CN111338345A - Auxiliary intelligent driving device based on visual information - Google Patents
Auxiliary intelligent driving device based on visual information Download PDFInfo
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- CN111338345A CN111338345A CN202010139616.2A CN202010139616A CN111338345A CN 111338345 A CN111338345 A CN 111338345A CN 202010139616 A CN202010139616 A CN 202010139616A CN 111338345 A CN111338345 A CN 111338345A
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- 230000000007 visual effect Effects 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 41
- 230000009471 action Effects 0.000 claims abstract description 11
- 230000004888 barrier function Effects 0.000 claims abstract description 8
- 230000016776 visual perception Effects 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 8
- 230000003287 optical effect Effects 0.000 claims description 4
- 239000006096 absorbing agent Substances 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000004422 calculation algorithm Methods 0.000 claims description 3
- 238000003909 pattern recognition Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000035939 shock Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 abstract description 2
- 230000004438 eyesight Effects 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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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
- G05D1/0231—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
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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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
The invention provides an auxiliary intelligent driving device based on visual information, which comprises a visual detection module, a main control module, a behavior control module and a driving control module, wherein the visual detection module is used for detecting the visual information of a driver; the visual detection module is used for detecting barrier information around the vehicle, current driving road condition information, traffic light signals and traffic flow state information; and the behavior control module is used for setting a new driving action control command according to the information provided by radar ranging, CCD visual perception and GPS positioning. Through combining functions such as CCD visual system and radar range finding and GPS location integratively, control the action of automobile body through main control module again through coordination information control each other, the travel of control automobile body that can be more accurate to in time be convenient for the driver to in time change the route according to self wish through the mode of voice broadcast and display screen demonstration route in control, improve whole certain driving safety.
Description
Technical Field
The invention relates to the technical field of auxiliary intelligent driving, in particular to an auxiliary intelligent driving device based on visual information.
Background
With the rapid development of the automobile industry, automobiles enter thousands of households nowadays, the requirements of the automobile industry on automobiles are gradually improved, various driving comfort styles are provided aiming at the aspect of automobile driving technology for improving driving comfort, meanwhile, unmanned driving technologies in various modes are provided in the prior art for freeing drivers from fatigue caused by long-time driving, the technology is not mature, and the unknown injury coefficient caused to the drivers is still large. A plurality of intelligent devices based on visual information assistance are provided to be arranged in a vehicle body in order to improve the driving safety factor and relieve the driving fatigue, but most of the visual information driving devices in the prior art have the problems that the obstacle in front of the vehicle body is not analyzed in place, the road condition information is not analyzed accurately, the defect of a vehicle body control part is caused, and the like.
Therefore, the auxiliary intelligent driving device based on the visual information is provided to solve the problems in the prior art.
Disclosure of Invention
The present invention is directed to solving the above problems by providing an intelligent driving assistance device based on visual information.
In order to solve the technical problems, the invention provides the following technical scheme:
the invention provides an auxiliary intelligent driving device based on visual information, which comprises a visual detection module, a main control module, a behavior control module and a driving control module, wherein the visual detection module is used for detecting the visual information of a driver; the visual detection module is used for detecting barrier information around the vehicle, current driving road condition information, traffic light signals and traffic flow state information; the main control module is used for controlling the interior of the vehicle body, the hydraulic servo system and the alarm module; the behavior control module is used for setting a new driving action control command according to information provided by radar ranging, CCD visual perception and GPS positioning; the driving control module comprises a brake control system, a vehicle body hydraulic control module and a safety protection module.
Preferably, the information that the vision detection module can detect specifically includes a drive control module, a traffic signal recognition detection, a traffic pattern recognition detection, a road edge recognition detection, a curve radian recognition detection, a peripheral vehicle recognition detection, a road surface flatness recognition detection, and a road surface gradient recognition detection.
Preferably, the information provided by radar ranging, CCD visual perception and GPS positioning is used for setting a new driving action control command, and the new driving action control command is broadcasted through a central control screen, an alarm and other devices in the vehicle.
Preferably, the visual detection module transmits the obstacle information to the video capture card through the CCD, and processes the obstacle information through video processing software.
Preferably, the video processing software analyzes the front obstacle feature by using a simulation algorithm, an optical flow method and the like according to the information transmitted by the video capture card.
Preferably, the driving control module receives control sent by the main control module, controls acceleration and deceleration, stops running, and controls the vehicle body to run by adjusting the hardness of the shock absorber, controlling the steering lamp and other behavior modes.
Preferably, the vision detection modules are respectively installed at the front and rear four corners of the vehicle body, the whole body is composed of two identical CCD cameras, the image planes of the cameras are located on the same plane, and the coordinate axes of the two groups of cameras are in a parallel state.
The invention has the following beneficial effects: the invention integrates the functions of CCD visual system, radar ranging, GPS positioning and the like, controls the action of the vehicle body through the coordination information control between the functions and the main control module, can more accurately control the running of the vehicle body, and facilitates the driver to change the path in time according to the intention of the driver in a way of voice broadcasting and displaying the path on the display screen during the control, thereby improving certain driving safety of the whole vehicle. Through integrating traffic signal and the live information in road surface in CCD vision module, can be favorable to avoiding certain traffic jam according to information such as the current traffic condition of the current latency of traffic signal analysis of reality, the cooperation is simultaneously added and is established road surface analytic system and can improve holistic driving comfort through adjusting the inside damper of automobile body according to the state on actual road surface.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic flow diagram of the overall workmaster module of the present invention;
FIG. 2 is a schematic diagram of the overall workflow structure of the present invention;
FIG. 3 is a schematic diagram of a detailed recognition architecture of the vision processing system of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Examples
As shown in fig. 1-3, the present invention provides an auxiliary intelligent driving device based on visual information, which comprises a visual detection module, a main control module, a behavior control module and a driving control module; the visual detection module is used for detecting barrier information around the vehicle, current driving road condition information, traffic light signals and traffic flow state information; the main control module is used for controlling the interior of the vehicle body, the hydraulic servo system and the alarm module; the behavior control module is used for setting a new driving action control command according to information provided by radar ranging, CCD visual perception and GPS positioning; the driving control module comprises a brake control system, a vehicle body hydraulic control module and a safety protection module.
Further, the information that can be detected by the vision detection module is shown in fig. 3, and specifically includes a driving control module, a traffic signal recognition detection, a traffic pattern recognition detection, a road edge recognition detection, a curve radian recognition detection, a peripheral vehicle recognition detection, a road surface flatness recognition detection, and a road surface gradient recognition detection.
Further, the information provided by radar ranging, CCD visual perception and GPS positioning is used for setting a new driving action control command and broadcasting the new driving action control command through a central control screen, an alarm and other equipment in the vehicle.
Further, the visual detection module transmits the barrier information to the video acquisition card through the CCD and processes the barrier information through video processing software.
Further, the video processing software receives the information transmitted by the video acquisition card and analyzes the front obstacle characteristics through an analog algorithm, an optical flow method and the like.
Further, the driving control module receives control sent by the main control module, controls acceleration and deceleration, stops running, and controls the vehicle body to run by adjusting the hardness of the shock absorber, controlling the steering lamp and other behavior modes.
Furthermore, the vision detection modules are respectively installed at the front corner and the rear corner of the vehicle body, the whole vehicle body is composed of two identical CCD cameras, the image planes of the cameras are located on the same plane, and the coordinate axes of the two groups of cameras are in a parallel state.
Specifically, the CCD camera is mainly used for collecting intersection traffic light market state information and intersection co-traffic flow states, collecting road sign road condition information in front of a vehicle, analyzing and tracking sign information through video software inside a vehicle body according to the collected video information, and analyzing traffic flow length operation information and traffic signal light duration information by matching a light flow method and a simulation method inside the software.
The working mode of the visual detection of the CCD is based on the relative motion difference of the image color, the pattern texture and the optical flow of the images of the road signs and the obstacles, which are shot by the camera to the front environment of the vehicle body, and then the images are analyzed by the video software in the vehicle body to obtain the path image information, such as the information of the related deviation of the vehicle body, and the software combines the information with the actual power stroke equation of the vehicle to calculate the actual decision stroke equation of the current vehicle, so that the vehicle body driving mode, such as the operation commands of accelerating forward or steering and the like, is controlled on the basis of the equation.
The working principle is as follows: as shown in figure 2 of the drawings, in which,
s1: the system comprises a video acquisition card, an obstacle ranging module, a GPS positioning system, a video acquisition card, an obstacle ranging module and a positioning system, wherein the video acquisition card is used for acquiring traffic information in front of a vehicle body, the ranging radar is used for acquiring or surrounding obstacles with short distance, the GPS positioning system is used for matching the current position information of the vehicle body, and then the information is transmitted to the video acquisition card, the obstacle ranging module and the positioning system through a serial interface.
S2: the video acquisition card transmits the shot traffic information to video processing software for image tracking, analysis and processing, and simultaneously the radar and the GPS transmit actual data to a vehicle body vision/positioning processing area for comprehensive analysis and processing.
S3: and after the visual image processing, the distance measuring and calculating processing and the positioning processing are carried out, relevant processing information is sent to an internal main control module.
S4: and the main control module analyzes the current vehicle body live information through internal measuring and calculating software and sets decision command information for controlling vehicle body running.
S5: the main control module sends the driving decision information to carry out comprehensive analysis, then carries out the next step to control a vehicle body driving mechanism, a hydraulic mechanism, a braking mechanism and the like, controls the vehicle to accelerate, decelerate, brake and the like, and changes the damping effect of the vehicle body by controlling the hydraulic mechanism if the road condition is in a bumpy state so as to achieve the proper driving comfort level.
In this embodiment, for example, when the automobile is running, the CCD video camera system in the interior of the automobile body takes the road conditions around the automobile, wherein it is pointed out that the two sets of CCD cameras in the front of the automobile body are positioned in a three-dimensional matching manner, the left and right cameras in the automobile body are positioned at the center of the camera, the front of the camera mainly takes the current conditions in front of the automobile body, such as the traffic light road condition information in front of the intersection, and the traffic flow conditions in front of the intersection include that the actual road conditions are sent to the video capture card in the interior of the automobile body by obtaining the traffic signals in front, the video information is sent to the video processing software for analysis by the video capture card, then the relevant information is sent to the main control module in the interior of the automobile body, then the specified vehicle behavior scheduling command is edited by the main control computer, and then the main control module controls the automobile body, therefore, the control command for controlling the running of the vehicle body can be broadcasted through the display screen and the broadcast in the vehicle.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An auxiliary intelligent driving device based on visual information is characterized by comprising a visual detection module, a main control module, a behavior control module and a driving control module;
the visual detection module is used for detecting barrier information around the vehicle, current driving road condition information, traffic light signals and traffic flow state information;
the main control module is used for controlling the interior of the vehicle body, the hydraulic servo system and the alarm module;
the behavior control module is used for setting a new driving action control command according to information provided by radar ranging, CCD visual perception and GPS positioning;
the driving control module comprises a brake control system, a vehicle body hydraulic control module and a safety protection module.
2. The auxiliary intelligent driving device based on visual information is characterized in that; the information that the visual detection module can detect specifically includes: the system comprises a driving control module, a traffic signal recognition detection module, a traffic pattern recognition detection module, a road edge recognition detection module, a curve radian recognition detection module, a peripheral vehicle recognition detection module, a road surface flatness recognition detection module and a road surface gradient recognition detection module.
3. The auxiliary intelligent driving device based on visual information is characterized in that; the information that radar range finding and CCD visual perception and GPS location provided sets for new action control command of going all reports through equipment such as well accuse screen and alarm in the car.
4. The auxiliary intelligent driving device based on visual information is characterized in that; the visual detection module transmits the barrier information to the video acquisition card through the CCD and processes the barrier information through video processing software.
5. The auxiliary intelligent driving device based on visual information is characterized in that; the video processing software receives the information transmitted by the video acquisition card and analyzes the front obstacle characteristics through an analog algorithm, an optical flow method and the like.
6. The auxiliary intelligent driving device based on visual information is characterized in that; the driving control module receives control sent by the main control module, controls acceleration and deceleration, stops running, and controls the running of the vehicle body by adjusting the hardness of the shock absorber, controlling the steering lamp and other behavior modes.
7. The auxiliary intelligent driving device based on visual information is characterized in that; the visual detection modules are respectively arranged at the front corner and the rear corner of the vehicle body, the whole vehicle body is composed of two identical CCD cameras, the image planes of the cameras are positioned on the same plane, and the coordinate axes of the two groups of cameras are in a parallel state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010139616.2A CN111338345A (en) | 2020-03-03 | 2020-03-03 | Auxiliary intelligent driving device based on visual information |
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| CN202010139616.2A CN111338345A (en) | 2020-03-03 | 2020-03-03 | Auxiliary intelligent driving device based on visual information |
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| CN207516827U (en) * | 2017-08-28 | 2018-06-19 | 北京华清智能科技有限公司 | A kind of automatic Pilot compact car |
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| CN110276988A (en) * | 2019-06-26 | 2019-09-24 | 重庆邮电大学 | A kind of DAS (Driver Assistant System) based on collision warning algorithm |
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2020
- 2020-03-03 CN CN202010139616.2A patent/CN111338345A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102685516A (en) * | 2011-03-07 | 2012-09-19 | 李慧盈 | Active safety type assistant driving method based on stereoscopic vision |
| US20170221366A1 (en) * | 2016-01-29 | 2017-08-03 | Electronics And Telecommunications Research Institute | Autonomous vehicle driving system and method |
| CN207516827U (en) * | 2017-08-28 | 2018-06-19 | 北京华清智能科技有限公司 | A kind of automatic Pilot compact car |
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Application publication date: 20200626 |