CN109976348A - A kind of vehicle and its motion control method, equipment, storage medium - Google Patents
A kind of vehicle and its motion control method, equipment, storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000003860 storage Methods 0.000 title claims abstract description 10
- 239000003550 marker Substances 0.000 claims abstract description 97
- 230000009184 walking Effects 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 230000000007 visual effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000284 extract Substances 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000013515 script Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
This application discloses a kind of vehicle and its motion control method, equipment, storage mediums, motion control are carried out on road applied to auxiliary vehicle, the roadside is equipped with marker；Wherein, which comprises Image Acquisition is carried out to the road area where current vehicle, obtains present road ambient image；The marker on road area where identifying current vehicle in present road ambient image；Present road information is determined according to the marker；Motion control is carried out to vehicle using present road information.This programme is provided with marker on road in advance, and after having identified the marker on the road area where current vehicle, marker be can use to obtain present road information, namely obtain the road information that vehicle is presently in road, thus solve the problems, such as it is existing in the prior art can not effectively perceive surrounding road environmental information, improve the motion control capabilities of vehicle.
Description
Technical field
The present invention relates to vehicle line walking technical field, in particular to a kind of vehicle and its motion control method, equipment, storage
Medium.
Background technique
Currently, with the fast development of vehicle technology, present vehicle has more and more functions, becomes more intelligence
Energyization, such as the automatic running on transmisson line function of vehicle is to compare a kind of function of attracting user instantly, however, vehicle waits vehicles in line walking
During motion control, due to being difficult to effectively perceive the road environment information of surrounding, so can not be provided for user preferably
Motion control service.
In summary as can be seen that the motion control capabilities for how promoting vehicle are current urgent problems to be solved.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of vehicle and its motion control method, equipment, storage medium,
The motion control capabilities of vehicle can effectively be promoted.Its concrete scheme is as follows:
In a first aspect, the invention discloses a kind of vehicle motion control methods, which comprises
Image Acquisition is carried out to the road area where current vehicle, obtains present road ambient image；
The marker on road area where identifying current vehicle in present road ambient image；
Present road information is determined according to the marker；
Motion control is carried out to vehicle using present road information.
In the present solution, marker is provided on road in advance, and the road area where having identified current vehicle
On marker after, can use marker to obtain present road information, namely obtain the road that vehicle is presently in road
Road information, thus solve the problems, such as it is existing in the prior art can not effectively perceive surrounding road environmental information so that it is convenient to
It is subsequent the motion controls such as line walking and positioning to be carried out to vehicle using the present road information of above-mentioned determination, to improve vehicle
Motion control capabilities.
It is optionally, described that present road information is determined according to the marker, comprising:
The road section information of present road is determined according to the distance values between the different markers.
In the present solution, be specifically the road section information that present road is determined based on the distance values between marker, that is,
Different distance values are preset corresponding to different road section informations, then pass through the specific value size of analysis distance values, it can
To determine current corresponding road section information.
Optionally, the distance values according between the different markers determine the road section information of present road, comprising:
The distance values between the difference markers on road area where acquisition current vehicle；
If the distance values less than the first preset threshold, determine that the section of present road is complicated；
If the distance values are greater than the second preset threshold, determine that the section of present road is simple.
In the present solution, illustrate that the section of present road is relatively complicated when distance values are less than the first preset threshold, when
When distance values are greater than the second preset threshold, illustrate that the section of present road is relatively simple.
It is optionally, described that motion control is carried out to vehicle using present road information, comprising:
Using the road section information of present road, controls the opening and closing of onboard sensor and/or adjust the speed of service of vehicle, from
And motion control is carried out to vehicle.
In the present solution, specifically can use the road section information of present road, the motion process of vehicle is controlled, is such as controlled
The opening and closing of onboard sensor processed, or adjust the speed of service etc. of vehicle.
It is optionally, described that present road information is determined according to the marker, comprising:
Present road information is determined according to the relative positional relationship between the marker and default road element；
Wherein, the default road element includes lane line and/or traffic mark board and/or traffic sign column.
In the present solution, being to determine that present road is believed based on the relative positional relationship between marker and default road element
Breath, that is, presetting the corresponding relationship between the different relative positional relationships and different road informations, then passes through
The relative positional relationship between marker and default road element showed on analysis present road, can determine
Present road information.
Optionally, the marker is arranged on the lane line of the road.
In the present solution, marker is arranged on lane line.
It is optionally, described that present road information is determined according to the marker, comprising:
From the contour feature of the marker extracted on lane line in present road ambient image, current lane line is obtained
Information, to carry out line walking operation according to the current lane line information.
In the present solution, current lane line can be obtained by way of extracting the contour feature of the marker on lane line
Information.
Optionally, the marker is the reflecting piece for carrying encoded information.
In the present solution, marker can be the reflecting piece for carrying encoded information.
Optionally, the contour feature from the marker extracted on lane line in present road ambient image, obtains
To current lane line information, comprising:
The contour feature that retroreflective regions are extracted from present road ambient image, obtains initial profile characteristic information；
The encoded information carried to the reflecting piece within the scope of Current vision identifies, and is believed using the coding recognized
Breath, judge the initial profile characteristic information whether be reflecting piece on lane line contour feature information, if it is, according to
The initial profile characteristic information determines current lane line information.
In the present solution, disclosing a kind of specifically from the wheel for the reflecting piece extracted in present road ambient image on lane line
The technology of wide feature.
Optionally, the encoded information is the information obtained after encoding to road information.
In the present solution, encoded information can be the information obtained after being encoded to road information.
Optionally, the marker is arranged on traffic mark board and/or traffic sign column.
In the present solution, marker can also be arranged on traffic mark board and/or traffic sign column.
Second aspect, the invention discloses a kind of vehicle motion control apparatus, including processor and memory, the processing
Device completes the step of aforementioned disclosed vehicle motion control method when executing the computer program stored in the memory.
Wherein, this programme has technical effect same as mentioned above.
The third aspect, the invention discloses a kind of vehicles, including aforementioned disclosed vehicle motion control apparatus.
Wherein, this programme has technical effect same as mentioned above.
Fourth aspect, the invention discloses a kind of computer readable storage mediums, for storing computer program, the meter
Calculation machine program completes the step of aforementioned disclosed vehicle motion control method when being executed by corresponding processor.
Wherein, this programme has technical effect same as mentioned above.
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 only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of vehicle motion control method flow diagram disclosed by the embodiments of the present invention；
Fig. 2 is a kind of vehicle motion control method sub-process figure disclosed by the embodiments of the present invention；
Fig. 3 is a kind of Reflecting sheet structure schematic diagram being laid on lane line；
Fig. 4 is a kind of specific vehicle motion control method flow diagram disclosed by the embodiments of the present invention；
Fig. 5 is a kind of specific vehicle motion control method flow diagram disclosed by the embodiments of the present invention；
Fig. 6 is a kind of vehicle motion control device structural schematic diagram disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a kind of vehicle motion control methods, are moved on road applied to auxiliary vehicle
Control, the roadside are equipped with marker；It is shown in Figure 1, which comprises
Step S11: Image Acquisition is carried out to the road area where current vehicle, obtains present road ambient image.
Specifically, the present embodiment can carry out Image Acquisition to the road ahead region where current vehicle, certainly, in order to
Motion control accuracy is improved, the present embodiment can also carry out Image Acquisition to the road in the rear region where current vehicle simultaneously.
In the present embodiment, marker is equipped on roadside in advance.Specifically, the marker can be set described
On the lane line of road, also it can be set on traffic mark board and/or traffic sign column.
Further, the marker in order to not influence vehicle in night traffic to the identification of marker, in the present embodiment
It can also be reflecting piece, it is to be understood that the reflecting piece in the present embodiment refers to the board prepared using reflectorized material.
Step S12: the marker on road area where identifying current vehicle in present road ambient image.
Specifically, can identify the mark on the road area where current vehicle based on the visual signature of marker itself
Know object.That is, first extract present road ambient image in visual signature, then judge the visual signature extracted whether in advance
If marker visual signature it is consistent, if it is, can determine that the visual signature extracted is exactly the vision of marker
Feature, it is thus achieved that the identification to marker.It is understood that the visual signature of above-mentioned marker can be size spy
Sign, color characteristic, shape feature or self-contained pattern characteristics etc..
Step S13: present road information is determined according to the marker.
In the present embodiment, the positional relationship between different identification object can use both to determine present road information, it can also
To determine present road information using the positional relationship between the objects such as lane line on marker and present road.
It should be pointed out that the road information in the present embodiment include but is not limited to present road position geography information,
Any one or a few in road width information, speed-limiting messages, traffic information and category of roads information.
In the present embodiment, after S13 through the above steps gets present road information, what can be determined is current
The roads such as road geographical location, road width information, speed-limiting messages, traffic information and the category of roads of place road letter
Breath, namely allow the vehicle to perceive the specific situation for itself being presently in road, it can be helped by above-mentioned road information
Vehicle realizes the positioning of itself.
In addition, information content entrained by marker in order to further increase, the marker in the present embodiment, which can also be, to be taken
Marker with encoded information.Preferably, the letter that above-mentioned encoded information obtains after can specifically encoding to road information
Breath.It is understood that road information corresponding to the self-contained encoded information of above-mentioned marker is different from the position of marker
The road information that the relationship of setting is reflected, such as the former can be road width information, and the latter then can be road conditions information
Deng.
In the present embodiment, marker can carry encoded information by coding shape pattern that itself is portrayed, can be with
Understand, above-mentioned coding character pattern includes but is not limited to bar code pattern, two-dimensional bar code pattern, character pattern and traffic
Any one or a few in Warning Mark pattern.Wherein, the type of the corresponding bar code of the bar code pattern includes
But it is not limited to any one or a few in 39 yards, 93 yards and 128 yards.
Certainly, the marker in the present embodiment can also carry encoded information by the color characteristic of itself, for example, can
Different color characteristics is presented in reflecting piece to enable as marker, characterizes different roads by the different colours of reflecting piece and advises
Lattice, specifically, if showing that present road is highway, if current road when the color of reflecting piece is red on present road
The color of the reflecting piece of road is blue, then shows that present road is Class I highway, if the color of the reflecting piece on present road
For green, then show that present road is Class II highway.
In the present embodiment, if the self-contained encoded information of above-mentioned marker in above-mentioned steps S12 can also
The identification to marker is realized in a manner of through the encoded information in identification present road ambient image.
Step S14: motion control is carried out to vehicle using present road information.
Specifically, can be adjusted in conjunction with present road information to the line walkings parameter such as line walking speed, to realize to vehicle
Motion control, thus, it is possible to ensure driving safety of the vehicle on present road.
In the embodiment of the present application, marker, and the road where having identified current vehicle are provided on road in advance
After marker on the region of road, marker can use to obtain present road information, namely obtain vehicle and be presently in
The road information on road, thus solve the problems, such as it is existing in the prior art can not effectively perceive surrounding road environmental information, this
Sample prescription continues after an action of the bowels to carry out the motion controls such as line walking and positioning to vehicle using the present road information of above-mentioned determination, to mention
The motion control capabilities of vehicle are risen.
On the basis of previous embodiment, the embodiment of the present application has done further instruction and optimization to technical solution, tool
Body:
In order to realize the line walking positioning operation to vehicle, the embodiment of the present application must also the line walking direction to vehicle carry out it is true
It is fixed, the purpose in the line walking direction of determining vehicle can be specifically realized by way of determining lane line information.
In a specific embodiment, lane line own profile feature can be extracted from present road ambient image,
Thus current lane line information is obtained.In the present embodiment, above-mentioned current lane line information can specifically include current lane line
Line characteristics, such as linear feature and bending line characteristics.It is understood that obtaining above-mentioned lane line own profile feature
Later, it needs to analyze above-mentioned lane line own profile feature, to obtain and above-mentioned lane line own profile feature pair
The line characteristics answered are achieved in the purpose in determining vehicle line walking direction.
In another embodiment specific implementation mode, it is assumed that the marker in the present embodiment is arranged on lane line, then can
With from present road ambient image extract lane line on the marker contour feature, then to marker on lane line
Contour feature analyzed, obtain road line characteristics corresponding with the contour feature of the marker on current lane line,
Current lane line information is obtained, to carry out line walking operation according to current lane line information.Specifically, it is shown in Figure 2, it is false
It is if above-mentioned marker is the reflecting piece for carrying encoded information, then described to be extracted on lane line from present road ambient image
The contour feature of the marker obtains current lane line information, can specifically include:
Step S21: extracting the contour feature of retroreflective regions from present road ambient image, obtains initial profile feature letter
Breath,
In the present embodiment, reflecting piece is prepared by reflectorized material, since reflectorized material is in the sun, street lamp and car light etc.
More light can be reflected under the irradiation of many light sources, so that the corresponding image-region of reflecting piece in road environment image
Brightness will be significantly greater than the brightness of the corresponding image-region of other environmental objects.Therefore, the present embodiment can be based in brightness
Difference identifies the image-region that the reflection light based on reflecting piece generates from present road ambient image, obtains and reflecting piece
Corresponding retroreflective regions.That is, the present embodiment after collecting present road ambient image, determines different zones in image
Then corresponding brightness value screens the region that brightness value is greater than predetermined luminance threshold value, corresponding with reflecting piece to obtain
Retroreflective regions.
Certainly, it is contemplated that there may be some strong optical jammer sources in some cases, in road environment, if without
Specially treated, retroreflective regions obtained above just not only include the corresponding region of reflecting piece, also will include other strong light interference
The corresponding region in source, the interference information of obtained retroreflective regions is more in this case, and accuracy is lower, in other words degree of purity
It is poor, will lead in this way it is subsequent need to handle many scripts and be not necessarily to the image-region that is handled, cause computing resource and deposit
Store up the waste of resource.For the utilization efficiency of lifting system resource, accelerate subsequent image processing speed, the present embodiment can incite somebody to action
After the region that brightness value is greater than predetermined luminance threshold value screens, which further is determined from the image-region screened
A little regions are the corresponding regions of reflecting piece and which region is the corresponding region of strong optical jammer source.For example, it is contemplated that arriving Qiang Guanggan
The shape for disturbing the corresponding image-region in source is obviously to be different from the shape of the corresponding image-region of reflecting piece, so the present embodiment
Second can be carried out to the above-mentioned image screened based on predetermined luminance threshold value and sieved based on the shape difference opposite sex of image-region
Choosing, to determine and the corresponding image-region of reflecting piece and image-region corresponding with strong optical jammer source；Then can pass through
The mode that the corresponding image-region of strong optical jammer source is rejected, or the corresponding image-region of reflecting piece is extracted
Mode, to obtain retroreflective regions corresponding with reflecting piece.That is, the above-mentioned shape difference based on image-region is anisotropic, to based on pre-
If the image that luminance threshold screens carries out the process of programmed screening, can specifically include: the shape based on image-region
Otherness, and machine vision technique is combined, programmed screening is carried out to the above-mentioned image screened based on predetermined luminance threshold value,
To determine retroreflective regions corresponding with reflecting piece.
That is, in the present embodiment, the above-mentioned contour feature that retroreflective regions are extracted from present road ambient image
Process can specifically include: rejecting image-region corresponding with strong optical jammer source in present road ambient image, then will be left
The contour feature in region corresponding with reflecting piece extracts in image-region, to obtain above-mentioned initial profile characteristic information；
Following manner can certainly be taken to extract: the corresponding image-region of reflecting piece is mentioned from present road ambient image
It takes out, contour feature extraction then is carried out to the image-region that said extracted comes out again, so that it is special to obtain above-mentioned initial profile
Reference breath.
Step S22: the encoded information carried to the reflecting piece within the scope of Current vision identifies.
It is understood that the reflecting piece within the scope of the Current vision refers to the machine vision system on current vehicle
In the visual range of system, and the reflecting piece that can be identified by the NI Vision Builder for Automated Inspection.
Step S23: using the encoded information recognized, judge whether the initial profile characteristic information is on lane line
The contour feature information of reflecting piece.
Specifically, the encoded information that above-mentioned utilization recognizes, judges whether the initial profile characteristic information is lane line
On reflecting piece contour feature information, may include:
Using encoded information entrained by the reflecting piece currently recognized, and preset global positioning system is combined, judgement
Out the initial profile characteristic information whether be reflecting piece on lane line contour feature information.
Wherein, above-mentioned global positioning system is arranged inside the vehicle, and the inside has recorded the reflecting piece on each position
Mapping relations between the encoded information of carrying global positioning coordinates corresponding with the position, can by above-mentioned global positioning system
It, can be to obtain the global positioning coordinates of current vehicle, and using encoded information entrained by the reflecting piece currently recognized
Corresponding global positioning coordinates are found out in above-mentioned global positioning system, then calculate the global positioning coordinates and vehicle itself
The distance between global positioning coordinates value, judge whether the distance value is located in preset distance range, if it is, can be with
Determine that the initial profile characteristic information is the contour feature information of the reflecting piece on current lane line, if it is not, then can sentence
The fixed initial profile characteristic information is not the contour feature information of the reflecting piece on current lane line.
It is understood that above-mentioned global positioning system can include but is not limited to GPS (i.e. Global Positioning
System), dipper system and glonass system etc..
Step S24: if it is, determining current lane line information according to the initial profile characteristic information.
That is, if the judging result of above-mentioned steps S23 be it is yes, show above-mentioned initial profile characteristic information exactly be located at
The contour feature information of reflecting piece on lane line, since above-mentioned reflecting piece is on lane line, so that can be with base
In the contour feature information of the different reflecting pieces on current lane line, determines the regularity of distribution of these reflecting pieces, be then based on
The above-mentioned regularity of distribution can determine the line characteristics of lane line, namely obtain current lane line information.
Fig. 3 is a kind of Reflecting sheet structure schematic diagram being laid on lane line.In Fig. 3, left and right two lines indicate lane
Line, the black region on line indicate that the reflectorized material being laid on lane line, white area then indicate the color of lane line itself；
In addition, being equipped with 3 bar code patterns being made of reflecting piece, two neighboring bar code pattern in Fig. 3 or so two lines
Between white area be the original region of lane line itself；Secondly, on every lane line in Fig. 3, bar code pattern
Paving mode be paving mode heterogeneous, that is, the spacing between different two neighboring bar code patterns can be
Difference can use the distance values between different bar code patterns in this way to characterize road information.In addition, due in Fig. 3
Reflecting piece is on lane line, so the contour feature by determining reflecting piece, can further analyze and work as front truck
Diatom information.
Shown in Figure 4, the embodiment of the present application discloses a kind of specific vehicle motion control method, is applied to auxiliary vehicle
Motion control is carried out on road, comprising:
Step S31: Image Acquisition is carried out to the road area where current vehicle, obtains present road ambient image.
Step S32: the marker on road area where identifying current vehicle in present road ambient image.
Detailed process about above-mentioned steps S31 and S32 can be with reference to corresponding contents disclosed in previous embodiment, herein not
It is repeated again.
Step S33: the road section information of present road is determined according to the distance values between the different markers.
That is, the present embodiment is the road section information for determining present road based on the distance values between marker.Specifically
, the corresponding relationship between the different distance values and different road section informations can be preset, through the above steps
S32 identifies the distance values between marker and then the two neighboring marker of calculating on road area, then utilizes between being somebody's turn to do
Away from value and above-mentioned corresponding relationship, current corresponding road section information can be determined.
For example, it is assumed that pre-setting following corresponding relationship:
When distance values are less than the first preset threshold, corresponding road information are as follows: the section of road is complicated, such as current road segment
Often there is dense fog, road surface very out-of-flatness etc. in locating area；
When distance values are greater than the second preset threshold, corresponding road information are as follows: the section of road is simple, very such as road surface
Seldom there is atrocious weather etc. in smooth, location.
Then, the distance values according between the different markers determine the road section information of present road, specifically can be with
Include:
The distance values between the difference markers on road area where acquisition current vehicle；If the distance values
Less than the first preset threshold, then determine that the section of present road is complicated；If the distance values are greater than the second preset threshold, determine
The section of present road is simple.
It is understood that above-mentioned first preset threshold is less than or equal to the second preset threshold, and their specific number
Value can be configured according to the actual situation, not limited specifically it herein.
Step S34: motion control is carried out to vehicle using the road section information of present road.
Specifically, the road section information using present road carries out motion control to vehicle, may include:
Using the road section information of present road, controls the opening and closing of onboard sensor and/or adjust the speed of service of vehicle.
For example, in the case that the distance values between two neighboring marker are less than the first preset threshold, in order to improve row
Vehicle safety can control vehicle at this time and open more internal preset sensors, such as velocity sensor, range sensor, and
And the speed of service of vehicle can be reduced；Similarly, the distance values between two neighboring marker are greater than the second preset threshold
In the case of, it, at this time can be before ensuring vehicle driving safety in order to reduce the power consumption of vehicle and extend the service life of sensor
It puts, control vehicle is suitably turned off some internal preset sensors, and in order to reduce the running time of vehicle, can be appropriate
The speed of service of ground raising vehicle.
Shown in Figure 5, the embodiment of the present application discloses a kind of specific vehicle motion control method, is applied to auxiliary vehicle
Motion control is carried out on road, comprising:
Step S41: Image Acquisition is carried out to the road area where current vehicle, obtains present road ambient image.
Step S42: the marker on road area where identifying current vehicle in present road ambient image.
Detailed process about above-mentioned steps S41 and S42 can be with reference to corresponding contents disclosed in previous embodiment, herein not
It is repeated again.
Step S43: determine that present road is believed according to the relative positional relationship between the marker and default road element
Breath；
Wherein, the default road element includes but is not limited to lane line and/or traffic mark board and/or traffic sign
Column.
That is, the present embodiment is to determine current road based on the relative positional relationship between marker and default road element
Road information.Specifically, can preset different relative positional relationship between marker and default road element with not
Corresponding relationship between same road information is carrying out identification and through the above steps S42 knowledge to above-mentioned default road element
The opposite position between default road element and marker can Chu not be further analyzed after the marker on road area
Relationship is set, the relative positional relationship and above-mentioned corresponding relationship are then utilized, can determine current corresponding road information.
For example, it is assumed that pre-setting following corresponding relationship:
When marker is located at the inside region of lane line, corresponding road information are as follows: the section of front nearby will
It turns left；
When marker is located at the lateral area of lane line, corresponding road information are as follows: the section of front nearby will
It turns right；
When marker is located at the intermediate region of lane line, corresponding road information are as follows: the section of front nearby extends
Direction will not change.
Then, the relative positional relationship according between the marker and default road element determines that present road is believed
Breath, can specifically include:
Determine the relative positional relationship between marker and lane line, if marker is located at the lateral area of lane line,
Determine that the section of front nearby will turn right, if marker is located at the inside region of lane line, determines front nearby
Section will turn left, if marker is located at the intermediate region of lane line, determine front section extending direction nearby
It will not change.
Step S44: motion control is carried out to vehicle using present road information.
Specifically, can use the road section information of present road, controlling the opening and closing of onboard sensor and/or adjusting vehicle
The speed of service and/or the traffic direction for adjusting vehicle.
For example, can control vehicle in the case where marker is located at the lateral area of lane line and turn right, in marker
In the case where the inside region of lane line, it can control vehicle and turn left, be located at the intermediate region of lane line in marker
When, then it can continue to keep the traffic direction of current vehicle constant.
Correspondingly, the embodiment of the present application also discloses a kind of vehicle motion control device, it is applied to auxiliary vehicle in road
Upper carry out motion control, the roadside are equipped with marker；Wherein, shown in Figure 6, described device includes:
Image capture module 11 obtains present road for carrying out Image Acquisition to the road area where current vehicle
Ambient image；
Marker identification module 12, for the road area where identifying current vehicle in present road ambient image
Marker；
Data obtaining module 13, for determining present road information according to the marker；
Motion-control module 14, for carrying out motion control to vehicle using present road information.
Corresponding contents disclosed in previous embodiment can be referred to about the more specifical course of work of above-mentioned modules,
It is no longer repeated herein.
Further, the invention also discloses a kind of vehicle motion control apparatus, including processor and memory, the places
Reason device completes vehicle motion control method disclosed in previous embodiment when executing the computer program stored in the memory
Step.
More specifical process about the above method can be with reference to corresponding contents disclosed in previous embodiment, herein not
It is repeated again.
Further, the invention also discloses a kind of vehicles, including aforementioned disclosed vehicle motion control apparatus.
Further, the invention also discloses a kind of computer readable storage mediums, described for storing computer program
Computer program completes the step of aforementioned disclosed vehicle motion control method when being executed by corresponding processor.
More specifical process about the above method can be with reference to corresponding contents disclosed in previous embodiment, herein not
It is repeated again.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.For being filled disclosed in embodiment
For setting, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part
Explanation.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
A kind of vehicle provided by the present invention and its motion control method, equipment, storage medium have been carried out in detail above
It introduces, used herein a specific example illustrates the principle and implementation of the invention, the explanation of above embodiments
It is merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to this
The thought of invention, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is not answered
It is interpreted as limitation of the present invention.
Claims (14)
1. a kind of vehicle motion control method, which is characterized in that the described method includes:
Image Acquisition is carried out to the road area where current vehicle, obtains present road ambient image；
The marker on road area where identifying current vehicle in present road ambient image；
Present road information is determined according to the marker；
Motion control is carried out to vehicle using present road information.
2. vehicle motion control method according to claim 1, which is characterized in that described to be worked as according to marker determination
Preceding road information, comprising:
The road section information of present road is determined according to the distance values between the different markers.
3. vehicle motion control method according to claim 2, which is characterized in that it is described according to the different markers it
Between distance values determine the road section information of present road, comprising:
The distance values between the difference markers on road area where acquisition current vehicle；
If the distance values less than the first preset threshold, determine that the section of present road is complicated；
If the distance values are greater than the second preset threshold, determine that the section of present road is simple.
4. vehicle motion control method according to claim 3, which is characterized in that described to utilize present road information to vehicle
Carry out motion control, comprising:
Using the road section information of present road, controls the opening and closing of onboard sensor and/or adjust the speed of service of vehicle, thus right
Vehicle carries out motion control.
5. vehicle motion control method according to claim 1, which is characterized in that described to be worked as according to marker determination
Preceding road information, comprising:
Present road information is determined according to the relative positional relationship between the marker and default road element；
Wherein, the default road element includes lane line and/or traffic mark board and/or traffic sign column.
6. vehicle motion control method according to any one of claims 1 to 5, which is characterized in that the marker setting
On the lane line of the road.
7. vehicle motion control method according to claim 6, which is characterized in that described to be worked as according to marker determination
Preceding road information, comprising:
From the contour feature of the marker extracted on lane line in present road ambient image, current lane line letter is obtained
Breath, to carry out line walking operation according to the current lane line information.
8. vehicle motion control method according to claim 7, which is characterized in that the marker is to carry coding letter
The reflecting piece of breath.
9. vehicle motion control method according to claim 8, which is characterized in that described from present road ambient image
The contour feature for extracting the marker on lane line, obtains current lane line information, comprising:
The contour feature that retroreflective regions are extracted from present road ambient image, obtains initial profile characteristic information；
The encoded information carried to the reflecting piece within the scope of Current vision identifies, and using the encoded information recognized, sentences
The initial profile characteristic information that breaks whether be reflecting piece on lane line contour feature information, if it is, according to described
Initial profile characteristic information determines current lane line information.
10. vehicle motion control method according to claim 8, which is characterized in that the encoded information is to believe road
The information that breath obtains after being encoded.
11. vehicle motion control method according to any one of claims 1 to 5, which is characterized in that the marker setting
On traffic mark board and/or traffic sign column.
12. a kind of vehicle motion control apparatus, which is characterized in that including processor and memory, described in the processor execution
The step of vehicle motion control method as described in any one of claim 1 to 11 is completed when the computer program stored in memory
Suddenly.
13. a kind of vehicle, which is characterized in that including vehicle motion control apparatus as claimed in claim 12.
14. a kind of computer readable storage medium, for storing computer program, which is characterized in that the computer program quilt
The step of corresponding processor completes vehicle motion control method as described in any one of claim 1 to 11 when executing.
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