CN111163988B - 使用相机辅助车队中的前行车辆 - Google Patents

使用相机辅助车队中的前行车辆 Download PDF

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CN111163988B
CN111163988B CN201880065751.8A CN201880065751A CN111163988B CN 111163988 B CN111163988 B CN 111163988B CN 201880065751 A CN201880065751 A CN 201880065751A CN 111163988 B CN111163988 B CN 111163988B
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CN111163988A (zh
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F.里吉
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Robert Bosch GmbH
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Abstract

一种用于由前导车辆追踪跟随车辆的系统。在一个示例中，所述系统包括用户接口、相机、输出设备和电子控制器。电子控制器被配置为经由用户接口接收跟随车辆的指示，并识别跟随车辆。电子控制器使用来自相机的视频馈送来追踪跟随车辆，并确定跟随车辆是否正艰难地跟随前导车辆。电子控制器还在跟随车辆正艰难地跟随前导车辆时生成驾驶员通知，并经由输出设备输出驾驶员通知。

Description

使用相机辅助车队中的前行车辆
技术领域
实施例涉及追踪跟随车辆的前导车辆（leading vehicle）。
背景技术
有时两个或更多个车辆将会作为车队从同一个起始位置一起行驶到同一个目的地。当多个车辆一起行驶时，一个车辆通常被指定为前导车辆。车队或群组中的其他车辆同意在单个队列行进线路（file line）中跟随前导车辆。车队中车辆的每个驾驶员（排除最后一个车辆的驾驶员）必须注意跟随他们的车辆，使得群组中的车辆不会变得分离。如果驾驶员在几分钟内忘记检查跟随前导车辆的车辆，那么前导车辆可能失去正在跟随的车辆。
发明内容
一个实施例提供了一种用于从前导车辆追踪跟随车辆的系统。所述系统包括用户接口、相机、输出设备和电子控制器。电子控制器被配置为经由用户接口接收跟随车辆的指示，并识别跟随车辆。电子控制器使用来自相机的视频馈送来追踪跟随车辆，并确定跟随车辆是否正艰难地跟随前导车辆。电子控制器还在跟随车辆正艰难地跟随前导车辆时生成驾驶员通知，并经由输出设备输出驾驶员通知。
另一个实施例提供了一种从前导车辆追踪跟随车辆的方法。所述方法包括从用户接口接收跟随车辆的指示，并利用电子控制器识别跟随车辆。所述方法还包括使用来自相机的视频馈送来追踪跟随车辆，并使用电子控制器来确定跟随车辆是否正艰难地跟随前导车辆。所述方法进一步包括当跟随车辆正艰难地跟随前导车辆时，利用电子控制器生成驾驶员通知，并经由输出设备输出驾驶员通知。
通过考虑详细描述和附图，其他方面将变得清楚。
附图说明
图1是在道路上一起行驶的前导车辆和跟随车辆的框图。
图2是装备有用于从前导车辆追踪跟随车辆的系统的车辆的框图。
图3是图2的系统的电子控制器的框图。
图4是图2的系统的用户接口的框图。
图5是从前导车辆追踪跟随车辆的方法的流程图。
具体实施方式
在详细解释任何实施例之前，要理解的是，本公开不意图在其应用方面限制于在以下描述中阐述的或在以下附图中图示的组件的布置和构造细节。实施例能够有其他配置，并且能够以各种方式被实践或被施行。
可以使用多个基于硬件和软件的设备以及多个不同的结构组件来实现各种实施例。此外，实施例可以包括硬件、软件以及电子组件或模块，出于讨论的目的，所述电子组件或模块可以被图示和描述为好像大多数组件仅在硬件中实现一样。然而，本领域普通技术人员并且基于对该详细描述的阅读将认识到，在至少一个实施例中，本发明的基于电子的方面可以在可由一个或多个处理器执行的软件（例如，存储在非暂时性计算机可读介质上）中实现。例如，说明书中描述的“控制单元”和“控制器”可以包括一个或多个电子处理器、一个或多个包括非暂时性计算机可读介质的存储器模块、一个或多个输入/输出接口、一个或多个专用集成电路（ASIC）以及连接各种组件的各种连接（例如，系统总线）。
图1图示了车队中一起行驶的两个车辆。前导车辆100正被跟随车辆105跟随。尽管被图示为四轮车辆，但前导车辆100可以涵盖各种类型和设计的车辆。例如，前导车辆100可以是汽车、摩托车、卡车、公共汽车、半牵引车等等。尽管被图示为四轮车辆，但是跟随车辆105也可以涵盖各种类型和设计的车辆。例如，跟随车辆105可以是汽车、摩托车、卡车、公共汽车、半牵引车等等。图2图示了具有用于从前导车辆追踪跟随车辆的系统200的前导车辆100。前导车辆100包括至少一些自主功能性，但是也可能需要驾驶员或操作员来执行驾驶功能。在所图示的示例中，系统200包括若干个硬件组件，其包括电子控制器205、用户接口210、输出设备215、激光雷达传感器216、雷达传感器217、超声传感器218和相机220。系统200的组件可以具有各种构造，并且可以使用各种通信类型和协议。
电子控制器205可以经由各种有线或无线连接而通信地连接到用户接口210、输出设备215、激光雷达传感器216、雷达传感器217、超声传感器218和相机220。例如，在一些实施例中，电子控制器205经由专用引线直接耦合到用于从前导车辆追踪跟随车辆的系统200的每个上面所列组件。在其他实施例中，电子控制器205经由共享通信链路而通信地耦合到一个或多个组件，所述共享通信链路诸如车辆通信总线（例如，控域网（CAN）总线）或无线车辆网络。
用于从前导车辆追踪跟随车辆的系统200的每个组件可以使用各种通信协议与电子控制器205通信。图2中图示的实施例仅提供了用于从前导车辆追踪跟随车辆的系统200的组件和连接的一个示例。然而，这些组件和连接可以用除本文图示和描述的那些方式外的其他方式来构造。例如，电子控制器205可以位于相机220、环绕视图系统或用户接口210上。
图3是图2的系统的电子控制器205的框图。电子控制器205包括向电子控制器205内的组件和模块提供功率、操作控制和保护的多个电气和电子组件。在所图示的示例中，除了其他事物外，电子控制器205还包括电子处理器300（诸如可编程电子微处理器、微控制器或类似设备）、存储器305（例如，非暂时性机器可读存储器）和输入/输出接口310。电子处理器300通信地连接到存储器305和输入/输出接口310。除了其他事物外，与存储器305和输入/输出接口310协作的电子处理器300还被配置为实现本文描述的方法。
电子控制器205可以在若干个独立的控制器（例如，可编程电子控制单元）中实现，每个独立的控制器被配置为执行特定的功能或子功能。附加地，电子控制器205可以包含子模块，所述子模块包括附加的电子处理器、存储器或专用集成电路（ASIC），以用于处置输入/输出功能、信号处理和下面所列方法的应用。在其他实施例中，电子控制器205包括附加的、更少的或不同的组件。
图4是图2的系统的用户接口210的框图。除了其他事物外，用户接口210还包括电子处理器400（诸如可编程电子微处理器、微控制器或类似设备）、存储器405（例如，非暂时性机器可读存储器）和显示器410。电子处理器400通信地连接到存储器405和显示器410。存储器405已经在其内存储了用于创建图形用户接口415和处理用户输入的若干个软件组件，所述软件组件包括操作系统420和图形用户接口生成器425。与存储器405和显示器410协作的电子处理器400被配置为生成图形用户接口415并从显示器410接收用户输入。显示器410是显示图形用户接口415的屏幕。由相机220捕获的一个或多个图像430可以显示在图形用户接口415内。图形用户接口415还可以显示诸如菜单435和虚拟按钮440之类的元素。用户能够以各种各样的方式将信息输入到显示器410中，所述方式诸如经由鼠标选择或者触摸图像430、菜单435或虚拟按钮440。
图5图示了从前导车辆追踪跟随车辆的方法500。前导车辆100的驾驶员经由用户接口210提供对如下的指示：当电子控制器205检测到跟随车辆105正艰难地跟随前导车辆100时输出设备215应该输出的驾驶员通知的类型。前导车辆100的驾驶员还经由用户接口210提供对如下的指示：在来自相机220的图像或视频馈送中可见的一个或多个车辆中的哪一个是要追踪的跟随车辆105（块505）。在一个实施例中，电子控制器205已经使用计算机视觉算法被训练来识别图像430中的车辆。电子控制器205将它在图像430中识别的车辆群组显示为选项，驾驶员可以从所述选项中选择要在存储器305中存储为跟随车辆105的车辆。可替换地，驾驶员可以从图像430中显示的一个或多个车辆中选择要在存储器305中存储为跟随车辆105的车辆。例如，如果驾驶员没有看到他们希望选择为跟随车辆105的车辆作为选项被显示，则驾驶员通过在图像430中、要在存储器305中存储为跟随车辆105的车辆周围绘制框，来选择图像430中的跟随车辆105（块510）。电子控制器205使用计算机视觉算法来识别驾驶员已经选择的车辆。电子控制器205识别驾驶员已经选择的车辆并在存储器305中将其存储为跟随车辆105（块510）。
在一个实施例中，电子控制器205使用激光雷达传感器216、雷达传感器217、超声传感器218、相机220或前述的组合，来追踪跟随车辆105的位置（块515）。电子控制器205基于一个或多个条件或这些条件的组合，来确定跟随车辆105是否正艰难地跟随。例如，电子控制器通过将跟随车辆105的位置与若干个预定阈值进行比较，来确定跟随车辆105正艰难地跟随前导车辆100（块520）。例如，电子控制器205检测跟随车辆105已经偏离前导车辆100的横向距离，并将检测到的横向距离与预定横向距离进行比较。如果检测到的横向距离在预定横向距离以上，则电子控制器205确定跟随车辆105正艰难地跟随前导车辆100。电子控制器205还可以将前导车辆100和跟随车辆105之间的距离与预定距离进行比较。如果跟随车辆105比预定距离更远地落后于前导车辆100，则电子控制器205确定跟随车辆105正艰难地跟随前导车辆100。在另一示例中，电子控制器205将激光雷达传感器216、雷达传感器217、超声传感器218或相机220已经没有检测到跟随车辆105的时间间隔与预定时间间隔进行比较。如果激光雷达传感器216、雷达传感器217、超声传感器218或相机220已经在预定时间间隔或更久内没有检测到跟随车辆105，则电子控制器205确定跟随车辆105正艰难地跟随前导车辆100。
如果电子控制器205检测到跟随车辆105正艰难地跟随前导车辆100，则电子控制器205向输出设备215发送信号以生成驾驶员通知（块525）。由输出设备215输出的驾驶员通知（块530）可以是音频通知（诸如警笛声或预先记录的消息），和/或视觉通知（诸如仪表板灯）。如果电子控制器205知道跟随车辆105的速度以及跟随车辆105与前导车辆100之间的距离，则输出设备215输出跟随车辆105的速度、跟随车辆105与前导车辆100之间的距离、用以改善跟随车辆105对前导车辆100的跟随的建议动作或前述的组合，作为驾驶员通知的一部分。例如，建议动作可以是将前导车辆100减速到使前导车辆与跟随车辆105之间的距离减小的速度。
在以下权利要求中阐述了各种特征和优点。

Claims (15)

1.一种用于从前导车辆追踪跟随车辆的系统，所述系统包括：
用户接口；
相机；
输出设备；和
电子控制器，其被配置为
经由用户接口接收要追踪的跟随车辆的指示；
识别跟随车辆；
使用来自相机的视频馈送追踪跟随车辆；
确定跟随车辆是否正艰难地跟随前导车辆；以及
当跟随车辆正艰难地跟随前导车辆时生成驾驶员通知，
经由输出设备输出驾驶员通知。
2.根据权利要求1所述的系统，其中，电子控制器可以位于相机、环绕视图系统或用户接口上。
3.根据权利要求1所述的系统，其中，如果有如下情况，则跟随车辆正艰难地跟随前导车辆：
跟随车辆落后于前导车辆一预定距离，
相机在预定时间间隔内没有检测到跟随车辆，
跟随车辆偏离前导车辆一预定横向距离，或者
前述的组合。
4.根据权利要求1所述的系统，其中，驾驶员通知是音频或视觉通知，并且包括从由如下各项组成的群组中选择的至少一项：跟随车辆的速度、跟随车辆与前导车辆之间的距离以及用以改善跟随车辆对前导车辆的跟随的建议动作。
5.根据权利要求4所述的系统，其中，经由用户接口选择由输出设备输出的驾驶员通知。
6.根据权利要求1所述的系统，其中，跟随车辆的指示由驾驶员提供，所述驾驶员从由电子控制器在视频馈送内识别的车辆群组中选择跟随车辆，或者从显示在用户接口上的视频馈送中选择跟随车辆。
7.根据权利要求1所述的系统，其中，所述系统包括激光雷达传感器、雷达传感器和超声传感器，并且除了来自相机的视频馈送之外，所述系统还使用来自激光雷达传感器、雷达传感器和超声传感器的输入来追踪跟随车辆。
8.一种从前导车辆追踪跟随车辆的方法，所述方法包括：
经由用户接口接收要追踪的跟随车辆的指示；
经由电子控制器识别跟随车辆；
使用来自相机的视频馈送，经由电子控制器追踪跟随车辆；
利用电子控制器确定跟随车辆是否正艰难地跟随前导车辆；以及
当跟随车辆正艰难地跟随前导车辆时，利用电子控制器生成驾驶员通知，
经由输出设备输出驾驶员通知。
9.根据权利要求8所述的方法，其中，电子控制器可以位于相机、环绕视图系统或用户接口上。
10.根据权利要求8所述的方法，其中，如果有如下情况，则跟随车辆正艰难地跟随前导车辆：
跟随车辆落后于前导车辆一预定距离，
相机在预定时间间隔内没有检测到跟随车辆，
跟随车辆偏离前导车辆一预定横向距离，或者
前述的组合。
11.根据权利要求8所述的方法，其中，驾驶员通知是音频或视觉通知，并且包括从由如下各项组成的群组中选择的至少一项：跟随车辆的速度、跟随车辆与前导车辆之间的距离以及用以改善跟随车辆对前导车辆的跟随的建议动作。
12.根据权利要求11所述的方法，其中，经由用户接口选择由输出设备输出的驾驶员通知。
13.根据权利要求8所述的方法，其中，电子控制器已经利用计算机视觉算法被训练，以识别跟随车辆。
14.根据权利要求8所述的方法，其中，除了来自相机的视频馈送之外，经由电子控制器追踪跟随车辆还包括使用来自激光雷达传感器、雷达传感器和超声传感器的输入。
15.根据权利要求8所述的方法，其中，跟随车辆的指示由驾驶员提供，所述驾驶员从由电子控制器在视频馈送内识别的车辆群组中选择跟随车辆，或者从显示在用户接口上的视频馈送中选择跟随车辆。
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