variation
The shooting angle of visual field camera, provide with the consistent image transmitting of user's expectation visual field to vision prosthesis, vehicle can be promoted
Intelligence and user-friendliness.
Further, the automatic driving vehicle control method the present invention is based on vision prosthesis is proposed based on the above embodiment
3rd embodiment.
The present invention is based in the 3rd embodiment of the automatic driving vehicle control method of vision prosthesis, step S20 is also wrapped
It includes:
Step S22 inquires preset steering instructions list in the case where vehicle is in second level automatic driving mode, described in acquisition
Eyeball controls the corresponding target steering instructions of information, executes corresponding driving behaviour based on target steering instructions control vehicle
Make.
In the present embodiment, the driving mode rank of vehicle includes second level automatic driving mode, under this driving mode, vehicle
Automatic Pilot degree it is lower, corresponding vision prosthesis control authority is in higher level, can according to vision prosthesis send
Eyeball controls the driving behavior of information control vehicle, including brake, acceleration and deceleration, turns left and turn right.Optionally, in step
It the step for further including the driving mode rank that determining vehicle is presently in front of S10, can also be before step S20, step
The driving mode rank that vehicle is presently in is determined after S10.
Preset steering instructions list is inquired, according to pair of the eye trajectory and steering instructions that store in steering instructions list
It should be related to, obtain the corresponding target steering instructions of eyeball control information.Specifically, comprising:
When the corresponding eye trajectory of eyeball control information is the first track, preset steering instructions list is inquired, is obtained
The corresponding target steering instructions in first track are brake instruction, and vehicle executes brake operation；Wherein, the first track can be
Twice from top to bottom, it is also possible to from top to bottom, and rests on lower section 2 seconds；
When the corresponding eye trajectory of eyeball control information is the second track, preset steering instructions list is inquired, is obtained
The corresponding target steering instructions in second track are instruction of turning left, and vehicle executes operation of turning left；Wherein, the second track can be
It turns left and for 3 seconds, or is seen toward lower left；
When the corresponding eye trajectory of eyeball control information is third track, preset steering instructions list is inquired, is obtained
The corresponding target steering instructions in the third track are instruction of turning right, and vehicle executes operation of turning right；Wherein, third track can be
It turns right and for 3 seconds, or is seen toward lower right；
When the corresponding eye trajectory of eyeball control information is four track, preset steering instructions list is inquired, is obtained
The corresponding target steering instructions in 4th track are deceleration instruction, and vehicle executes deceleration-operation, wherein the 4th track can be
It looks down and for 2 seconds or 3 seconds.
Optionally, in the case where vehicle is in second level automatic driving mode, vehicle obtains the master image of preset orientation angles, and will
Master image is sent to vision prosthesis.Wherein, master image refers to the image within the scope of right ahead and left and right vehicle wheel predetermined angle,
Preset orientation angles, that is, right ahead and left and right vehicle wheel predetermined angle range, the specific angle of preset orientation angles can be pre-
It is placed in vehicle.
The present embodiment controls the corresponding target steering instructions of information by obtaining the eyeball, is referred to based on target driving
It enables control vehicle execute corresponding driver behavior and carries out vehicle drive control, it can be achieved that moving according to user eyeball, promote vehicle
And the intelligence of vision prosthesis.
Optionally, include: after the step of corresponding target steering instructions of eyeball control information are obtained in step S22
Step S221 calculates the predicted travel region of vehicle according to the target steering instructions and current vehicle position；
Vehicle shared region on road surface is fixed rectangular area, and vehicle is always using road surface as reference frame
Mechanical movement is done in plane, thus its predicted travel region can be corresponding according to current vehicle position and target steering instructions
Subsequent driver behavior determines.Wherein, it is contemplated that running region, if referring to that vehicle carries out Driving control according to target steering instructions, in advance
The road area that meter vehicle can pass through.
When the corresponding subsequent driver behavior of target steering instructions does not include left and right and turns, if target steering instructions are pure plus-minus
Speed instruction, the subsequent driving locus of vehicle are linear type track, then the predicted travel region of vehicle is right ahead region.It is optional
Whether ground has driveway line of demarcation on road where judging vehicle based on the road image that vehicle camera obtains；If there is garage
Road line of demarcation then obtains the line of demarcation of the driveway where vehicle, is vehicle by the rectangular area that the line of demarcation defines
Predicted travel region.
When the corresponding subsequent driver behavior of target steering instructions includes that left and right is turned, if target steering instructions are instruction of turning left
Or instruction of turning right, the subsequent driving locus of vehicle are shaped form track, then it can be by the left/right side of vehicle or left front/right front area
Predicted travel region of the domain as vehicle until detecting new target steering instructions, then carries out predicted travel region again
It determines.
Step S222 obtains the road conditions image on the predicted travel region, carries out object identification to the road conditions image,
Judge that whether there are obstacles on the predicted travel region；Step S223, if there are barrier on the predicted travel region,
Then output abnormality alerts.
After determining predicted travel region, the road conditions figure determined on predicted travel region is obtained by the camera on vehicle
Picture shoots consecutive image sequence by vehicle front camera, based on figure when predicted travel region is right ahead region
As sequence carries out object identification；When predicted travel region is the left/right side or left front/right front region of vehicle, pass through vehicle
Left/right side camera shoots consecutive image sequence, carries out object identification based on image sequence.
In one embodiment, barrier feature database can be preset, for storing the contour feature of various barriers, satisfying the need
When condition image is identified, the contour feature extracted in road conditions image is matched with the characteristic set in barrier feature database,
To judge that whether there are obstacles on predicted travel region, if output abnormality alerts there are barrier on predicted travel region,
To warn the presence of user's barrier, if barrier is not present on predicted travel region, step S221 is continued to execute, is supervised
Survey barrier.
In another embodiment, object identification can be carried out to road conditions image by disaggregated model neural network based, it can
By in the input of road conditions image data trained disaggregated model, judging it by disaggregated model, whether there are obstacles.In training
When preset disaggregated model, training sample is obtained, wherein training sample is the road conditions image data marked by barrier；It extracts
Training sample feature, and according to the feature of training sample, the optimal model parameters of disaggregated model are calculated by iterative algorithm, into
And train the disaggregated model containing optimal model parameters.
The present embodiment can be carried out by the prediction to vehicle driving trace and to the road conditions image on predicted travel region
Obstacle recognition, on predicted travel region there are when barrier, output abnormality warning, it can be achieved that auxiliary to user's traveling,
Improve driving safety.
Further, in fourth embodiment based on the above embodiment, the automatic Pilot vehicle of the view-based access control model prosthese
Control method further include:
Step S40 is detected on vehicle heading and is had at pre-determined distance in the case where vehicle is in second level automatic driving mode
There are the connecting way of preset number, outbound course inquiry prompt, wherein the preset number is greater than or equal to two；
In the present embodiment, the driving mode rank that vehicle is presently in is determined, be in second level automatic driving mode in vehicle
Under, information can be controlled according to eyeball carry out vehicle drive control.
It can be with the connecting way of preset number in fork in the road (such as cross at pre-determined distance on vehicle heading
Crossing) road conditions under.Vehicle can carry out road Identification by obtaining image in driving direction, and to the image, and then determine
Whether there is the connecting way of preset number, vehicle can also obtain digital map navigation information by networking, according to leading at pre-determined distance
Boat information determines the connecting way whether at pre-determined distance in driving direction with preset number.Pre-determined distance can be made by oneself by user
Justice setting, or default setting in the car can be 100 meters or 200 meters, and particular number is unlimited.
Can voice output direction inquiry prompt, or on vehicle user interface display direction inquiry prompt, determined by user
Travel and driving direction.
Step S41 obtains current newest eyeball and controls information, determines target according to the newest eyeball control information
Road, and to the direction running of the target road.
Various embodiments of the present invention are all based on the determination that newest eyeball control information carries out corresponding control instruction, this implementation
The determination that information carries out target road is controlled according to newest eyeball in example.
Because different connecting ways all have respectively different directions, at the parting of the ways, there are left side road, right-side course
Road and straight road can control the traveling side that the corresponding eye movement direction of information determines user's selection by newest eyeball
To, eye movement direction can be consistent with driving direction, such as: 200 meters of crossroad is left before vehicle inquiry user
Turn, turn right or keep straight on etc., if user wants to turn left, eyes of user continues three seconds or more to the left, vehicle detection to the eyeball
Determination is turned left after control information, and eye movement direction can be practised by user according to oneself with driving direction or inconsistent
It is used to customized or preset in the car.
The present embodiment is by detecting pre-determined distance on vehicle heading in the case where vehicle is in second level automatic driving mode
Locate the connecting way with preset number, outbound course inquiry prompt obtains current newest eyeball and controls information, according to described
Newest eyeball control information determines target road, and to the direction running of the target road, can pass through vision by user
Prosthese is selected in a plurality of connecting way, realizes the intelligentized control method of vehicle.
The present invention also proposes a kind of storage medium, is stored thereon with computer program.The storage medium can be Fig. 1's
Memory 103 in automatic driving vehicle is also possible to such as ROM (Read-Only Memory, read-only memory)/RAM
At least one of (Random Access Memory, random access memory), magnetic disk, CD, the storage medium includes
Some instructions use so that one with processor equipment equipment (can be mobile phone, computer, server, the network equipment or
Automatic driving vehicle etc. in the embodiment of the present invention) execute method described in each embodiment of the present invention.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the server-side that include a series of elements not only include those elements,
It but also including other elements that are not explicitly listed, or further include for this process, method, article or server-side institute
Intrinsic element.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of automatic driving vehicle control method of view-based access control model prosthese, which is characterized in that the view-based access control model prosthese from
It is dynamic drive control method for vehicle the following steps are included:
It receives and information is controlled by the eyeball that vision prosthesis is sent, wherein the generation step of the eyeball control information includes: to pass through
Vision prosthesis detects user eyeball motor message, and is based on the user eyeball motor message by vision prosthesis and extracts eye trajectory
The eye trajectory information and predetermined movement track are carried out matching judgment by information；In the eye trajectory information and default fortune
When dynamic path matching, information is controlled using the eye trajectory information as eyeball；
Eyeball control information is converted into corresponding control instruction, and respective operations are executed based on the control instruction.
2. the automatic driving vehicle control method of view-based access control model prosthese as described in claim 1, which is characterized in that described to pass through
Include: before the step of vision prosthesis detection user eyeball motor message
Determine the driving mode rank that vehicle is presently in；
It is described that eyeball control information is converted into corresponding control instruction, and respective operations are executed based on the control instruction
The step of include:
In the case where vehicle is in level-one automatic driving mode, information is controlled according to preset visual field instruction create-rule and the eyeball
Generate corresponding target visual field instruction；
The shooting angle of adjustment visual field camera is instructed based on the target visual field.
3. the automatic driving vehicle control method of view-based access control model prosthese as claimed in claim 2, which is characterized in that the basis
Preset visual field instruction create-rule and eyeball control information generates corresponding target visual field instruction；It is regarded based on the target
Open country instruction adjustment visual field camera shooting angle the step of include:
Receive the headwork information of vision prosthesis transmission；
The object variations rail of visual field camera shooting angle is calculated according to the headwork information and eyeball control information
Mark；
The shooting angle of the visual field camera is adjusted according to the object variations track.
4. the automatic driving vehicle control method of view-based access control model prosthese as claimed in claim 3, which is characterized in that the basis
The step of headwork information and eyeball control information calculate the object variations track of visual field camera shooting angle
Include:
The headwork information is parsed, eye motion direction and eye motion amplitude are obtained；
The eyeball control information is parsed, eye movement direction and eye movement amplitude are obtained；
Based on the eye motion direction and eye motion amplitude, eye movement direction and eye movement amplitude, determine user's
The change direction and amplitude of variation of visual field focus are taken the photograph using the change direction of the visual field focus and amplitude of variation as the visual field
As the object variations track of head shooting angle.
5. the automatic driving vehicle control method of view-based access control model prosthese as described in claim 1, which is characterized in that described by institute
It states eyeball control information and is converted to corresponding control instruction, and the step of executing respective operations based on the control instruction includes:
In the case where vehicle is in second level automatic driving mode, preset steering instructions list is inquired, obtains the eyeball control information
Corresponding target steering instructions execute corresponding driver behavior based on target steering instructions control vehicle.
6. the automatic driving vehicle control method of view-based access control model prosthese as claimed in claim 5, which is characterized in that the acquisition
Include: after the step of eyeball control information corresponding target steering instructions
The predicted travel region of vehicle is calculated according to the target steering instructions and current vehicle position；
The road conditions image on the predicted travel region is obtained, object identification is carried out to the road conditions image, is judged described estimated
Whether there are obstacles on running region；
If there are barrier, output abnormality warnings on the predicted travel region.
7. the automatic driving vehicle control method of view-based access control model prosthese as described in claim 1, which is characterized in that described to be based on
The automatic driving vehicle control method of vision prosthesis further include:
In the case where vehicle is in second level automatic driving mode, detecting has preset number at pre-determined distance on vehicle heading
Connecting way, outbound course inquiry prompt, wherein the preset number is greater than or equal to two；
It obtains current newest eyeball and controls information, target road is determined according to the newest eyeball control information, and to institute
State the direction running of target road；
Control vehicle is travelled to the target direction.
8. a kind of automatic driving vehicle, which is characterized in that the automatic driving vehicle includes vehicle control center, visual field camera, deposits
Reservoir and be stored in the memory and can by vehicle control center execute view-based access control model prosthese automatic driving vehicle control
Processing procedure sequence, the automatic driving vehicle control program of the view-based access control model prosthese are realized when being executed by vehicle control center as right is wanted
The step of automatic driving vehicle control method of view-based access control model prosthese described in asking any one of 1 to 7.
9. a kind of vision prosthesis, which is characterized in that the vision prosthesis includes the vivo devices and device outside being wirelessly connected；Institute
The automatic driving vehicle control program that view-based access control model prosthese is also stored on vision prosthesis is stated, the view-based access control model prosthese is driven automatically
It sails when vehicle control program is executed by the vision prosthesis and realizes following steps:
User eyeball motor message is detected, and the user eyeball motor message is based on by vision prosthesis and extracts eye trajectory letter
The eye trajectory information and predetermined movement track are carried out matching judgment by breath；In the eye trajectory information and predetermined movement
When path matching, information is controlled using the eye trajectory information as eyeball, and eyeball control information is sent to such as power
Benefit require 8 described in automatic driving vehicle.
10. a kind of automatic driving vehicle control system of view-based access control model prosthese, which is characterized in that the automatic driving vehicle control
System includes automatic driving vehicle as claimed in claim 8 and the view with the wired or wireless connection of the automatic driving vehicle
Feel prosthese；
The vision prosthesis is based on user eyeball movement letter for detecting user eyeball motor message, and by vision prosthesis
Number eye trajectory information is extracted, the eye trajectory information and predetermined movement track are subjected to matching judgment；In the eyeball rail
When mark information is matched with predetermined movement track, information is controlled using the eye trajectory information as eyeball, and by the eyeball control
Information processed is sent to vehicle；
The automatic driving vehicle controls information by the eyeball that vision prosthesis is sent for receiving, and the eyeball is controlled and is believed
Breath is converted to corresponding control instruction, and executes respective operations based on the control instruction.
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