CN110221615A - A kind of auxiliary vehicle drive method based on road conditions identification - Google Patents
A kind of auxiliary vehicle drive method based on road conditions identification Download PDFInfo
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- CN110221615A CN110221615A CN201910524672.5A CN201910524672A CN110221615A CN 110221615 A CN110221615 A CN 110221615A CN 201910524672 A CN201910524672 A CN 201910524672A CN 110221615 A CN110221615 A CN 110221615A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 15
- 238000013507 mapping Methods 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 11
- 230000004888 barrier function Effects 0.000 claims description 8
- 238000013500 data storage Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 208000010877 cognitive disease Diseases 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
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Classifications
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- 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
Abstract
The invention discloses a kind of auxiliary vehicle drive methods based on road conditions identification, including two-axis platcform structure, laser sensor module, MCU control module and Point Cloud Processing, the top of the two-axis platcform structure is equipped with laser sensor module, the laser sensor module and road ground obtain three-dimensional point cloud atlas, the inside of the laser sensor module is equipped with image sensor module, and three-dimensional point cloud atlas is connected with three-dimensional mapping module, the three-dimensional mapping module pass course control module is connected with processor module, the processor module is connect by Point Cloud Processing with wireless communication module, the wireless communication module is connected with traffic information summarizing module, the installation site that the present invention passes through change sensor, the information of road surface concentration of acquisition is summarized, convergence constitutes the road three-dimensional system of whole route, vehicle The traffic information of road is just obtained before driving to the road, to adjust route, planning suitable speed in advance.
Description
Technical field
The present invention relates to automobile assistant driving technical field, specifically a kind of auxiliary vehicle drive side based on road conditions identification
Method.
Background technique
For automatic Pilot by installing on automobile using laser, image, sound as the sensor of carrier, automobile can be automatic
Direction and the speed of operation are adjusted, but the recognition capability of road pavement is but more weak, especially automobile is met in scorch
Speed adjustment under to complex road condition and the problem of Model choices, cannot preferably solve always, in the prior art, mostly inspection
The system for surveying information of road surface is placed on automobile, and the mapping in motion process has deviation, can not be obtained and accurately be obtained road surface
The purpose of information is perceived clearly in the prior art in order to obtain the specifying informations of road conditions by the automobile under motion state
Inadequate, longitudinal error can be generated because jolting in motion process, sensor is also at vibration and unstable state, and meeting
Because the interference of other vehicles can not obtain the information on whole road surface, the time for obtaining information is short, also limits processing capacity, vehicle
In such a case safety cannot be protected.
Summary of the invention
The purpose of the present invention is to provide a kind of auxiliary vehicle drive methods based on road conditions identification, to solve because of other
The interference of vehicle can not obtain the information on whole road surface, and the time for obtaining information is short, also limit processing capacity, road pavement information
The problem of can not accurately obtaining.
To achieve the above object, the invention provides the following technical scheme: a kind of auxiliary vehicle drive based on road conditions identification
Method, including two-axis platcform structure, laser sensor module, image sensor module, wireless communication module, MCU control module
And Point Cloud Processing, the top of the two-axis platcform structure are equipped with laser sensor module, the laser sensor module with
Road ground obtains three-dimensional point cloud atlas, and the inside of the laser sensor module is equipped with image sensor module, and three-dimensional point cloud
Figure is connected with three-dimensional mapping module, and the three-dimensional mapping module pass course control module is connected with processor module, institute
It states processor module to connect by Point Cloud Processing with wireless communication module, the wireless communication module summarizes with traffic information
Module is connected, and the traffic information summarizing module is connect with data storage device, and the traffic information summarizing module passes through data
Transmission is connect with center processor and display module, and center processor is connected with auxiliary driving task module, and the auxiliary is driven
Sailing operational module can connect with driving.
Preferably, the two-axis platcform structure is made of angle of depression connecting shaft and left-right rotation connecting shaft, and two-axis platcform knot
Structure is mounted on the street lamp top of road side, and the scanning range of laser sensor module is mainly adjusted using two-axis platcform structure.
Preferably, described image sensor module is mounted on the top of street lamp, and image sensor module can pass through difference
The frequency of occurrence of goer in period is scanned in the goer frequency of occurrences minimum period.
Preferably, the wireless communication module can transmit the data of ground based scanning and the longitude and latitude of sensor.
Preferably, the top of the driving is equipped with MCU control module, and MCU control module analyzes road information,
Select more flat road.
Preferably, when the display module is shown, color is deeper, and to represent the normal road surface of obstacle distance remoter.
Preferably, the auxiliary driving task module can have the road surface of barrier in front by MCU control module
Under environment, adjust speed in advance, make automobile body it is more stable spend barrier, auxiliary automatic Pilot module can will walk road
All road surfaces analyzed, and the adjustment selection road of intelligence, adjust the lane of selection.
Compared with prior art, the beneficial effects of the present invention are: installation site of the present invention by change sensor, design
A kind of method perceiving road conditions out, while the information of road surface of acquisition concentration is summarized, the road that convergence constitutes whole route is three-dimensional
System, vehicle driving to the road just obtain the traffic information of road before, to adjust route, planning rationally speed in advance
Degree, driver's license will obtain more comfortable driving experience to vehicle in the process of moving, and it is static that the present invention needs road pavement information to carry out
Mapping, road surface is surveyed and drawn by the sensor that is mounted on road lamp frame, then there is broader mapping area, and pass through dot matrix
The road information of formula street lamp mapping can also carry out summarizing splicing, can be the adjusting of speed to obtain road global information
More sufficient time is obtained, while this method also reduces number of probes, it is relatively inexpensive reasonable.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Fig. 2 is the schematic diagram that present invention perception road conditions assist vehicle drive.
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.
Please refer to Fig. 1~2, in the embodiment of the present invention, a kind of auxiliary vehicle drive method based on road conditions identification, including two
At axis turntable structure, laser sensor module, image sensor module, wireless communication module, MCU control module and point cloud data
The top of reason, the two-axis platcform structure is equipped with laser sensor module, and laser sensor module can be with real-time detection road surface, institute
It states laser sensor module and road ground obtains three-dimensional point cloud atlas, the inside of the laser sensor module is equipped with image sensing
Device module, and three-dimensional point cloud atlas is connected with three-dimensional mapping module, three-dimensional mapping module can show clearly image, described
Three-dimensional mapping module pass course control module is connected with processor module, and route control module can cook up vehicle driving
Route, the processor module connect by Point Cloud Processing with wireless communication module, can be with using Point Cloud Processing
The data of laser sensor module scanning are handled, the wireless communication module is connected with traffic information summarizing module,
Traffic information summarizing module each street lamp scanning element can be uniformly processed, the traffic information summarizing module and data
Reservoir connection, data storage device can carry out the data of storage laser sensor module scanning, and the traffic information summarizes mould
Block is transmitted by data and is connect with center processor and display module, and center processor can be handled all the sensors on road
Data spliced, and carry out three-dimensionalreconstruction, while the road information of three-dimensionalreconstruction is transferred to the automobile close to road crossing
On, center processor is connected with auxiliary driving task module, and the auxiliary driving task module can be connected with driving.
The data that the processor module obtains laser sensor remove dryness, and adjust data area, rejecting abnormalities number
Strong point identifies orientation, the shape of barrier, and sends data and sensor position to together the center processing at road both ends
It is stored on device.
The two-axis platcform structure is made of angle of depression connecting shaft and left-right rotation connecting shaft, and two-axis platcform structure is mounted on
The street lamp top of road side, the scanning range of laser sensor module is mainly adjusted using two-axis platcform structure.
Described image sensor module is mounted on the top of street lamp, and image sensor module has the energy of infrared identification
Power can identify dynamic object at night or street lamp bad when, can be by the frequency of occurrence of goer in different time sections, in dynamic
The object frequency of occurrences minimum period is scanned.
The wireless communication module can transmit the data of ground based scanning and the longitude and latitude of sensor.
The top of the driving is equipped with MCU control module, and MCU control module analyzes road information, and selection is more
Add flat road.
When the display module is shown, color is deeper, and to represent the normal road surface of obstacle distance remoter.
It is described auxiliary driving task module can by MCU control module front have barrier road environment under,
Adjust speed in advance, make automobile body it is more stable spend barrier, auxiliary automatic Pilot module can be all by what is walked to road
Road surface is analyzed, and the adjustment selection road of intelligence, the lane for adjusting selection.
The working principle of the invention is: by be fixedly mounted on street lamp top imaging sensor shoot road, and with nothing
Vehicle road photo comparison judges that whether there is or not vehicle, pedestrian or the object of movement, notes in present viewing field by picture similarity function
Record has the time of moving object, to dynamic object a whole day, frequency statistics period, obtains the vehicle less period, and uniting
The less period progress pavement of road mapping of vehicle is counted, double axle table is mounted at the fixed height of light pole top, passes through peace
The angle of depression and left and right corner mounted in double axle table, adjustment laser sensor carry out road surface scanning, can be with using optical sensor module
Be scanned obtain pavement of road three-dimensional point cloud atlas, after the end of scan to the information of the scanning of entire road communicate into
Row summarizes, and is sent to road cross two sides receiving end by wireless telecommunications, and road point cloud data is handled, and to three-dimensional
Point cloud is rebuild and according to merging features road, the shape of cognitive disorders object, position, and will send crossing vehicle with faulty object data
At, three-dimensional point cloud atlas is transferred in processor, processor is sent by wireless communication module, if it is non-automatic driving vapour
Vehicle increases technology using virtual, vehicle location is shown in three dimensions in real time, and drives after receiving road three-dimensional road conditions
The person of sailing adjusts speed or prompt evacuation barrier and then preferentially selects the stable road of road or vehicle if it is automatic driving vehicle
Road traveling, and evacuation is carried out by the degree of failure object or adjusts speed in advance.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits.Right involved in should not treating any reference in the claims as limiting is wanted
It asks.
Claims (7)
1. a kind of auxiliary vehicle drive method based on road conditions identification, including two-axis platcform structure, laser sensor module, image
Sensor module, wireless communication module, MCU control module and Point Cloud Processing, it is characterised in that: the two-axis platcform structure
Top be equipped with laser sensor module, the laser sensor module and road ground obtain three-dimensional point cloud atlas, the laser
The inside of sensor module is equipped with image sensor module, and three-dimensional point cloud atlas is connected with three-dimensional mapping module, the three-dimensional
Mapping module pass course control module is connected with processor module, and the processor module passes through Point Cloud Processing and nothing
The connection of line communication module, the wireless communication module are connected with traffic information summarizing module, the traffic information summarizing module
It being connect with data storage device, the traffic information summarizing module is transmitted by data and is connect with center processor and display module,
Center processor is connected with auxiliary driving task module, and the auxiliary driving task module can be connected with driving.
2. a kind of auxiliary vehicle drive method based on road conditions identification according to claim 1, it is characterised in that: described two
Axis turntable structure is made of angle of depression connecting shaft and left-right rotation connecting shaft, and two-axis platcform structure is mounted on the street lamp of road side
Top.
3. a kind of auxiliary vehicle drive method based on road conditions identification according to claim 1, it is characterised in that: the figure
As sensor module is mounted on the top of street lamp, and image sensor module can pass through the appearance frequency of goer in different time sections
It is secondary, it is scanned in the goer frequency of occurrences minimum period.
4. a kind of auxiliary vehicle drive method based on road conditions identification according to claim 1, it is characterised in that: the nothing
Line communication module can transmit the data of ground based scanning and the longitude and latitude of sensor.
5. a kind of auxiliary vehicle drive method based on road conditions identification according to claim 1, it is characterised in that: described to drive
The top for sailing automobile is equipped with MCU control module, and MCU control module analyzes road information, selects more flat road.
6. a kind of auxiliary vehicle drive method based on road conditions identification according to claim 1, it is characterised in that: described aobvious
When showing that module is shown, color is deeper, and to represent the normal road surface of obstacle distance remoter.
7. a kind of auxiliary vehicle drive method based on road conditions identification according to claim 1, it is characterised in that: described auxiliary
Help driving task module that can adjust speed in advance by MCU control module under the road environment that front has barrier, make
Automobile body it is more stable spend barrier, all road surfaces walked can be analyzed road by auxiliary automatic Pilot module, and
The adjustment selection road of intelligence, the lane for adjusting selection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910524672.5A CN110221615A (en) | 2019-06-18 | 2019-06-18 | A kind of auxiliary vehicle drive method based on road conditions identification |
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| CN201910524672.5A CN110221615A (en) | 2019-06-18 | 2019-06-18 | A kind of auxiliary vehicle drive method based on road conditions identification |
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| CN111149536A (en) * | 2019-12-31 | 2020-05-15 | 广西大学 | Unmanned hedge trimmer and control method thereof |
| CN112184605A (en) * | 2020-09-24 | 2021-01-05 | 华人运通(上海)自动驾驶科技有限公司 | Method, equipment and system for enhancing vehicle driving visual field |
| CN116385528A (en) * | 2023-03-28 | 2023-07-04 | 小米汽车科技有限公司 | Method and device for generating annotation information, electronic equipment, vehicle and storage medium |
| CN116385528B (en) * | 2023-03-28 | 2024-04-30 | 小米汽车科技有限公司 | Method and device for generating annotation information, electronic equipment, vehicle and storage medium |
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Application publication date: 20190910 |
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