CN112124307A - Method, device and system for preventing and controlling dangerous behaviors of vehicle and storage medium - Google Patents
Method, device and system for preventing and controlling dangerous behaviors of vehicle and storage medium Download PDFInfo
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- CN112124307A CN112124307A CN202011326838.1A CN202011326838A CN112124307A CN 112124307 A CN112124307 A CN 112124307A CN 202011326838 A CN202011326838 A CN 202011326838A CN 112124307 A CN112124307 A CN 112124307A
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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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
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
Abstract
The invention provides a method, a device and a system for preventing and controlling dangerous behaviors of a vehicle and a storage medium, and relates to the technical field of intelligent vehicles. The invention relates to a method for preventing and controlling dangerous behaviors of a vehicle, which comprises the following steps: obtaining vehicle line pressing information, and judging whether the vehicle presses a line according to the vehicle line pressing information; when the vehicle presses the line, obtaining lane information of the vehicle, and judging whether the vehicle is in a side-approaching lane or not according to the lane information; when the vehicle is in the side-approaching lane, acquiring obstacle information in front of the vehicle, and judging whether the vehicle has a collision danger according to the obstacle information; when the vehicle has a collision danger, controlling the vehicle to stop at the side and enter a cloud monitoring mode; when the vehicle does not have the risk of colliding with the vehicle, a cloud control mode is entered, so that the vehicle is controlled to park along the side through the cloud. The technical scheme of the invention effectively improves the driving safety of the vehicle.
Description
Technical Field
The invention relates to the technical field of intelligent vehicles, in particular to a method, a device and a system for preventing and controlling dangerous behaviors of a vehicle and a storage medium.
Background
With the rapid development of the economic level of China, the living standard of residents is continuously improved, and the number of transportation means in China is continuously increased. The current driving mode of the vehicle has a safety hazard because the vehicle may be caused by dangerous behaviors due to the abnormal driving behaviors of the driver, including unintentional behaviors such as line of sight deviation, distraction, drowsiness, dozing off, intentional behaviors such as impulsive driving, illegal violation of reimbursement and the like, and sudden reasons such as the out-of-control of the vehicle system.
Disclosure of Invention
The problem solved by the invention is how to eliminate the potential safety hazard caused by the personal behavior of the driver or the out-of-control of the system.
In order to solve the above problems, the present invention provides a method for preventing and controlling a dangerous behavior of a vehicle, comprising: obtaining vehicle line pressing information, and judging whether the vehicle presses a line according to the vehicle line pressing information; when the vehicle presses the line, obtaining lane information of the vehicle, and judging whether the vehicle is in a side-approaching lane or not according to the lane information; when the vehicle is in the side-approaching lane, acquiring obstacle information in front of the vehicle, and judging whether the vehicle has a collision danger according to the obstacle information; when the vehicle has a collision danger, controlling the vehicle to stop at the side, and entering a cloud monitoring mode so as to monitor at least one of position information, lane line information, bus information and vehicle-mounted/road-side camera information of the vehicle through a cloud; when the vehicle does not have the risk of colliding with the vehicle, a cloud control mode is entered, so that the vehicle is controlled to park along the side through the cloud.
According to the method for preventing and controlling the dangerous behaviors of the vehicle, when the vehicle is in a dangerous state, the cloud monitoring mode and the cloud control mode are respectively adopted according to different danger degrees, so that the driving safety of the vehicle is effectively improved; in the same time, only one control center controls the vehicle, so that the possibility of safety accidents caused by the fact that decision confusion occurs in multiple control centers is effectively avoided; the privacy information such as the human face, the voice and the like of the personnel in the automobile is not collected, so that the information safety of the driver and the passengers in the automobile is effectively guaranteed.
Preferably, the obtaining the vehicle line pressing information and judging whether the vehicle presses the line according to the vehicle line pressing information includes: identifying lane lines, vehicle center lines and junction points between the lane lines and the vehicle center lines through the vehicle-mounted camera and/or the roadside camera; calculating an included angle between the lane line and the vehicle center line, and calculating a distance between the intersection point and the vehicle; and when the included angle is smaller than a first threshold value and/or the distance is smaller than a second threshold value, judging that the vehicle presses the line, otherwise, judging that the vehicle does not press the line.
According to the method for preventing and controlling the dangerous behaviors of the vehicle, the vehicle is pressed when the included angle between the lane line and the central line of the vehicle is smaller than the first threshold value and/or the distance between the intersection point and the vehicle is smaller than the second threshold value, so that the detection and judgment accuracy of the vehicle pressing is improved, and the driving safety of the vehicle is effectively improved.
Preferably, the determining whether the vehicle is in an edge-approaching lane according to the lane information includes: positioning the lane where the vehicle is located through a vehicle-mounted GPS, and matching positioning information with map GIS information to determine the number of lanes of the lane where the vehicle is located; determining a lane where the vehicle is located through the vehicle-mounted camera and the roadside camera; and judging whether the vehicle is in a side-approaching lane or not according to the number of lanes and the lane where the vehicle is located.
According to the method for preventing and controlling the dangerous behaviors of the vehicle, the number of lanes of the lane where the vehicle is located is determined through the matching of the positioning information and the map GIS information, the lane where the vehicle is located is determined through the vehicle-mounted camera and the road side camera, and whether the vehicle is located in the side-by lane is judged through the number of lanes and the lane where the vehicle is located, so that the accuracy of judging whether the vehicle is the side-by lane is improved, and the driving safety of the vehicle is effectively improved.
Preferably, the matching the positioning information with the map GIS information to determine the number of lanes of the lane where the vehicle is located includes: sending the positioning information to the cloud end, and determining the number of lanes of the lane where the vehicle is located through the cloud end; the cloud end is suitable for matching positioning information with the map GIS information after the positioning information is received so as to determine the first lane number of the lane where the vehicle is located; the cloud end is further suitable for scheduling the roadside camera, determining a second lane number of the lane where the vehicle is located through the roadside camera, if the first lane number is consistent with the second lane number, taking the first lane number or the second lane number as the lane number of the lane where the vehicle is located, and if the first lane number is inconsistent with the second lane number, taking the second lane number as the lane number of the lane where the vehicle is located.
According to the method for preventing and controlling the dangerous behaviors of the vehicle, when the first lane number is inconsistent with the second lane number, the second lane number determined by the roadside visual sensor is used as the lane number of the lane where the vehicle is located, so that the accuracy of judging the lane number is improved, and the driving safety of the vehicle is effectively improved.
Preferably, the method for preventing and controlling dangerous behaviors of a vehicle further comprises: and when the vehicle is not located in the side-approaching lane, controlling the vehicle to enter the cloud monitoring mode.
According to the method for preventing and controlling the dangerous behaviors of the vehicle, when the vehicle has the line pressing behaviors but is not located in the side lane, the vehicle is controlled to enter the cloud monitoring mode, the position and the behavior of the vehicle are concerned at any time, and the driving safety of the vehicle is effectively improved.
Preferably, the obtaining obstacle information in front of the vehicle, and determining whether the vehicle has a collision risk according to the obstacle information includes: the barrier information is obtained through the vehicle-mounted camera and the road side camera, and when at least one of the vehicle-mounted camera and the road side camera judges that the vehicle has the collision danger, the vehicle is judged to have the collision danger.
According to the method for preventing and controlling the dangerous behaviors of the vehicle, when at least one of the vehicle-mounted camera and the road side camera judges that the vehicle has the collision danger, the collision danger is judged, so that the accuracy of judging the collision danger is effectively improved, and the driving safety of the vehicle is further effectively improved.
Preferably, the cloud control mode includes: and receiving a control instruction sent by the cloud end to realize the control of the vehicle by the cloud end.
According to the method for preventing and controlling the dangerous behaviors of the vehicle, only one control center is used for controlling the vehicle in the same time, so that the possibility of safety accidents caused by the fact that decision confusion occurs in multiple control centers is effectively avoided.
The present invention also provides a vehicle dangerous behavior prevention and control device, comprising: the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring vehicle line pressing information, lane information and obstacle information; the judging module is used for judging whether the vehicle is pressed according to the vehicle pressing information, judging whether the vehicle is in a side-approaching lane according to the lane information, and judging whether the vehicle has a collision danger according to the obstacle information; the processing module is used for controlling the vehicle to stop at the side when the vehicle has a collision risk, and entering a cloud monitoring mode so as to monitor at least one of position information, lane line information, bus information and vehicle-mounted/road-side camera information of the vehicle through a cloud, and entering a cloud control mode so as to control the vehicle to stop at the side through the cloud when the vehicle does not have the collision risk. Compared with the prior art, the vehicle dangerous behavior prevention and control device and the vehicle dangerous behavior prevention and control method have the same advantages, and are not repeated herein.
The invention also provides a system for preventing and controlling dangerous behaviors of vehicles, which comprises a computer readable storage medium and a processor, wherein the computer readable storage medium is used for storing a computer program, and the computer program is read by the processor and runs to realize the method for preventing and controlling dangerous behaviors of vehicles. Compared with the prior art, the vehicle dangerous behavior prevention and control system and the vehicle dangerous behavior prevention and control method have the same advantages, and are not repeated herein.
The present invention also provides a computer-readable storage medium storing a computer program which, when read and executed by a processor, implements the method for preventing and controlling the dangerous behavior of the vehicle as described above. The advantages of the computer readable storage medium and the above-mentioned method for preventing and controlling dangerous behaviors of a vehicle are the same as those of the prior art, and are not described herein again.
Drawings
Fig. 1 is a flowchart of a method for preventing and controlling a dangerous behavior of a vehicle according to an embodiment of the present invention;
FIG. 2 is a logic diagram illustrating a method for preventing and controlling dangerous behaviors of a vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a cloud control system according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
The prior art mostly adopts the following scheme: after a driver sends a takeover request, cloud remote vehicle takeover is carried out, and emergency control over the vehicle is achieved. The scheme has low automation degree and lacks of intelligence. Meanwhile, the system is too dependent on the decision of the driver, and when the driver actively carries out the dangerous control behavior or does not realize the dangerous control behavior, the system is difficult to start, so that the aims of taking over in an emergency and avoiding risks cannot be fulfilled.
Meanwhile, whether remote takeover of the automatic driving vehicle is required or synchronous control of a cloud vehicle end is required exists, and disputes always exist in the industry. The reason is that when a dual-control center (a vehicle end: an ECU, and a cloud end: a cloud control platform) appears, if the dual-control center gives opposite instructions, the decision confusion of the vehicle is easily caused, and further, a safety accident is caused. Meanwhile, when to perform remote supervision, when to perform remote control, and how to perform remote control, if not clear, cloud control can only stay in concept, and cannot be practically applied in an automatic driving system. The present invention proposes the following improvements based on the above-mentioned drawbacks.
As shown in fig. 1, an embodiment of the present invention provides a method for preventing and controlling a dangerous behavior of a vehicle, including: obtaining vehicle line pressing information, and judging whether the vehicle presses a line according to the vehicle line pressing information; when the vehicle presses the line, obtaining lane information of the vehicle, and judging whether the vehicle is in a side-approaching lane or not according to the lane information; when the vehicle is in the side-approaching lane, acquiring obstacle information in front of the vehicle, and judging whether the vehicle has a collision danger according to the obstacle information; when the vehicle has a collision danger, controlling the vehicle to stop at the side, and entering a cloud monitoring mode so as to monitor at least one of position information, lane line information, bus information and vehicle-mounted/road-side camera information of the vehicle through a cloud; when the vehicle does not have the risk of colliding with the vehicle, a cloud control mode is entered, so that the vehicle is controlled to park along the side through the cloud.
Specifically, in the present embodiment, with reference to fig. 1, the method for preventing and controlling the dangerous behavior of the vehicle includes: and obtaining vehicle line pressing information, judging whether the vehicle presses the line according to the vehicle line pressing information, namely judging whether the vehicle intersects with the lane line, and if the vehicle intersects with the lane line, indicating that the vehicle does not run in the normal range of the lane at the moment. However, the line pressing behavior may be only lane changing, so that when the vehicle presses a line, lane information of the vehicle is acquired, and whether the vehicle is in a side-approaching lane or not is determined according to the lane information, wherein the side-approaching lane refers to an inner lane and an outer lane.
If the vehicle is on the side lane while pressing the line, it is indicated that the vehicle is in a dangerous driving state, and if there is an obstacle in front of the vehicle, such as a pedestrian or another oncoming vehicle, there is a collision risk, so it is necessary to acquire obstacle information in front of the vehicle in the side lane of the vehicle, and determine whether there is a collision risk in the vehicle according to the obstacle information.
And if the vehicle has the collision risk, controlling the vehicle to stop at the side, entering a cloud monitoring mode, and monitoring at least one of position information, lane line information, bus information and vehicle-mounted/road-side camera information of the vehicle through the cloud. The cloud end does not intervene in control at the moment, because if the cloud end control mode is used for cloud end intervention, the vehicle is in a lane close to the side, pedestrians and vehicles on the front side belong to extremely dangerous behaviors, information is sent to the cloud end to be analyzed in the cloud end control mode, and then the cloud end is used for issuing a control command, so that a delay problem possibly exists, the dangerous behaviors cannot be prevented, the cloud end control mode is not entered, the vehicle is only controlled to stop parking close to the side, and the cloud end monitoring mode is entered.
Therefore, under the condition, the vehicle is preferentially parked beside the parking lot, when the vehicle does not have the collision risk, the vehicle only presses the line on the lane beside the parking lot, but pedestrians and oncoming vehicles do not exist in front of the vehicle, the control of the driver is stopped, the remote control is carried out through the cloud end, the cloud end sends a braking instruction to the vehicle, the automatic vehicle driving processing center carries out the control operation of vehicle braking, the vehicle is parked beside the parking lot, and the driving safety of the vehicle is improved.
In addition, when the cloud is involved in control, the control of the vehicle end on the vehicle is stopped, and only cloud control exists, so that only one control center controls the vehicle at the same time, and the possibility of safety accidents caused by decision confusion of multiple control centers is effectively avoided.
In addition, when the vehicle dangerous behaviors are protected and monitored, only the monitoring information, the lane line information, the CAN bus information, the vehicle-mounted/road-side camera information and the like are monitored, and the vehicle-mounted/road-side camera does not relate to the vehicle-mounted camera, namely privacy information such as the face and the voice of people in the vehicle is not collected, so that the information safety of a driver and passengers in the vehicle is effectively guaranteed.
With reference to fig. 2, the logic for determining the method for preventing and controlling the dangerous behavior of the vehicle is described as follows:
firstly, judging the vehicle line pressing behavior, if the vehicle line pressing is carried out, judging as Y (yes), executing the judgment of ' whether the vehicle is an adjacent lane ', if the vehicle is not pressed, judging as N (no), judging the vehicle line pressing behavior again, namely, judging whether the vehicle is an adjacent lane ' until the vehicle line pressing is judged. When the vehicle presses the line, the vehicle is not driven in the normal range of the lane at the moment, danger may exist, but further determination is needed.
And then judging whether the vehicle is a side-approaching lane or not, if the vehicle is the side-approaching lane, judging that the vehicle is Y (yes), judging whether the vehicle is in front of the lane where the vehicle is located has danger such as pedestrians, oncoming vehicles and the like, if the vehicle is not the side-approaching lane, judging that the vehicle is N (no), controlling the vehicle to enter a cloud monitoring mode, monitoring at least one of position information, lane line information, bus information and vehicle-mounted/road-side camera information of the vehicle through the cloud in the cloud monitoring mode, and judging the vehicle line pressing behavior again. When the vehicle is in the side-by lane, the vehicle is in a dangerous driving state at the time, and danger may exist, but further determination is needed.
And then judging whether the vehicle is in danger such as pedestrians and oncoming vehicles in front of a lane, if so, judging that the vehicle is Y (yes), and at the moment, the vehicle is in an extreme danger condition and needs to avoid the danger in time, so that the vehicle is controlled to stop while parking, and enters a cloud monitoring mode, if not, judging that the vehicle is N (no), and when the vehicle does not have the collision risk, only the vehicle presses a line on the lane while approaching, but the pedestrians and the oncoming vehicles do not exist in front, but the vehicle is in a dangerous driving state at the moment, in order to prevent, the driver control is stopped, the vehicle is remotely controlled through the cloud, a braking instruction is issued to the vehicle by the cloud, and the vehicle automatic driving processing center performs vehicle braking control operation, so that the vehicle stops while approaching.
As shown in fig. 3, the cloud control system (cloud control platform) includes:
1) the comprehensive management system of the whole area: the system is responsible for user management, equipment management, scene selection and configuration;
2) vehicle road cooperative interaction layer: the vehicle end and the road side equipment are in charge of information interaction;
3) algorithm and decision core layer: the system is responsible for algorithm operation and decision making;
4) and a supervision and monitoring layer: the method is characterized in that a supervisor is oriented, customized supervision content selection, configuration and the like are carried out, and corresponding operation is carried out in an algorithm and a decision core layer;
5) front end show/control layer: the system is responsible for carrying out front-end page display for a cloud control platform supervisor;
6) intelligent networking simulation system: providing a simulation environment for the algorithm and the decision core layer, and verifying the corresponding algorithm and decision effect.
The intelligent network connection simulation system is associated with a data center, a data source of the data center comprises a vehicle-road terminal, a GIS platform and third-party data, wherein the vehicle-road terminal comprises a vehicle end and a road side, the vehicle end comprises a vehicle machine, a vehicle-mounted OBU (on-board unit) and a vehicle networking APP, and the road side comprises a smart lamp pole, a road side video and a road side laser radar and is used for vehicle-road cooperative interaction.
The vehicle-end sensor is mainly provided with a camera and a positioning device, and the laser radar and the millimeter wave radar are used as accessories. The roadside equipment takes a camera as a main part and takes a millimeter wave radar as an auxiliary part.
When communication obstacles exist, the vehicle and the cloud end lose contact, interaction is carried out through vehicle self identification (a vehicle automatic driving processing center) and vehicle road cooperation, cloud end algorithm analysis cannot be carried out, and the vehicle utilizes the original vehicle automatic driving processing center of the vehicle or a driver to judge whether the vehicle needs to be parked close to the side or not.
In the embodiment, when the vehicle is in a dangerous state, the cloud monitoring mode and the cloud control mode are respectively adopted according to different danger degrees, so that the driving safety of the vehicle is effectively improved; in the same time, only one control center controls the vehicle, so that the possibility of safety accidents caused by the fact that decision confusion occurs in multiple control centers is effectively avoided; the privacy information such as the human face, the voice and the like of the personnel in the automobile is not collected, so that the information safety of the driver and the passengers in the automobile is effectively guaranteed.
Optionally, the obtaining vehicle line pressing information, and determining whether the vehicle presses a line according to the vehicle line pressing information includes: identifying lane lines, vehicle center lines and junction points between the lane lines and the vehicle center lines through the vehicle-mounted camera and/or the roadside camera; calculating an included angle between the lane line and the vehicle center line, and calculating a distance between the intersection point and the vehicle; and when the included angle is smaller than a first threshold value and/or the distance is smaller than a second threshold value, judging that the vehicle presses the line, otherwise, judging that the vehicle does not press the line.
Specifically, in this embodiment, obtaining the vehicle line pressing information, and determining whether the vehicle presses the line according to the vehicle line pressing information includes: the lane lines, the vehicle center lines and the intersection points between the lane lines and the vehicle center lines are identified through the vehicle-mounted camera and/or the road side camera, for example, Hough transform algorithm is adopted for identification on the image, the included angle between the lane lines and the vehicle center lines is calculated, the distance between the intersection points and the vehicle is calculated, when the included angle is smaller than a first threshold value and/or the distance is smaller than a second threshold value, the vehicle is pressed, and otherwise, the vehicle is not pressed.
In this embodiment, when the included angle between the lane line and the vehicle center line is smaller than the first threshold and/or the distance between the intersection point and the vehicle is smaller than the second threshold, the vehicle line is pressed, the detection and judgment accuracy of the vehicle line is improved, and the vehicle driving safety is effectively improved.
Optionally, the determining whether the vehicle is in an edge-approaching lane according to the lane information includes: positioning the lane where the vehicle is located through a vehicle-mounted GPS, and matching positioning information with map GIS information to determine the number of lanes of the lane where the vehicle is located; determining a lane where the vehicle is located through the vehicle-mounted camera and the roadside camera; and judging whether the vehicle is in a side-approaching lane or not according to the number of lanes and the lane where the vehicle is located.
Specifically, in the present embodiment, since it is difficult to recognize the lane level by the positioning device of the vehicle itself, the determination is mainly performed by the visual sensor + the road network information. Judging whether the vehicle is in the side-approaching lane according to the lane information comprises: positioning the lane where the vehicle is located through a vehicle-mounted GPS, and matching positioning information with map GIS information to determine the number of lanes of the lane where the vehicle is located; determining a lane where the vehicle is located through the vehicle-mounted camera and the roadside camera; and judging whether the vehicle is in the side-approaching lane or not according to the number of lanes and the lane where the vehicle is located, for example, the number of lanes is three, and if the lane where the vehicle is located is the first lane or the third lane, judging that the vehicle is in the side-approaching lane.
In the embodiment, the number of lanes of the lane where the vehicle is located is determined through the matching of the positioning information and the map GIS information, the lane where the vehicle is located is determined through the vehicle-mounted camera and the road side camera, and whether the vehicle is located in the side-by lane is determined through the number of lanes and the lane where the vehicle is located, so that the accuracy of determining whether the vehicle is the side-by lane is improved, and the driving safety of the vehicle is effectively improved.
Optionally, the matching the positioning information with the map GIS information to determine the number of lanes in the lane where the vehicle is located includes: sending the positioning information to the cloud end, and determining the number of lanes of the lane where the vehicle is located through the cloud end; the cloud end is suitable for matching positioning information with the map GIS information after the positioning information is received so as to determine the first lane number of the lane where the vehicle is located; the cloud end is further suitable for scheduling the roadside camera, determining a second lane number of the lane where the vehicle is located through the roadside camera, if the first lane number is consistent with the second lane number, taking the first lane number or the second lane number as the lane number of the lane where the vehicle is located, and if the first lane number is inconsistent with the second lane number, taking the second lane number as the lane number of the lane where the vehicle is located.
Specifically, in this embodiment, matching the positioning information with the map GIS information to determine the number of lanes in the lane where the vehicle is located includes: for example, a vehicle-mounted GPS is adopted to position a lane where a vehicle is located, and positioning information is sent to a cloud end; after receiving the positioning information, the cloud end matches the positioning information with map GIS information to obtain the number of lanes of a lane where the vehicle is located, wherein the number of lanes is a first number of lanes, and sends the first number of lanes to a roadside visual sensor, such as a roadside camera; the roadside visual sensor monitors the number of lanes of a lane where the vehicle is located, the number of lanes is the second number of lanes, whether the second number of lanes is consistent with the first number of lanes is judged, if yes, whether the lane where the vehicle is located is an edge-approaching lane is judged according to the first number of lanes or the second number of lanes, if not, whether the lane where the vehicle is located is an edge-approaching lane is judged according to the second number of lanes, and a monitoring video is uploaded to the cloud end, so that a cloud end manager can confirm the lane with naked eyes. The number of lanes determined by the vehicle-mounted GPS and the map GIS information is inaccurate due to the fact that data are not updated or other problems, and the roadside camera can directly monitor the actual situation of the vehicle, so that the number of lanes determined is accurate.
In this embodiment, when the first lane number is not consistent with the second lane number, the second lane number determined by the roadside vision sensor is used as the lane number of the lane where the vehicle is located, so that the accuracy of judging the lane number is improved, and the driving safety of the vehicle is effectively improved.
Optionally, the method for preventing and controlling dangerous behaviors of the vehicle further comprises the following steps: and when the vehicle is not located in the side-approaching lane, controlling the vehicle to enter the cloud monitoring mode.
Specifically, in this embodiment, the method for preventing and controlling the dangerous behavior of the vehicle further includes: and when the vehicle is not located in the side lane, controlling the vehicle to enter a cloud monitoring mode. The vehicle is controlled to enter a cloud monitoring mode, the position and the behavior of the vehicle are concerned at any time, and the driving safety of the vehicle is effectively improved.
In this embodiment, through setting up when the vehicle has the line ball action but not be in when leaning on the side lane, control vehicle entering high in the clouds monitoring mode, pay close attention to its position and vehicle action at any time, effectively improved vehicle security of traveling.
Optionally, the obtaining obstacle information in front of the vehicle, and determining whether the vehicle has a collision risk according to the obstacle information includes: the barrier information is obtained through the vehicle-mounted camera and the road side camera, and when at least one of the vehicle-mounted camera and the road side camera judges that the vehicle has the collision danger, the vehicle is judged to have the collision danger.
Specifically, in the present embodiment, acquiring obstacle information in front of the vehicle, and determining whether the vehicle has a collision risk according to the obstacle information includes: the obstacle information is acquired through the vehicle-mounted camera and the road side camera, and when at least one of the vehicle-mounted camera and the road side camera judges that the vehicle has the collision danger, the vehicle is judged to have the collision danger. Because there may be the blind area in some regions, lead to on-vehicle camera or roadside camera can't in time discover that the vehicle has the danger of colliding, consequently set up when at least one judgement vehicle in on-vehicle camera and roadside camera has the danger of colliding, judge that the vehicle has the danger of colliding, effectively improve the accuracy of the dangerous judgement of colliding, and then effectively improved vehicle security of traveling.
In the embodiment, when at least one of the vehicle-mounted camera and the road side camera judges that the vehicle has the collision danger, the collision danger is judged, the accuracy of judging the collision danger is effectively improved, and the running safety of the vehicle is further effectively improved.
Optionally, the cloud control mode includes: and receiving a control instruction sent by the cloud end to realize the control of the vehicle by the cloud end.
Specifically, in this embodiment, the cloud control mode includes: the cloud end can send control instructions to the road side unit, the road side unit sends the control instructions to the vehicle automatic driving processing center, the control of the vehicle automatic driving processing center on the vehicle is stopped, the vehicle is taken over through the cloud end, and the vehicle end control fails at the moment and only can brake. When the cloud is involved in control, the control of the vehicle end on the vehicle is stopped, and only the cloud control exists, so that only one control center controls the vehicle in the same time, and the possibility of safety accidents caused by decision confusion of multiple control centers is effectively avoided.
The road side unit is usually installed at the road side and is used for communicating with the vehicle-mounted unit to realize functions of vehicle identity recognition, electronic deduction and the like. In this embodiment, the roadside unit serves as a transfer station for the cloud control instruction, and receives the control instruction sent by the cloud and then sends the control instruction to the vehicle-mounted unit, so that the vehicle automatic driving processing center receives the control instruction and then terminates the control of the vehicle automatic driving processing center on the vehicle.
In the embodiment, only one control center controls the vehicle at the same time, so that the possibility of safety accidents caused by the fact that decision confusion occurs in multiple control centers is effectively avoided.
Another embodiment of the present invention provides a vehicle dangerous behavior prevention and control apparatus, including: the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring vehicle line pressing information, lane information and obstacle information; the judging module is used for judging whether the vehicle is pressed according to the vehicle pressing information, judging whether the vehicle is in a side-approaching lane according to the lane information, and judging whether the vehicle has a collision danger according to the obstacle information; the processing module is used for controlling the vehicle to stop at the side when the vehicle has a collision risk, and entering a cloud monitoring mode so as to monitor at least one of position information, lane line information, bus information and vehicle-mounted/road-side camera information of the vehicle through a cloud, and entering a cloud control mode so as to control the vehicle to stop at the side through the cloud when the vehicle does not have the collision risk. Compared with the prior art, the vehicle dangerous behavior prevention and control device and the vehicle dangerous behavior prevention and control method have the same advantages, and are not repeated herein.
Another embodiment of the present invention provides a system for preventing and controlling a dangerous behavior of a vehicle, including a computer-readable storage medium storing a computer program and a processor, where the computer program is read by the processor and executed to implement the method for preventing and controlling a dangerous behavior of a vehicle as described above. Compared with the prior art, the vehicle dangerous behavior prevention and control system and the vehicle dangerous behavior prevention and control method have the same advantages, and are not repeated herein.
Another embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, which, when read and executed by a processor, implements the method for preventing and controlling dangerous behaviors of a vehicle as described above. The advantages of the computer readable storage medium and the above-mentioned method for preventing and controlling dangerous behaviors of a vehicle are the same as those of the prior art, and are not described herein again.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A method for preventing and controlling a dangerous behavior of a vehicle, comprising:
obtaining vehicle line pressing information, and judging whether the vehicle presses a line according to the vehicle line pressing information;
when the vehicle presses the line, obtaining lane information of the vehicle, and judging whether the vehicle is in a side-approaching lane or not according to the lane information;
when the vehicle is in the side-approaching lane, acquiring obstacle information in front of the vehicle, and judging whether the vehicle has a collision danger according to the obstacle information;
when the vehicle has a collision danger, controlling the vehicle to stop at the side, and entering a cloud monitoring mode so as to monitor at least one of position information, lane line information, bus information and vehicle-mounted/road-side camera information of the vehicle through a cloud; when the vehicle does not have the risk of colliding with the vehicle, a cloud control mode is entered, so that the vehicle is controlled to park along the side through the cloud.
2. The method for preventing and controlling dangerous behaviors of vehicles according to claim 1, wherein the step of obtaining vehicle line pressing information and the step of judging whether the vehicle presses a line according to the vehicle line pressing information comprises the following steps:
identifying lane lines, vehicle center lines and junction points between the lane lines and the vehicle center lines through the vehicle-mounted camera and/or the roadside camera;
calculating an included angle between the lane line and the vehicle center line, and calculating a distance between the intersection point and the vehicle;
and when the included angle is smaller than a first threshold value and/or the distance is smaller than a second threshold value, judging that the vehicle presses the line, otherwise, judging that the vehicle does not press the line.
3. The method according to claim 1, wherein the determining whether the vehicle is in an oncoming lane according to the lane information includes:
positioning the lane where the vehicle is located through a vehicle-mounted GPS, and matching positioning information with map GIS information to determine the number of lanes of the lane where the vehicle is located;
determining a lane where the vehicle is located through the vehicle-mounted camera and the roadside camera;
and judging whether the vehicle is in a side-approaching lane or not according to the number of lanes and the lane where the vehicle is located.
4. The method for preventing and controlling dangerous behaviors of vehicles according to claim 3, wherein the step of matching the positioning information with the map GIS information to determine the number of lanes of the lane where the vehicle is located comprises the steps of:
sending the positioning information to the cloud end, and determining the number of lanes of the lane where the vehicle is located through the cloud end;
the cloud end is suitable for matching positioning information with the map GIS information after the positioning information is received so as to determine the first lane number of the lane where the vehicle is located;
the cloud end is further suitable for scheduling the roadside camera, determining a second lane number of the lane where the vehicle is located through the roadside camera, if the first lane number is consistent with the second lane number, taking the first lane number or the second lane number as the lane number of the lane where the vehicle is located, and if the first lane number is inconsistent with the second lane number, taking the second lane number as the lane number of the lane where the vehicle is located.
5. The method for preventing and controlling dangerous behavior of vehicle according to claim 1, further comprising:
and when the vehicle is not located in the side-approaching lane, controlling the vehicle to enter the cloud monitoring mode.
6. The method for preventing and controlling dangerous behavior of vehicle according to claim 1, wherein said obtaining information of obstacles in front of the vehicle and determining whether the vehicle has danger of collision according to the information of obstacles comprises:
the barrier information is obtained through the vehicle-mounted camera and the road side camera, and when at least one of the vehicle-mounted camera and the road side camera judges that the vehicle has the collision danger, the vehicle is judged to have the collision danger.
7. The method according to claim 1, wherein the cloud control mode comprises:
and receiving a control instruction sent by the cloud end to realize the control of the vehicle by the cloud end.
8. A vehicle dangerous behavior prevention and control device, comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring vehicle line pressing information, lane information and obstacle information;
the judging module is used for judging whether the vehicle is pressed according to the vehicle pressing information, judging whether the vehicle is in a side-approaching lane according to the lane information, and judging whether the vehicle has a collision danger according to the obstacle information;
the processing module is used for controlling the vehicle to stop at the side when the vehicle has a collision risk, and entering a cloud monitoring mode so as to monitor at least one of position information, lane line information, bus information and vehicle-mounted/road-side camera information of the vehicle through a cloud, and entering a cloud control mode so as to control the vehicle to stop at the side through the cloud when the vehicle does not have the collision risk.
9. A prevention and control system for a dangerous behavior of a vehicle, comprising a computer-readable storage medium storing a computer program, and a processor, the computer program being read and executed by the processor to implement the prevention and control method for a dangerous behavior of a vehicle according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when read and executed by a processor, implements the method of prevention and control of dangerous behavior of a vehicle according to any one of claims 1 to 7.
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