CN110861645A - Intelligent network-connected automobile driver lane change system and working method thereof - Google Patents

Intelligent network-connected automobile driver lane change system and working method thereof Download PDF

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CN110861645A
CN110861645A CN201911230580.2A CN201911230580A CN110861645A CN 110861645 A CN110861645 A CN 110861645A CN 201911230580 A CN201911230580 A CN 201911230580A CN 110861645 A CN110861645 A CN 110861645A
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vehicle
distance
acquisition device
driver
image
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CN110861645B (en
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张胜根
陈涛
张强
杨良义
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China Automotive Engineering Research Institute Co Ltd
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China Automotive Engineering Research Institute Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/30—Auxiliary equipments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants

Abstract

The invention has proposed a intelligent network connection car driver lane change system and its working method, this system includes installing N picture gathering devices used for gathering the face gesture of the driver in the vehicle body of intelligent network connection, also include installing M distance gathering devices used for gathering the distance of vehicle and other vehicles on the vehicle body of intelligent network connection, the wireless transceiver end of the vehicle controller of said intelligent network connection couples to transceiver end of the wireless transceiver; the intelligent networked vehicle controller controls the intelligent networked vehicle to realize lane changing according to the image data information acquired by the N image acquisition devices and the distance data information acquired by the M distance acquisition devices. The lane changing method and the lane changing device can realize lane changing of the intelligent networked vehicle according to the face posture of the driver, and enhance user experience.

Description

Intelligent network-connected automobile driver lane change system and working method thereof
Technical Field
The invention relates to the technical field of intelligent networked automobiles, in particular to an intelligent networked automobile driver lane change system and a working method thereof.
Background
An Intelligent networked automobile, namely an ICV (integrated circuit Vehicle), refers to the organic combination of an internet of vehicles and an Intelligent automobile, is a new-generation automobile which is provided with advanced Vehicle-mounted sensors, controllers, actuators and other devices, integrates modern communication and network technologies, realizes the exchange and sharing of Intelligent information such as automobile, people, automobile, road, background and the like, realizes safe, comfortable, energy-saving and efficient driving, and can finally replace people to operate.
According to data statistics, the lane change caused by all traffic accidents accounts for about 4-10%. The main responsibility of drivers in lane change accidents accounts for about 75%, and although the death number of the traffic accidents caused by the lane change accidents only accounts for about 0.5% of the total death number, the traffic delay caused by the lane change accidents accounts for 10% of the total delay time of the traffic accidents, so that huge economic loss is caused to the society.
With the development of intelligent transportation and car networking technologies, the development of advanced information acquisition, information interaction technologies and computer technologies makes it possible to merge real-time data, which all promote the development of intelligent network car networking technologies and lane change driving assistance systems. Under the wireless communication environment, the intelligent internet automobile can sense and acquire surrounding environment and vehicle information more easily, and carry out real-time analysis and auxiliary early warning, so that the effect of the lane-changing driving auxiliary system is improved.
Disclosure of Invention
The invention aims to at least solve the technical problems in the prior art, and particularly provides an intelligent network automobile driver lane change system and a working method thereof.
In order to achieve the purpose, the invention provides an intelligent network connection automobile driver lane change system, which comprises an intelligent network connection automobile body, wherein N image acquisition devices for acquiring the facial posture of a driver are arranged in the intelligent network connection automobile body, N is a positive integer greater than or equal to 1 and is respectively an image No. 1 acquisition device, an image No. 2 acquisition device, an image No. 3 acquisition device, … … and an image No. N acquisition device, the image signal output end of the image No. i acquisition device is connected with the image No. i signal input end of an intelligent network connection automobile controller, and i is a positive integer less than or equal to N;
the intelligent network connection vehicle controller further comprises M distance acquisition devices which are arranged on the intelligent network connection vehicle body and used for acquiring the distance between the vehicle and other vehicles, wherein M is a positive integer which is larger than or equal to 4 and is respectively a distance 1 acquisition device, a distance 2 acquisition device, a distance 3 acquisition device, … … and a distance Mth acquisition device, a distance signal output end of the distance jth acquisition device is connected with a jth distance signal input end of the intelligent network connection vehicle controller, and j is a positive integer which is smaller than or equal to M and larger than or equal to 4;
the wireless transceiving end of the intelligent networked vehicle controller is connected with the transceiving end of the wireless transceiving device; the intelligent networked vehicle controller controls the intelligent networked vehicle to realize lane changing according to the image data information acquired by the N image acquisition devices and the distance data information acquired by the M distance acquisition devices.
In a preferred embodiment of the invention, the number of the distance acquisition devices arranged on the intelligent networked vehicle body is 4, namely a distance 1 st acquisition device, a distance 2 nd acquisition device, a distance 3 rd acquisition device and a distance 4 th acquisition device, wherein the distance signal output end of the distance 1 st acquisition device is connected with the 1 st distance signal input end of the intelligent networked vehicle controller, the distance signal output end of the distance 2 nd acquisition device is connected with the 2 nd distance signal input end of the intelligent networked vehicle controller, the distance signal output end of the distance 3 rd acquisition device is connected with the 3 rd distance signal input end of the intelligent networked vehicle controller, and the distance signal output end of the distance 4 th acquisition device is connected with the 4 th distance signal input end of the intelligent networked vehicle controller;
the distance 1 acquisition device is arranged at the head of the intelligent networked vehicle and is used for acquiring the distance between the vehicle and other vehicles in front of the vehicle; the distance 2-th acquisition device is arranged at the tail of the intelligent networked vehicle and is used for acquiring the distance between the vehicle and other vehicles behind the vehicle; the 3 rd distance acquisition device is arranged on the left side of the intelligent networked vehicle, and the 3 rd distance acquisition device is used for acquiring the distance between the vehicle and other vehicles on the left side of the vehicle; the distance 4 th acquisition device is arranged on the right side of the intelligent networked vehicle and is used for acquiring the distance between the vehicle and other vehicles on the right side of the vehicle; the distance 1 acquisition device to the distance 4 acquisition device respectively adjust the angle between the distance 1 acquisition device and the distance 4 acquisition device and the body of the intelligent networked vehicle according to the angle adjusting signal sent by the intelligent networked vehicle controller; the distance position between the front vehicle, the rear vehicle, the left vehicle and the right vehicle adjacent to the vehicle can be more accurately measured by the intelligent internet vehicle (the vehicle or the vehicle).
Or/and the number of the image acquisition devices arranged on the intelligent network vehicle body is 1, the image acquisition devices are the 1 st image acquisition devices, and the image signal output end of the 1 st image acquisition device is connected with the 1 st image signal input end of the intelligent network vehicle controller; the 1 st acquisition device of image is installed on the vehicle endoscope of intelligent networking, and the 1 st acquisition device of image adjusts the angle of vehicle endoscope with intelligent networking according to the 1 st acquisition device angle adjustment signal of image that intelligent networking vehicle controller sent, and the 1 st acquisition device of image adjusts. The acquisition of the face posture of the driver is more complete and comprehensive.
In a preferred embodiment of the present invention, the image acquisition device is an infrared camera; the clear face posture of the driver can be obtained at night.
Or/and the distance acquisition device is a millimeter radar; the distance between the two vehicles of the millimeter radar vehicle is more accurate.
Or/and the wireless transceiver is a V2X module. The communication with other vehicles is realized through the V2X module, and the safety is enhanced.
The invention also discloses a working method of the intelligent network automobile driver lane change system, which comprises the following steps:
s1, the intelligent network vehicle controller determines the face posture deflection angle and the deflection direction of the driver according to the image data information acquired by the image No. 1 acquisition device;
s2, determining the lane change of the intelligent network vehicle according to the deflection angle and the deflection direction obtained in the step S1;
and S3, adjusting the lane changing speed and the steering angle of the intelligent networked vehicle by the intelligent networked vehicle controller to realize lane changing of the intelligent networked vehicle.
In a preferred embodiment of the present invention, in step S1, the method for determining the face posture deflection angle and the deflection direction of the driver comprises the steps of:
s11, determining the corresponding relation between the face deflection of the driver in the 3D space and the 2D plane image:
the corresponding relation between the deflection of the face of the driver in the 3D space and the 2D plane image is as follows:
Figure BDA0002303440680000041
wherein the content of the first and second substances,
Figure BDA0002303440680000042
the angle at which the driver's face is deflected from the front; when in use
Figure BDA0002303440680000043
When it is, it indicates that the face of the driver is rotated counterclockwise from the front
Figure BDA0002303440680000044
| represents an absolute value; when in use
Figure BDA0002303440680000045
When it is, the face of the driver rotates clockwise from the front
Figure BDA0002303440680000046
l is the angle of deflection of a point on the 2D plane driver face image from the front
Figure BDA0002303440680000047
The distance of (d);
s12, selecting the face image of the driver with the face deflected to different angles from the front from the image database shot by the image 1 acquisition device to form the front face posture of the driver
Figure BDA0002303440680000048
And the driver's yaw facial pose
Figure BDA0002303440680000049
Wherein the content of the first and second substances,
Figure BDA00023034406800000410
k is a positive integer greater than or equal to 1;
s13, respectively setting the front face posture of the driver
Figure BDA00023034406800000411
And the driver's yaw facial pose
Figure BDA00023034406800000412
Calibrating n face feature points, wherein n is a positive integer greater than or equal to 1,
Figure BDA00023034406800000413
and
Figure BDA00023034406800000414
the index points on the surface are in one-to-one correspondence to form n index point groups, and the index point groups are
Figure BDA00023034406800000415
Set of abscissa arrays
Figure BDA00023034406800000416
And
Figure BDA00023034406800000417
set of abscissa arrays
Figure BDA00023034406800000418
S14, using the index point group X0And XkCalculating the corresponding parameters of each calibration point
Figure BDA00023034406800000419
And
Figure BDA00023034406800000420
Figure BDA00023034406800000421
Figure BDA00023034406800000422
wherein the content of the first and second substances,
Figure BDA00023034406800000423
for deflecting the driver's face from the front
Figure BDA00023034406800000424
At an angle, the abscissa position of the pth calibration point on the image;
Figure BDA00023034406800000425
for deflecting the driver's face from the front
Figure BDA00023034406800000426
At an angle, the abscissa position of the pth corresponding point on the image;
Figure BDA00023034406800000427
for deflecting the driver's face from front to attitude
Figure BDA00023034406800000428
The rotation angle of the index point of the optical fiber,
Figure BDA00023034406800000429
for deflecting the driver's face from front to attitude
Figure BDA00023034406800000430
The deflection angle of (d);
Figure BDA00023034406800000431
for deflecting the driver's face from front to attitude
Figure BDA00023034406800000432
The rotation angle of the index point of the optical fiber,
Figure BDA00023034406800000433
for deflecting the driver's face from front to attitude
Figure BDA00023034406800000434
The deflection angle of (d); rpThe radius of rotation is defined as the radius of rotation in a 3D space with the neck of a driver as an axial center and the pth calibration point on the face of the driver as a boundary; a ispThe horizontal coordinate position of the pth calibration point on the image of the front face of the driver is shown; p is a positive integer less than or equal to n;
s15, solving:
Figure BDA0002303440680000051
wherein the content of the first and second substances,
Figure BDA0002303440680000052
is an intermediate first generation quantity;
Figure BDA0002303440680000053
wherein the content of the first and second substances,
Figure BDA0002303440680000054
is an intermediate second generation quantity;
if it is
Figure BDA0002303440680000055
θ1For a predetermined angular deflection error value, then
Figure BDA0002303440680000056
Figure BDA0002303440680000057
For deflecting the driver's face from front to attitude
Figure BDA0002303440680000058
Actual deflection angle of;
if it is
Figure BDA0002303440680000059
θ2For a predetermined angular deflection error value, then
Figure BDA00023034406800000510
Figure BDA00023034406800000511
For deflecting the driver's face from front to attitude
Figure BDA00023034406800000512
Actual deflection angle of; when in use
Figure BDA00023034406800000513
When, the face of the driver rotates clockwise from the front to the posture
Figure BDA00023034406800000514
Actual angle of deflection of
Figure BDA00023034406800000515
When in use
Figure BDA00023034406800000516
When the face of the driver rotates anticlockwise from the front to the posture
Figure BDA00023034406800000517
Actual angle of deflection of
Figure BDA00023034406800000518
In a preferred embodiment of the present invention, in step S2, the method for determining lane change of the intelligent networked vehicle comprises the following steps:
s21, if
Figure BDA00023034406800000519
And is
Figure BDA00023034406800000520
Greater than or equal to a preset right deflection angle threshold and for a duration T1If the time is greater than or equal to the preset first time threshold, executing step S22;
if it is
Figure BDA00023034406800000521
And is
Figure BDA00023034406800000522
Greater than or equal to a preset left deflection angle threshold and for a duration T2If the time is greater than or equal to the preset second time threshold, executing step S23;
s22, the intelligent networked vehicle controller respectively sends and collects the distance relations between the vehicle and the front vehicle, between the vehicle and the rear vehicle and between the vehicle and the right vehicle to the distance 1 st collecting device, the distance 2 nd collecting device and the distance 4 th collecting device:
if L (the vehicle and the front vehicle) is more than or equal to L1L (the vehicle and the rear vehicle) is more than or equal to L2L (the vehicle and the right vehicle) is more than or equal to L3(ii) a L (host vehicle, front vehicle) represents a distance between the host vehicle and a front vehicle, L (host vehicle, rear vehicle) represents a distance between the host vehicle and a rear vehicle, L (host vehicle, right vehicle) represents a distance between the host vehicle and a right vehicle, and L1Indicating a preset first distance threshold, L, between the vehicle and the vehicle in front2Indicating a preset second distance threshold, L, between the vehicle and a rear vehicle3Representing a preset third distance threshold between the vehicle and the right vehicle; the intelligent networked vehicle controller judges that the intelligent networked vehicle changes lanes to the adjacent right lane,
s23, the intelligent networked vehicle controller respectively sends and collects the distance relations between the vehicle and the front vehicle, between the vehicle and the rear vehicle and between the vehicle and the left vehicle to the distance 1 st collecting device, the distance 2 nd collecting device and the distance 3 rd collecting device:
if L (the vehicle and the front vehicle) is more than or equal to L1L (the vehicle and the rear vehicle) is more than or equal to L2L (the vehicle and the left vehicle) is more than or equal to L4(ii) a L (host vehicle, front vehicle) represents a distance between the host vehicle and a front vehicle, L (host vehicle, rear vehicle) represents a distance between the host vehicle and a rear vehicle,l (host vehicle, left vehicle) represents the distance between the host vehicle and the left vehicle, L1Indicating a preset first distance threshold, L, between the vehicle and the vehicle in front2Indicating a preset second distance threshold, L, between the vehicle and a rear vehicle4A preset fourth distance threshold value between the vehicle and the left vehicle is represented; the intelligent networked vehicle controller judges that the intelligent networked vehicle changes the lane to the adjacent left lane.
In a preferred embodiment of the present invention, in step S3, the method for adjusting lane change speed and steering angle of the smart grid-connected vehicle comprises:
acquiring the speed of the intelligent networked vehicle and the speed of a vehicle in front of the intelligent networked vehicle:
if VFront vehicle-VSelf-vehicle≥|V1I, and VSelf-vehicle-VRear vehicle≥|V2|，VFront vehicleIndicating the running speed, V, of the intelligent networked vehicleFront vehicleIndicating the running speed, V, of the intelligent networked vehicleFront vehicleIndicating the speed, V, of a vehicle traveling ahead of the Smart-grid vehicleRear vehicleIndicating the speed, V, of a vehicle travelling behind the Smart-grid vehicle1Indicating a preset first lane change speed threshold, V2Indicating that a second lane change speed threshold is preset; then omega1Where L (host vehicle, front vehicle) represents a distance between the host vehicle and the front vehicle, d represents a distance between lanes of the host vehicle and the front vehicle, and ω is1And the deflection angle of the intelligent networked vehicle is shown.
In a preferred embodiment of the present invention, the method further comprises step S4,
and S4, the intelligent network vehicle controller sends the lane change information of the intelligent network vehicle to other vehicles through the V2X module, and the lane change information comprises the running speed of the intelligent network vehicle and the deflection angle of the intelligent network vehicle.
In a preferred embodiment of the present invention, step S0 is further included before step S1,
s0, the intelligent network vehicle controller respectively sends initialization signals to the distance 1 st acquisition device, the distance 2 nd acquisition device, the distance 3 rd acquisition device, the distance 4 th acquisition device and the image 1 st acquisition device to control the distance 1 st acquisition device, the distance 2 nd acquisition device, the distance 3 rd acquisition device and the distance 4 th acquisition device to be flush with the intelligent network vehicle body; and controlling the image 1 acquisition device to be aligned with the face of the driver for acquisition.
In conclusion, due to the adoption of the technical scheme, lane changing of the intelligent networked vehicle can be realized according to the face posture of the driver, and the user experience is enhanced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow diagram of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The invention provides an intelligent network connection automobile driver lane change system, which comprises an intelligent network connection automobile body, wherein N image acquisition devices for acquiring the face posture of a driver are arranged in the intelligent network connection automobile body, N is a positive integer greater than or equal to 1 and is respectively an image No. 1 acquisition device, an image No. 2 acquisition device, an image No. 3 acquisition device, … … and an image No. N acquisition device, the image signal output end of the image No. i acquisition device is connected with the image No. i signal input end of an intelligent network connection automobile controller, and i is a positive integer less than or equal to N;
the intelligent network connection vehicle controller further comprises M distance acquisition devices which are arranged on the intelligent network connection vehicle body and used for acquiring the distance between the vehicle and other vehicles, wherein M is a positive integer which is larger than or equal to 4 and is respectively a distance 1 acquisition device, a distance 2 acquisition device, a distance 3 acquisition device, … … and a distance Mth acquisition device, a distance signal output end of the distance jth acquisition device is connected with a jth distance signal input end of the intelligent network connection vehicle controller, and j is a positive integer which is smaller than or equal to M and larger than or equal to 4;
the wireless transceiving end of the intelligent networked vehicle controller is connected with the transceiving end of the wireless transceiving device; the intelligent networked vehicle controller controls the intelligent networked vehicle to realize lane changing according to the image data information acquired by the N image acquisition devices and the distance data information acquired by the M distance acquisition devices.
In a preferred embodiment of the invention, the number of the distance acquisition devices arranged on the intelligent networked vehicle body is 4, namely a distance 1 st acquisition device, a distance 2 nd acquisition device, a distance 3 rd acquisition device and a distance 4 th acquisition device, wherein the distance signal output end of the distance 1 st acquisition device is connected with the 1 st distance signal input end of the intelligent networked vehicle controller, the distance signal output end of the distance 2 nd acquisition device is connected with the 2 nd distance signal input end of the intelligent networked vehicle controller, the distance signal output end of the distance 3 rd acquisition device is connected with the 3 rd distance signal input end of the intelligent networked vehicle controller, and the distance signal output end of the distance 4 th acquisition device is connected with the 4 th distance signal input end of the intelligent networked vehicle controller;
the distance 1 acquisition device is arranged at the head of the intelligent networked vehicle and is used for acquiring the distance between the vehicle and other vehicles in front of the vehicle; the distance 2-th acquisition device is arranged at the tail of the intelligent networked vehicle and is used for acquiring the distance between the vehicle and other vehicles behind the vehicle; the 3 rd distance acquisition device is arranged on the left side of the intelligent networked vehicle, and the 3 rd distance acquisition device is used for acquiring the distance between the vehicle and other vehicles on the left side of the vehicle; the distance 4 th acquisition device is arranged on the right side of the intelligent networked vehicle and is used for acquiring the distance between the vehicle and other vehicles on the right side of the vehicle; the distance 1 acquisition device to the distance 4 acquisition device respectively adjust the angle between the distance 1 acquisition device and the distance 4 acquisition device and the body of the intelligent networked vehicle according to the angle adjusting signal sent by the intelligent networked vehicle controller;
or/and the number of the image acquisition devices arranged on the intelligent network vehicle body is 1, the image acquisition devices are the 1 st image acquisition devices, and the image signal output end of the 1 st image acquisition device is connected with the 1 st image signal input end of the intelligent network vehicle controller; the 1 st acquisition device of image is installed on the vehicle endoscope of intelligent networking, and the 1 st acquisition device of image adjusts the angle of vehicle endoscope with intelligent networking according to the 1 st acquisition device angle adjustment signal of image that intelligent networking vehicle controller sent, and the 1 st acquisition device of image adjusts.
In a preferred embodiment of the present invention, the image acquisition device is an infrared camera;
or/and the distance acquisition device is a millimeter radar;
or/and the wireless transceiver is a V2X module.
The invention also discloses a working method of the intelligent network automobile driver lane change system, which comprises the following steps as shown in figure 1:
s1, the intelligent network vehicle controller determines the face posture deflection angle and the deflection direction of the driver according to the image data information acquired by the image No. 1 acquisition device;
s2, determining the lane change of the intelligent network vehicle according to the deflection angle and the deflection direction obtained in the step S1;
and S3, adjusting the lane changing speed and the steering angle of the intelligent networked vehicle by the intelligent networked vehicle controller to realize lane changing of the intelligent networked vehicle.
In a preferred embodiment of the present invention, in step S1, the method for determining the face posture deflection angle and the deflection direction of the driver comprises the steps of:
s11, determining the corresponding relation between the face deflection of the driver in the 3D space and the 2D plane image:
the corresponding relation between the deflection of the face of the driver in the 3D space and the 2D plane image is as follows:
Figure BDA0002303440680000091
wherein R is a rotation radius taking the neck of the driver as an axial center and a point on the face of the driver as a boundary in a 3D space;
Figure BDA0002303440680000092
the angle at which the driver's face is deflected from the front; when in use
Figure BDA0002303440680000093
When it is, it indicates that the face of the driver is rotated counterclockwise from the front
Figure BDA0002303440680000094
| represents an absolute value; when in use
Figure BDA0002303440680000095
When it is, the face of the driver rotates clockwise from the front
Figure BDA0002303440680000096
l is the angle of deflection of a point on the 2D plane driver face image from the front
Figure BDA0002303440680000097
The distance of (d);
s12, selecting the face image of the driver with the face deflected to different angles from the front from the image database shot by the image 1 acquisition device to form the front face posture of the driver
Figure BDA0002303440680000101
And the driver's yaw facial pose
Figure BDA0002303440680000102
Wherein the content of the first and second substances,
Figure BDA0002303440680000103
k is a positive integer greater than or equal to 1;
s13, respectively setting the front face posture of the driver
Figure BDA0002303440680000104
And the driver's yaw facial pose
Figure BDA0002303440680000105
Calibrating n face feature points, wherein n is a positive integer greater than or equal to 1,
Figure BDA0002303440680000106
and
Figure BDA0002303440680000107
the index points on the surface are in one-to-one correspondence to form n index point groups, and the index point groups are
Figure BDA0002303440680000108
Set of abscissa arrays
Figure BDA00023034406800001035
And
Figure BDA0002303440680000109
set of abscissa arrays
Figure BDA00023034406800001010
S14, using the index point group X0And XkCalculating the corresponding parameters of each calibration point
Figure BDA00023034406800001011
And
Figure BDA00023034406800001012
Figure BDA00023034406800001013
Figure BDA00023034406800001014
wherein the content of the first and second substances,
Figure BDA00023034406800001015
for deflecting the driver's face from the front
Figure BDA00023034406800001016
At an angle, the abscissa position of the pth calibration point on the image;
Figure BDA00023034406800001017
for deflecting the driver's face from the front
Figure BDA00023034406800001018
At an angle, the abscissa position of the pth corresponding point on the image;
Figure BDA00023034406800001019
for deflecting the driver's face from front to attitude
Figure BDA00023034406800001020
The rotation angle of the index point of the optical fiber,
Figure BDA00023034406800001021
for deflecting the driver's face from front to attitude
Figure BDA00023034406800001022
The deflection angle of (d);
Figure BDA00023034406800001023
for deflecting the driver's face from front to attitude
Figure BDA00023034406800001024
The rotation angle of the index point of the optical fiber,
Figure BDA00023034406800001025
for deflecting the driver's face from front to attitude
Figure BDA00023034406800001026
The deflection angle of (d); rpThe radius of rotation is defined as the radius of rotation in a 3D space with the neck of a driver as an axial center and the pth calibration point on the face of the driver as a boundary; a ispThe horizontal coordinate position of the pth calibration point on the image of the front face of the driver is shown; p is a positive integer less than or equal to n;
s15, solving:
Figure BDA00023034406800001027
wherein the content of the first and second substances,
Figure BDA00023034406800001028
is an intermediate first generation quantity;
Figure BDA00023034406800001029
wherein the content of the first and second substances,
Figure BDA00023034406800001030
is an intermediate second generation quantity;
if it is
Figure BDA00023034406800001031
θ1For a predetermined angular deflection error value, then
Figure BDA00023034406800001032
Figure BDA00023034406800001033
For deflecting the driver's face from front to attitude
Figure BDA00023034406800001034
Actual deflection angle of;
if it is
Figure BDA0002303440680000111
θ2For a predetermined angular deflection error value, then
Figure BDA0002303440680000112
Figure BDA0002303440680000113
For deflecting the driver's face from front to attitude
Figure BDA0002303440680000114
Actual deflection angle of; when in use
Figure BDA0002303440680000115
When, the face of the driver rotates clockwise from the front to the posture
Figure BDA0002303440680000116
Actual angle of deflection of
Figure BDA0002303440680000117
When in use
Figure BDA0002303440680000118
When the face of the driver rotates anticlockwise from the front to the posture
Figure BDA0002303440680000119
Actual angle of deflection of
Figure BDA00023034406800001110
In a preferred embodiment of the present invention, in step S2, the method for determining lane change of the intelligent networked vehicle comprises the following steps:
s21, if
Figure BDA00023034406800001111
And is
Figure BDA00023034406800001112
Greater than or equal to a preset right deflection angle threshold and for a duration T1If the time is greater than or equal to the preset first time threshold, executing step S22;
if it is
Figure BDA00023034406800001113
And is
Figure BDA00023034406800001114
Greater than or equal to a preset left deflection angle threshold and for a duration T2If the time is greater than or equal to the preset second time threshold, executing step S23;
s22, the intelligent networked vehicle controller respectively sends and collects the distance relations between the vehicle and the front vehicle, between the vehicle and the rear vehicle and between the vehicle and the right vehicle to the distance 1 st collecting device, the distance 2 nd collecting device and the distance 4 th collecting device:
if L (the vehicle and the front vehicle) is more than or equal to L1L (the vehicle and the rear vehicle) is more than or equal to L2L (the vehicle and the right vehicle) is more than or equal to L3(ii) a L (host vehicle, front vehicle) represents a distance between the host vehicle and a front vehicle, L (host vehicle, rear vehicle) represents a distance between the host vehicle and a rear vehicle, L (host vehicle, right vehicle) represents a distance between the host vehicle and a right vehicle, and L1Indicating a preset first distance threshold, L, between the vehicle and the vehicle in front2Indicating a preset second distance threshold, L, between the vehicle and a rear vehicle3Representing a preset third distance threshold between the vehicle and the right vehicle; the intelligent networked vehicle controller judges that the intelligent networked vehicle changes lanes to the adjacent right lane,
s23, the intelligent networked vehicle controller respectively sends and collects the distance relations between the vehicle and the front vehicle, between the vehicle and the rear vehicle and between the vehicle and the left vehicle to the distance 1 st collecting device, the distance 2 nd collecting device and the distance 3 rd collecting device:
if L (the vehicle and the front vehicle) is more than or equal to L1L (the vehicle and the rear vehicle) is more than or equal to L2L (the vehicle and the left vehicle) is more than or equal to L4(ii) a L (host vehicle, front vehicle) represents a distance between the host vehicle and the front vehicle, L (host vehicle, rear vehicle) represents a distance between the host vehicle and the rear vehicle, L (host vehicle, left vehicle) represents a distance between the host vehicle and the left vehicle, and L1Indicating a preset first distance threshold, L, between the vehicle and the vehicle in front2Indicating a preset second distance between the vehicle and a rear vehicleThreshold value, L4A preset fourth distance threshold value between the vehicle and the left vehicle is represented; the intelligent networked vehicle controller judges that the intelligent networked vehicle changes the lane to the adjacent left lane.
In a preferred embodiment of the present invention, in step S3, the method for adjusting lane change speed and steering angle of the smart grid-connected vehicle comprises:
acquiring the speed of the intelligent networked vehicle and the speed of a vehicle in front of the intelligent networked vehicle:
if VFront vehicle-VSelf-vehicle≥|V1I, and VSelf-vehicle-VRear vehicle≥|V2|，VFront vehicleIndicating the running speed, V, of the intelligent networked vehicleFront vehicleIndicating the running speed, V, of the intelligent networked vehicleFront vehicleIndicating the running speed, V, of a vehicle running ahead of an intelligent networked vehicle (the own vehicle or the own vehicle)Rear vehicleIndicating the speed, V, of a vehicle travelling behind the Smart-grid vehicle1Indicating a preset first lane change speed threshold, V2Indicating that a second lane change speed threshold is preset; then omega1Where L (host vehicle, front vehicle) represents a distance between the host vehicle and the front vehicle, d represents a distance between lanes of the host vehicle and the front vehicle, and ω is1And the deflection angle of the intelligent network vehicle (the vehicle of the vehicle or the vehicle of the vehicle) is shown.
In a preferred embodiment of the present invention, the method further comprises step S4,
and S4, the intelligent network vehicle controller sends the lane change information of the intelligent network vehicle to other vehicles through the V2X module, and the lane change information comprises the running speed of the intelligent network vehicle and the deflection angle of the intelligent network vehicle.
In a preferred embodiment of the present invention, step S0 is further included before step S1,
s0, the intelligent network vehicle controller respectively sends initialization signals to the distance 1 st acquisition device, the distance 2 nd acquisition device, the distance 3 rd acquisition device, the distance 4 th acquisition device and the image 1 st acquisition device to control the distance 1 st acquisition device, the distance 2 nd acquisition device, the distance 3 rd acquisition device and the distance 4 th acquisition device to be flush with the intelligent network vehicle body; and controlling the image 1 acquisition device to be aligned with the face of the driver for acquisition.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (9)

1. An intelligent networked automobile driver lane change system comprises an intelligent networked automobile body and is characterized in that N image acquisition devices for acquiring the facial posture of a driver are arranged in the intelligent networked automobile body, wherein N is a positive integer greater than or equal to 1 and is respectively an image No. 1 acquisition device, an image No. 2 acquisition device, an image No. 3 acquisition device, … … and an image No. N acquisition device, the image signal output end of the image No. i acquisition device is connected with the image No. i signal input end of an intelligent networked automobile controller, and i is a positive integer less than or equal to N;
the intelligent network connection vehicle controller further comprises M distance acquisition devices which are arranged on the intelligent network connection vehicle body and used for acquiring the distance between the vehicle and other vehicles, wherein M is a positive integer which is larger than or equal to 4 and is respectively a distance 1 acquisition device, a distance 2 acquisition device, a distance 3 acquisition device, … … and a distance Mth acquisition device, a distance signal output end of the distance jth acquisition device is connected with a jth distance signal input end of the intelligent network connection vehicle controller, and j is a positive integer which is smaller than or equal to M and larger than or equal to 4;
the wireless transceiving end of the intelligent networked vehicle controller is connected with the transceiving end of the wireless transceiving device; the intelligent networked vehicle controller controls the intelligent networked vehicle to realize lane changing according to the image data information acquired by the N image acquisition devices and the distance data information acquired by the M distance acquisition devices.
2. The intelligent networked automobile driver lane change system according to claim 1, wherein the number of the distance acquisition devices installed on the intelligent networked automobile body is 4, and the distance acquisition devices are respectively a distance 1 st acquisition device, a distance 2 nd acquisition device, a distance 3 rd acquisition device and a distance 4 th acquisition device, a distance signal output end of the distance 1 st acquisition device is connected with a distance 1 st signal input end of the intelligent networked automobile controller, a distance signal output end of the distance 2 nd acquisition device is connected with a distance 2 nd signal input end of the intelligent networked automobile controller, a distance signal output end of the distance 3 rd acquisition device is connected with a distance 3 rd signal input end of the intelligent networked automobile controller, and a distance signal output end of the distance 4 th acquisition device is connected with a distance 4 th signal input end of the intelligent networked automobile controller;
the distance 1 acquisition device is arranged at the head of the intelligent networked vehicle and is used for acquiring the distance between the vehicle and other vehicles in front of the vehicle; the distance 2-th acquisition device is arranged at the tail of the intelligent networked vehicle and is used for acquiring the distance between the vehicle and other vehicles behind the vehicle; the 3 rd distance acquisition device is arranged on the left side of the intelligent networked vehicle, and the 3 rd distance acquisition device is used for acquiring the distance between the vehicle and other vehicles on the left side of the vehicle; the distance 4 th acquisition device is arranged on the right side of the intelligent networked vehicle and is used for acquiring the distance between the vehicle and other vehicles on the right side of the vehicle; the distance 1 acquisition device to the distance 4 acquisition device respectively adjust the angle between the distance 1 acquisition device and the distance 4 acquisition device and the body of the intelligent networked vehicle according to the angle adjusting signal sent by the intelligent networked vehicle controller;
or/and the number of the image acquisition devices arranged on the intelligent network vehicle body is 1, the image acquisition devices are the 1 st image acquisition devices, and the image signal output end of the 1 st image acquisition device is connected with the 1 st image signal input end of the intelligent network vehicle controller; the 1 st acquisition device of image is installed on the vehicle endoscope of intelligent networking, and the 1 st acquisition device of image adjusts the angle of vehicle endoscope with intelligent networking according to the 1 st acquisition device angle adjustment signal of image that intelligent networking vehicle controller sent, and the 1 st acquisition device of image adjusts.
3. The intelligent networked car driver lane change system of claim 1, wherein the image acquisition device is an infrared camera;
or/and the distance acquisition device is a millimeter radar;
or/and the wireless transceiver is a V2X module.
4. The working method of the intelligent networked automobile driver lane change system according to any one of claims 1 to 3, characterized by comprising the following steps:
s1, the intelligent network vehicle controller determines the face posture deflection angle and the deflection direction of the driver according to the image data information acquired by the image No. 1 acquisition device;
s2, determining the lane change of the intelligent network vehicle according to the deflection angle and the deflection direction obtained in the step S1;
and S3, adjusting the lane changing speed and the steering angle of the intelligent networked vehicle by the intelligent networked vehicle controller to realize lane changing of the intelligent networked vehicle.
5. The method of claim 4, wherein the step S1 of determining the face attitude yaw angle and yaw direction of the driver comprises the steps of:
s11, determining the corresponding relation between the face deflection of the driver in the 3D space and the 2D plane image:
the corresponding relation between the deflection of the face of the driver in the 3D space and the 2D plane image is as follows:
Figure FDA0002303440670000031
wherein the content of the first and second substances,
Figure FDA0002303440670000032
the angle at which the driver's face is deflected from the front; when in use
Figure FDA0002303440670000033
When it is, it indicates that the face of the driver is rotated counterclockwise from the front
Figure FDA0002303440670000034
| represents an absolute value; when in use
Figure FDA0002303440670000035
When it is, the face of the driver rotates clockwise from the front
Figure FDA0002303440670000036
l is the angle of deflection of a point on the 2D plane driver face image from the front
Figure FDA0002303440670000037
The distance of (d);
s12, selecting the face image of the driver with the face deflected to different angles from the front from the image database shot by the image 1 acquisition device to form the front face posture of the driver
Figure FDA0002303440670000038
And the driver's yaw facial pose
Figure FDA0002303440670000039
Wherein the content of the first and second substances,
Figure FDA00023034406700000310
k is a positive integer greater than or equal to 1;
s13, respectively setting the front face posture of the driver
Figure FDA00023034406700000311
And the driver's yaw facial pose
Figure FDA00023034406700000312
Calibrating n face feature points, wherein n is a positive integer greater than or equal to 1，
Figure FDA00023034406700000313
And
Figure FDA00023034406700000314
the index points on the surface are in one-to-one correspondence to form n index point groups, and the index point groups are
Figure FDA00023034406700000315
Set of abscissa arrays
Figure FDA00023034406700000316
And
Figure FDA00023034406700000317
set of abscissa arrays
Figure FDA00023034406700000318
S14, using the index point group X0And XkCalculating the corresponding parameters of each calibration point
Figure FDA00023034406700000319
And
Figure FDA00023034406700000320
Figure FDA00023034406700000321
Figure FDA00023034406700000322
wherein the content of the first and second substances,
Figure FDA00023034406700000323
for deflecting the driver's face from the front
Figure FDA00023034406700000324
At an angle, the abscissa position of the pth calibration point on the image;
Figure FDA00023034406700000325
for deflecting the driver's face from the front
Figure FDA00023034406700000326
At an angle, the abscissa position of the pth corresponding point on the image;
Figure FDA00023034406700000327
for deflecting the driver's face from front to attitude
Figure FDA00023034406700000328
The rotation angle of the index point of the optical fiber,
Figure FDA00023034406700000329
for deflecting the driver's face from front to attitude
Figure FDA00023034406700000330
The deflection angle of (d);
Figure FDA00023034406700000331
for deflecting the driver's face from front to attitude
Figure FDA00023034406700000332
The rotation angle of the index point of the optical fiber,
Figure FDA00023034406700000333
for deflecting the driver's face from front to attitude
Figure FDA00023034406700000334
The deflection angle of (d); rpThe radius of rotation is defined as the radius of rotation in a 3D space with the neck of a driver as an axial center and the pth calibration point on the face of the driver as a boundary; a ispFor the driverThe abscissa position of the pth calibration point on the face front image; p is a positive integer less than or equal to n;
s15, solving:
Figure FDA0002303440670000041
wherein the content of the first and second substances,
Figure FDA0002303440670000042
is an intermediate first generation quantity;
Figure FDA0002303440670000043
wherein the content of the first and second substances,
Figure FDA0002303440670000044
is an intermediate second generation quantity;
if it is
Figure FDA0002303440670000045
θ1For a predetermined angular deflection error value, then
Figure FDA0002303440670000046
Figure FDA0002303440670000047
For deflecting the driver's face from front to attitude
Figure FDA0002303440670000048
Actual deflection angle of;
if it is
Figure FDA0002303440670000049
θ2For a predetermined angular deflection error value, then
Figure FDA00023034406700000410
Figure FDA00023034406700000411
For deflecting the driver's face from front to attitude
Figure FDA00023034406700000412
Actual deflection angle of; when in use
Figure FDA00023034406700000413
When, the face of the driver rotates clockwise from the front to the posture
Figure FDA00023034406700000414
Actual angle of deflection of
Figure FDA00023034406700000415
When in use
Figure FDA00023034406700000416
When the face of the driver rotates anticlockwise from the front to the posture
Figure FDA00023034406700000417
Actual angle of deflection of
Figure FDA00023034406700000418
6. The method for operating the intelligent networked automobile driver lane change system according to claim 4, wherein in the step S2, the method for determining the lane change of the intelligent networked automobile comprises the following steps:
s21, if
Figure FDA00023034406700000419
And is
Figure FDA00023034406700000420
Greater than or equal to a preset right deflection angle threshold and for a duration of timeT1If the time is greater than or equal to the preset first time threshold, executing step S22;
if it is
Figure FDA00023034406700000421
And is
Figure FDA00023034406700000422
Greater than or equal to a preset left deflection angle threshold and for a duration T2If the time is greater than or equal to the preset second time threshold, executing step S23;
s22, the intelligent networked vehicle controller respectively sends and collects the distance relations between the vehicle and the front vehicle, between the vehicle and the rear vehicle and between the vehicle and the right vehicle to the distance 1 st collecting device, the distance 2 nd collecting device and the distance 4 th collecting device:
if L (the vehicle and the front vehicle) is more than or equal to L1L (the vehicle and the rear vehicle) is more than or equal to L2L (the vehicle and the right vehicle) is more than or equal to L3(ii) a L (host vehicle, front vehicle) represents a distance between the host vehicle and a front vehicle, L (host vehicle, rear vehicle) represents a distance between the host vehicle and a rear vehicle, L (host vehicle, right vehicle) represents a distance between the host vehicle and a right vehicle, and L1Indicating a preset first distance threshold, L, between the vehicle and the vehicle in front2Indicating a preset second distance threshold, L, between the vehicle and a rear vehicle3Representing a preset third distance threshold between the vehicle and the right vehicle; the intelligent networked vehicle controller judges that the intelligent networked vehicle changes lanes to the adjacent right lane,
s23, the intelligent networked vehicle controller respectively sends and collects the distance relations between the vehicle and the front vehicle, between the vehicle and the rear vehicle and between the vehicle and the left vehicle to the distance 1 st collecting device, the distance 2 nd collecting device and the distance 3 rd collecting device:
if L (the vehicle and the front vehicle) is more than or equal to L1L (the vehicle and the rear vehicle) is more than or equal to L2L (the vehicle and the left vehicle) is more than or equal to L4(ii) a L (host vehicle, front vehicle) represents a distance between the host vehicle and the front vehicle, L (host vehicle, rear vehicle) represents a distance between the host vehicle and the rear vehicle, L (host vehicle, left vehicle) represents a distance between the host vehicle and the left vehicle, and L1To representA preset first distance threshold, L, between the vehicle and the preceding vehicle2Indicating a preset second distance threshold, L, between the vehicle and a rear vehicle4A preset fourth distance threshold value between the vehicle and the left vehicle is represented; the intelligent networked vehicle controller judges that the intelligent networked vehicle changes the lane to the adjacent left lane.
7. The method for operating the intelligent networked automobile driver lane change system according to claim 4, wherein in step S3, the method for adjusting the lane change speed and the steering angle of the intelligent networked automobile comprises the following steps:
acquiring the speed of the intelligent networked vehicle and the speed of a vehicle in front of the intelligent networked vehicle:
if VFront vehicle-VSelf-vehicle≥|V1I, and VSelf-vehicle-VRear vehicle≥|V2|，VFront vehicleIndicating the running speed, V, of the intelligent networked vehicleFront vehicleIndicating the running speed, V, of the intelligent networked vehicleFront vehicleIndicating the speed, V, of a vehicle traveling ahead of the Smart-grid vehicleRear vehicleIndicating the speed, V, of a vehicle travelling behind the Smart-grid vehicle1Indicating a preset first lane change speed threshold, V2Indicating that a second lane change speed threshold is preset; then omega1Where L (host vehicle, front vehicle) represents a distance between the host vehicle and the front vehicle, d represents a distance between lanes of the host vehicle and the front vehicle, and ω is1And the deflection angle of the intelligent networked vehicle is shown.
8. The method of claim 4, further comprising a step S4,
and S4, the intelligent network vehicle controller sends the lane change information of the intelligent network vehicle to other vehicles through the V2X module, and the lane change information comprises the running speed of the intelligent network vehicle and the deflection angle of the intelligent network vehicle.
9. The method of claim 4, further comprising a step S0 before the step S1,
s0, the intelligent network vehicle controller respectively sends initialization signals to the distance 1 st acquisition device, the distance 2 nd acquisition device, the distance 3 rd acquisition device, the distance 4 th acquisition device and the image 1 st acquisition device to control the distance 1 st acquisition device, the distance 2 nd acquisition device, the distance 3 rd acquisition device and the distance 4 th acquisition device to be flush with the intelligent network vehicle body; and controlling the image 1 acquisition device to be aligned with the face of the driver for acquisition.
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