CN112140997A - Control method and system of visual driving system supporting control, automobile and storage medium - Google Patents
Control method and system of visual driving system supporting control, automobile and storage medium Download PDFInfo
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- CN112140997A CN112140997A CN202011049764.1A CN202011049764A CN112140997A CN 112140997 A CN112140997 A CN 112140997A CN 202011049764 A CN202011049764 A CN 202011049764A CN 112140997 A CN112140997 A CN 112140997A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
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- Traffic Control Systems (AREA)
Abstract
The method comprises the steps of firstly obtaining relevant information of a vehicle, a surrounding environment and a map, then transmitting the relevant information of the vehicle and the environment to a visual driving system, mapping the relevant information of the vehicle and the environment into display elements, and displaying the display elements on display equipment. The user can intuitively perceive the surrounding environment of the vehicle through the visual driving system, and determines whether to perform amplification, reduction and rotation operations on the visual driving system or not, so that the visual driving systems with different scales are displayed. After the vehicle is enlarged, a view with a small scale is displayed, the layout details of elements in the environment can be displayed, the specific situation of a certain object in the environment can be known, and the vehicle can be directly controlled; after the map is reduced, map data are loaded, a large-scale view is displayed, and more macroscopic environmental information is known; after rotation, the surrounding environment is viewed from different angles. The driver can seamlessly switch between the visual systems with different scales, can clearly sense the surrounding environment and objects, directly control the vehicle, and can conveniently sense the wide environment and the running route in the map.
Description
Technical Field
The invention relates to the field of visual driving systems, in particular to a control method and a control system for a visual driving system supporting control, an automobile and a storage medium.
Background
At present, a visual driving system such as Tesla can only check the surrounding micro environment of a vehicle body through a screen, the position of the vehicle in the whole map can not be checked macroscopically through the visual system, and meanwhile, the visual driving system only supports checking, does not support operations such as amplification and reduction, is poor in friendliness and cannot provide natural immersive experience. At present, in the field of automobiles, at the intelligent starting stage, visual driving is also in the initial development stage, and a visual driving system for seamlessly switching between a small-scale view around an automobile body and a large-scale view of a map through gestures such as zooming in and zooming out does not exist.
Disclosure of Invention
The purpose of the invention is as follows: the visual driving system seamlessly switches display scales according to the environment and the user requirements, and freely switches between a large-scale macroscopic view combined with map data and a small-scale microscopic view combined with vehicle control. The user interface of the large scale view is macroscopic, a user can be helped to know the overall condition of the driving route, the user interface of the small scale view is microscopic, the conditions of a vehicle door, a vehicle lamp and a vehicle bottom can be directly and carefully seen, and the visual driving system is friendly, convenient and efficient through free switching in front of different scales.
The technical scheme is as follows: in order to solve the technical problem and achieve the purpose of the invention, the invention provides a control method of a visual driving system supporting control, which comprises the following steps:
step 1: the method comprises the steps of obtaining vehicle and surrounding environment information and map data, transmitting the vehicle and surrounding environment information data to a visual driving system, and mapping the vehicle and surrounding environment information data into elements which can be displayed on a display device;
the method comprises the steps of acquiring relevant information of a vehicle and surrounding environment, including lanes, vehicles, traffic signs, buildings and the like, by sensors such as a camera and a radar, acquiring map data, transmitting the relevant information of the vehicle and the environment to a visual driving system, mapping the relevant information into display elements, and displaying the display elements on display equipment (such as a screen).
Step 2: displaying in a scene view or a map view in a vehicle display device
And step 3: and detecting a trigger condition, realizing the switching of the views with different scales according to the currently displayed view, and switching the currently displayed view into a view with a larger or smaller display scale than the currently displayed view, namely switching between the whole view and the local view.
And the user can intuitively perceive the surrounding environment of the vehicle through the visual driving system and decide whether to operate the visual driving system, such as zooming in, zooming out, rotating and the like. Through the operation, the user can switch between the micro visualization system and the macro map seamlessly, namely, the whole view and the local view.
After the environment is enlarged, a small-scale view is presented, the layout details of elements in the environment can be displayed, and the specific situation of a certain object in the environment can be known.
After the zoom-out, a large scale view is presented, a map can be displayed, and more macroscopic environmental information can be known.
After rotation, or from different angles, the vehicle and the environment are viewed.
Or, seamless switching between the macro view and the micro view can be realized by monitoring the abnormal information.
The macro view and the micro view of the invention can be maps with different scales, namely the macro view and the micro view can be a whole view and a partial area view. The larger the display scale, the more macroscopic the display content, such as a 2D or 3D map; the smaller the display scale, the more microscopic the display, such as a car door, a cat under the car.
In addition, the invention also provides a control system of the visual driving system supporting operation and control, which comprises the following modules:
the view construction module is used for acquiring vehicle and surrounding environment information to construct a scene view and a map view;
the view display module is used for displaying a scene view or a map view in the vehicle-mounted display equipment;
and the automatic switching module receives the trigger condition and switches the currently displayed view into a view with a larger or smaller display ratio than the current display ratio.
The view construction module acquires vehicle and surrounding environment information to construct a scene view and a map view, and has the following specific functions:
the data acquisition module is used for acquiring images and point cloud data and map data through sensors arranged around the vehicle;
the object identification module analyzes the data acquired by the sensor and identifies an object in the acquired image;
the position determining module measures the relative position from the recognition object to the vehicle by taking the vehicle as an origin, and pre-judges the motion trail of the object;
the scene view construction module is used for extracting a corresponding model from a visual system model library, arranging the model in a visual system according to the position information, displaying the model in vehicle display equipment and displaying the identified object and the motion trail of the object;
and the map view construction module is used for acquiring map data including road, road condition, building and natural landscape data in the driving route to construct a map view.
The automatic switching module has the following specific functions: and receiving any operation of zooming in, zooming out and rotating, carrying out zooming in or zooming out or rotating on the view displayed by the display equipment, switching the currently displayed view into a view with a larger display proportion or a smaller display proportion than the current display proportion, or switching the currently displayed view into a view with a larger display proportion or a smaller display proportion than the current display proportion when abnormal information is monitored.
The switching between the views is switching between a scene view and a map view, or switching between a scene view and a scene view, or switching between a map view and a map view.
The invention further relates to a motor vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the method for controlling a visual driving system with assistance of maneuvering.
Furthermore, the present invention proposes a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the control method for a steering-supported visual driving system.
Has the advantages that: compared with the prior art, the technical scheme of the invention has the following beneficial technical effects:
(1) according to the technical scheme, a user can seamlessly switch between the microscopic small scale view and the macro-shopping large scale view according to needs, and only simple gestures such as zooming in, zooming out and rotating are needed, so that the operation is more intuitive and convenient.
(2) The application scheme provided by the patent not only can enable a driver to clearly perceive the surrounding environment and objects, but also can perceive the wide environment and the driving route more conveniently and rapidly.
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FIG. 1 is a flow chart of the present invention;
Detailed Description
In order to make the technical solution and advantages of the present invention more clear, the present invention will be further described in detail with reference to the accompanying drawings.
In the step 1, sensors such as a camera and a radar are used for acquiring data to obtain information of each object in the environment, object recognition is carried out on an image acquired by the camera through an image recognition technology, the information related to the vehicle and the environment is transmitted to a visual driving system, the information is mapped into display elements, the display elements are displayed on display equipment (such as a screen) and map data information is acquired.
Step 1.1: deploying sensors, such as cameras, millimeter wave radars, ultrasonic radars and the like, around the vehicle to acquire image and point cloud data;
step 1.2: analyzing the data collected by the sensor, and identifying motor vehicles, non-motor vehicles, pedestrians, animals, lanes, traffic signs and building objects;
step 1.3: the calculation unit processes the acquired data, measures the distance to the object by combining with sensors such as a binocular sensor and the like, calculates and pre-judges the motion trail of the object, and acquires the relative positions of the object and the vehicle by taking the vehicle as an origin;
step 1.4: extracting a corresponding model from a visual system model library according to the identification result obtained in the step 1.2, putting the model (such as a 3D model of a person and a 3D model of a vehicle) in a visual system according to the position information obtained in the step 1.3, and displaying the model in display equipment; and (4) displaying in real time in a visualization system according to the identification result obtained in the step 1.2 and the position and track data in the step 1.3.
Step 1.5: map data including, but not limited to, road conditions, buildings, natural landscapes, etc. in the route of travel is obtained.
Step 2: displaying in a scene view or a map view in the vehicle-mounted display equipment;
and step 3: and detecting a trigger condition, and switching different scale views according to the currently displayed view.
For example, when it is detected that an abnormal condition occurs and the user does not have or is not in time to perform an operation for effectively avoiding the risk, the visualization system may automatically switch to an appropriate display scale to display abnormal information in the surrounding environment or the map.
Step 3.1: various abnormal conditions are identified, and according to the step 1.3, the calculation unit judges whether the surrounding environment has abnormality, such as blind area pedestrians, or whether the vehicle has abnormality, such as the vehicle door is not closed, or other external environments on the map have abnormality, such as sudden traffic jam.
Step 3.2: and judging the display scale of the visualization system according to different abnormal conditions. For example, when the vehicle is abnormal, a small proportion is displayed, and when the road condition is abnormal, the proportion is switched to a large proportion.
In addition, the visual driving system obtains the highest control authority, and a view which is most beneficial to driving of the user is presented in the visual interface. For example: when a user drives, a small-scale view with a preset scale is displayed, the small-scale view comprises a vehicle and the environment of three lanes on two sides, an accident occurs in front of a driving route and the vehicle begins to block, a visualization system can automatically switch to a large-scale view with the preset scale to prompt an abnormal road section and prompt route switching and the like. When the right vehicle suddenly changes lane and is about to collide, the visualization system is switched to a smaller scale, and the vehicle and the right vehicle are displayed in a key mode. And if the vehicle is abnormal, if the door of the vehicle is not closed, the air pressure of the tire is low, the tire is damaged, or other parts have problems, the vehicle can be automatically switched to the local view, so that the current driver can visually observe the position with the problems, the manual switching is not needed, and the safe driving is facilitated.
By the technical scheme of the invention, automatic switching of views in different scales can be realized automatically according to the view in the current display scale and the abnormal triggering condition. In summary, the current view may be switched to a view larger than the current scale or a view smaller than the current scale for display according to the actual situation that the abnormality is detected.
The view can be a 2-dimensional or 3-dimensional scene view constructed according to the acquired information, and can also be a map view of the current area. In addition, during switching, the 2-dimensional or 3-dimensional scene view may be switched to a 2-dimensional or 3-dimensional scene view with a larger or smaller scale, the map view of the current area may be switched to a map view with a larger or smaller scale, the current scene view may be switched to a map view with a larger or smaller scale, or the current map view may be switched to a scene view with a larger or smaller scale.
The interface on the display equipment supports the user to zoom in and out, and presents views with different scales, wherein the larger the scale is, the more macroscopic the display content is, such as a 2D or 3D map; the smaller the display scale, which can be 2D or 3D, the more microscopic the display content, such as vehicle doors, cats under the vehicle, and supporting rotation, viewing from different angles.
In addition, the user observes the close range environment of periphery through visual system, operates on visual interface, if enlarge, reduce, rotate, click button etc. the system is according to user operation, sends the instruction to the controller, and the controller receives to the visual system after the instruction and shows scaling, according to different operations, shows different proportions: the small scale view is magnified and displayed, and more microscopic object information can be displayed; and (4) zooming out and displaying a large scale view, displaying more macroscopic map information and the like.
The user operates on a user interface of the visual system, such as zooming in, zooming out, rotating and the like, the system sends an instruction of the operation made by the user to the computing unit, the computing unit distributes the instruction to the controller of the corresponding component, and the controller carries out automatic control on the corresponding component after receiving the instruction.
In addition, the invention also provides a control system of the visual driving system supporting operation and control, which comprises the following modules:
the view construction module is used for acquiring vehicle and surrounding environment information to construct a scene view and a map view;
the view display module is used for displaying a scene view or a map view in the vehicle-mounted display equipment;
and the automatic switching module receives the trigger condition and switches the currently displayed view into a view with a larger or smaller display ratio than the current display ratio.
The view construction module acquires vehicle and surrounding environment information to construct a scene view and a map view, and has the following specific functions:
the data acquisition module is used for acquiring images and point cloud data and map data through sensors arranged around the vehicle;
the object identification module analyzes the data acquired by the sensor and identifies an object in the acquired image;
the position determining module measures the relative position from the recognition object to the vehicle by taking the vehicle as an origin, and pre-judges the motion trail of the object;
the scene view construction module is used for extracting a corresponding model from a visual system model library, arranging the model in a visual system according to the position information, displaying the model in vehicle display equipment and displaying the identified object and the motion trail of the object;
and the map view construction module is used for acquiring map data including road, road condition, building and natural landscape data in the driving route to construct a map view.
The automatic switching module has the following specific functions: and receiving any operation of zooming in, zooming out and rotating, carrying out zooming in or zooming out or rotating on the view displayed by the display equipment, switching the currently displayed view into a view with a larger display proportion or a smaller display proportion than the current display proportion, or switching the currently displayed view into a view with a larger display proportion or a smaller display proportion than the current display proportion when abnormal information is monitored.
The switching between the views is switching between a scene view and a map view, or switching between a scene view and a scene view, or switching between a map view and a map view.
The invention further relates to a motor vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the method for controlling a visual driving system with assistance of maneuvering.
Furthermore, the present invention proposes a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the control method for a steering-supported visual driving system.
Although the present invention has been described with reference to the preferred embodiments, it is not to be limited thereto. Various changes and modifications within the spirit and scope of the present invention will become apparent to those skilled in the art from this disclosure, and it is intended that the scope of the present invention be defined by the appended claims.
Claims (10)
1. A control method for a visual driving system supporting steering, the method comprising the steps of:
(1) obtaining vehicle and surrounding environment information to construct a scene view and a map view;
(2) displaying in a scene view or a map view in the vehicle-mounted display equipment;
(3) and receiving a trigger condition, and switching the currently displayed view into a view with a larger or smaller display scale than the current display scale.
2. The visual driving system control method combined with vehicle control as claimed in claim 1, wherein in step (1), the vehicle and surrounding environment information are obtained to construct a scene view and a map view, and the method comprises the following steps:
step 1.1: acquiring image and point cloud data through sensors deployed around a vehicle;
step 1.2: analyzing the data collected by the sensor, and identifying an object in the collected image;
step 1.3: taking a vehicle as an origin, measuring the relative position of an identification object to the vehicle, and prejudging the motion trail of the object;
step 1.4: the corresponding model is put forward from a visual system model library, the model is arranged in a visual system according to the position information, the model is displayed in a vehicle display device, and the identified object and the motion track of the object are displayed;
step 1.5: acquiring map data includes, but is not limited to, road conditions, buildings, nature landscape data in the driving route to construct a map view.
3. The control method of a visual driving system supporting steering according to claim 1 or 2, wherein in the step (2), the triggering condition is received, and the currently displayed view is switched to a view with a larger or smaller display scale than the currently displayed view, and the method comprises the following steps: and receiving any operation of zooming in, zooming out and rotating, carrying out zooming in or zooming out or rotating on the view displayed by the display equipment, switching the currently displayed view into a view with a larger display proportion or a smaller display proportion than the current display proportion, or switching the currently displayed view into a view with a larger display proportion or a smaller display proportion than the current display proportion when abnormal information is monitored.
4. The visual driving system control method combined with the vehicle control according to claim 1 or 2, characterized in that the switching between the views is switching between a scene view and a map view, or switching between a scene view and a scene view, or switching between a map view and a map view.
5. A control system of a visual driving system supporting manipulation is characterized by comprising the following modules:
the view construction module is used for acquiring vehicle and surrounding environment information to construct a scene view and a map view;
the view display module is used for displaying a scene view or a map view in the vehicle-mounted display equipment;
and the automatic switching module receives the trigger condition and switches the currently displayed view into a view with a larger or smaller display ratio than the current display ratio.
6. The control system of claim 5, wherein the view construction module acquires information of the vehicle and the surrounding environment to construct a scene view and a map view, and the specific functions are as follows:
the data acquisition module is used for acquiring images and point cloud data and map data through sensors arranged around the vehicle;
the object identification module analyzes the data acquired by the sensor and identifies an object in the acquired image;
the position determining module measures the relative position from the recognition object to the vehicle by taking the vehicle as an origin, and pre-judges the motion trail of the object;
the scene view construction module is used for extracting a corresponding model from a visual system model library, arranging the model in a visual system according to the position information, displaying the model in vehicle display equipment and displaying the identified object and the motion trail of the object;
and the map view construction module is used for acquiring map data including road, road condition, building and natural landscape data in the driving route to construct a map view.
7. The control system for a visual driving system supporting manipulation according to claim 5 or 6, wherein the automatic switching module has the following specific functions: and receiving any operation of zooming in, zooming out and rotating, carrying out zooming in or zooming out or rotating on the view displayed by the display equipment, switching the currently displayed view into a view with a larger display proportion or a smaller display proportion than the current display proportion, or switching the currently displayed view into a view with a larger display proportion or a smaller display proportion than the current display proportion when abnormal information is monitored.
8. The control system of claim 5 or 6, wherein the switching between views is switching between a scene view and a map view, or switching between a scene view and a scene view, or switching between a map view and a map view.
9. An automobile, characterized in that the automobile comprises a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of a control method of a steering-enabled visual driving system according to claims 1-4.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of a steering-enabled visual driving system control method according to claims 1-4.
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Application publication date: 20201229 |