CN113192352A - Automatic driving method and system for receiving instructions of traffic management personnel - Google Patents
Automatic driving method and system for receiving instructions of traffic management personnel Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/28—Recognition of hand or arm movements, e.g. recognition of deaf sign language
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
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Abstract
The invention relates to an automatic driving method and system for receiving instructions of traffic management personnel, wherein the method comprises the following steps: acquiring a first image at an intersection or a road section; identifying whether a traffic manager exists at the intersection or the road section based on the first image; if no traffic control personnel exist, the vehicle runs normally; if the person is managed, acquiring a track curve generated by arm swing; performing time-domain filtering processing on the track curve by adopting a time-domain filtering method to obtain a time-domain filtering curve; carrying out weighted average on the time domain filtering curve within the set time to obtain a weighted average curve; extracting a characteristic value of the weighted average curve; and comparing the characteristic value of the weighted average curve with a first characteristic value stored in a database, and identifying the action so as to automatically drive according to the action. The invention realizes the manual instruction identification and automatic driving of the automatic driving automobile to the traffic management personnel, reduces the management difficulty of the traffic management personnel to the automatic driving automobile in road traffic, and is beneficial to ensuring the traffic safety and smoothness.
Description
Technical Field
The invention relates to the field of automatic driving of automobiles, in particular to an automatic driving method and system for receiving instructions of traffic management personnel.
Background
The automobile automatic driving technology has the advantages of reducing traffic safety accidents, relieving road congestion and the like, and has wide application prospects in the aspects of future intelligent traffic and smart city construction.
The existing automobile automatic driving method mainly aims at the identification processing methods of a set planned route, a traffic signal lamp, a traffic sign and the like, when a traffic accident or an emergency occurs, the existing automobile automatic driving method cannot timely take corresponding operations because the existing automobile automatic driving method cannot identify command signals of traffic management personnel, cannot cooperate with the traffic management personnel to complete work, and increases the management difficulty of the traffic management personnel on the automatically driven automobile in road traffic.
For example, due to temporary control and evacuation at intersections, and accidents or maintenance on expressways, the automatic driving automobile needs to perform temporary lane changing, yielding and other operations, and at the moment, the automatic driving automobile needs to identify manual instructions of traffic management personnel and listen to commands of the traffic management personnel, so that the traffic management personnel can conveniently handle special situations.
Disclosure of Invention
The invention aims to provide an automatic driving method and system for receiving manual instructions of traffic management personnel, so as to realize manual instruction identification and automatic driving of the traffic management personnel by an automatic driving automobile.
In order to achieve the purpose, the invention provides the following scheme:
an autopilot method of receiving traffic control personnel instructions, the method comprising:
acquiring a first image at an intersection or a road section;
identifying whether a traffic manager exists at the intersection or the road section based on the first image; if no traffic control personnel exist, the vehicle runs normally; if the person is managed, acquiring a track curve generated by arm swing;
performing time-domain filtering processing on the track curve by adopting a time-domain filtering method to obtain a time-domain filtering curve;
carrying out weighted average on the time domain filtering curve within the set time to obtain a weighted average curve;
extracting a characteristic value of the weighted average curve;
comparing the characteristic value of the weighted average curve with a first characteristic value stored in a database, and identifying an action so as to automatically drive according to the action; the action includes a forward gesture, a stop gesture, a side-parking gesture, or a lane-change gesture.
Optionally, before the acquiring the trajectory curve generated by the arm swing, the method further includes:
when the intersection or the road section is identified to have the traffic management personnel, identifying based on the first image to obtain the information of the traffic management personnel; the traffic management personnel information comprises an identity type and a post number.
Optionally, the method further comprises:
identifying a second image at a set distance in front of the vehicle;
identifying whether a person is at a set distance in front of the vehicle based on the second image; if no one exists, the vehicle runs normally; if the person exists, judging whether the person is a traffic management person;
if the person is a traffic management person, acquiring a track curve generated by arm swinging; and if the person is not the traffic management person, stopping the vehicle.
Optionally, the method further comprises:
acquiring a sound signal of a traffic management person or a traffic management vehicle;
performing time-domain filtering processing on the sound signal by adopting a time-domain filtering method to obtain a time-domain filtered sound signal;
carrying out weighted average on the time-domain filtered sound signals in a set time to obtain weighted average signals;
extracting a characteristic value of the weighted average signal;
and comparing the characteristic value of the weighted average signal with a second characteristic value stored in a database to identify the voice command.
Optionally, before the acquiring the sound signal of the traffic management personnel or the traffic management vehicle, the method further includes:
and identifying the traffic management vehicle.
Optionally, the identifying the traffic management vehicle specifically includes:
acquiring a license plate image;
determining license plate information based on the license plate image;
judging whether the license plate information is stored in a traffic police license plate database; if the license plate information is stored in a traffic police license plate database, the vehicle corresponding to the license plate information is a traffic management vehicle; if the license plate information is not stored in the traffic police license plate database, the vehicle corresponding to the license plate information is not a traffic management vehicle;
or acquiring a vehicle image;
reading vehicle data on the vehicle image; the vehicle data comprises vehicle types and traffic management vehicle marks;
judging whether the vehicle data is the same as the traffic management vehicle data stored in the database; if the vehicle data is the same as the traffic management vehicle data stored in the database, the vehicle corresponding to the vehicle data is the traffic management vehicle; and if the vehicle data is not the same as the traffic control vehicle data stored in the database, the vehicle corresponding to the vehicle data is not the traffic control vehicle.
Optionally, the method further comprises:
and when the vehicle cannot normally run, sending an alarm signal to the responsible person so that the responsible person can manually or remotely drive according to the alarm signal.
An autopilot system for receiving traffic management personnel commands, the system comprising: the system comprises an image acquisition module, an action recognition module and a vehicle-mounted terminal;
the image acquisition module is connected with the action recognition module and is used for shooting a first image at the intersection or the road section;
the action recognition module comprises a handheld end and a microprocessor; the handheld end is connected with the microprocessor; the microprocessor is respectively connected with the image acquisition module and the vehicle-mounted terminal;
the handheld end is used for acquiring a track curve of arm swinging;
the microprocessor is applied to the automatic driving method for receiving the instructions of the traffic management personnel to recognize actions;
and the vehicle-mounted terminal is used for carrying out automatic driving according to the action sent by the microprocessor.
Optionally, the action recognition module further comprises:
the host is arranged between the microprocessor and the handheld end, is respectively connected with the microprocessor and the handheld end, and is used for sending the track curve of the arm waving to the microprocessor; the host is also used for controlling the handheld end to acquire a track curve of arm swing according to the acquisition instruction sent by the microprocessor.
Optionally, the action recognition module further comprises:
the wireless communication module is arranged between the host and the handheld end, is respectively connected with the host and the handheld end, and is used for wirelessly transmitting the track curve waved by the arm to the host; the wireless communication module is also used for sending the acquisition instruction transmitted by the host to the handheld end.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the invention, the automatic driving automobile processes the instructions of the traffic management personnel by identifying whether the traffic management personnel exist at the intersection or the road section and identifying the instructions of the traffic management personnel, so as to identify the action, and the automatic driving automobile performs corresponding operation according to the action, so that the manual instruction identification and automatic driving of the automatic driving automobile to the traffic management personnel are realized, the management difficulty of the traffic management personnel to the automatic driving automobile in road traffic is reduced, and the traffic safety and smoothness are favorably ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of an automatic driving method for receiving traffic management personnel instructions according to the present invention;
FIG. 2 is a block diagram of an autopilot system for receiving traffic management instructions in accordance with the present invention.
Description of the symbols: 1-a microprocessor; 2-a handheld end; 3-an image acquisition module; 4-a host; 5-a wireless communication module; 6-vehicle terminal.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an automatic driving method and system for receiving manual instructions of traffic management personnel, so as to realize manual instruction identification and automatic driving of the traffic management personnel by an automatic driving automobile.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a flowchart of an automatic driving method for receiving a traffic management person instruction according to the present invention, and as shown in fig. 1, the automatic driving method for receiving a traffic management person instruction includes:
step 101: a first image at an intersection or a road segment is acquired. Specifically, when the automatic driving automobile passes through an intersection or a road section commanded manually, whether a traffic manager is in the intersection or the road section for traffic command is firstly identified, and whether the traffic manager is in the traffic command is determined by identifying the first image at the intersection or the road section.
Step 102: identifying whether a traffic manager exists at the intersection or the road section based on the first image; if no traffic control personnel exist, the vehicle runs normally; if there is a person in charge, the trajectory curve generated by the swinging of the arm is obtained.
Before the acquiring the trajectory curve generated by the arm swing, the method further comprises:
when the intersection or the road section is identified to have the traffic management personnel, identifying based on the first image to obtain the information of the traffic management personnel; the traffic management personnel information comprises an identity type and a post number.
Step 103: and performing time-domain filtering processing on the track curve by adopting a time-domain filtering method to obtain a time-domain filtering curve.
Step 104: and carrying out weighted average on the time domain filtering curve in the set time to obtain a weighted average curve.
Step 105: and extracting the characteristic value of the weighted average curve.
Step 106: comparing the characteristic value of the weighted average curve with a first characteristic value stored in a database, and identifying an action so as to automatically drive according to the action; the action includes a forward gesture, a stop gesture, a side-parking gesture, or a lane-change gesture.
After the information of the related traffic management personnel is confirmed, the automatic driving automobile completes corresponding driving operation such as advancing, stopping, parking beside or lane changing and the like according to the instruction of the traffic management personnel, so that the automatic driving automobile can safely pass through the road section or safely stop.
In a specific embodiment, the method further comprises:
a second image at a set distance ahead of the vehicle is identified.
Identifying whether a person is at a set distance in front of the vehicle based on the second image; if no one exists, the vehicle runs normally; and if the person exists, judging whether the person is a traffic management person.
If the person is a traffic management person, acquiring a track curve generated by arm swinging; and if the person is not the traffic management person, stopping the vehicle.
The received command form of the traffic management personnel comprises a limb command and a voice command.
In a specific embodiment, the method further comprises:
and acquiring the sound signal of the traffic management personnel or the traffic management vehicle.
And performing time-domain filtering processing on the sound signal by adopting a time-domain filtering method to obtain a time-domain filtered sound signal.
And carrying out weighted average on the sound signals after time domain filtering in set time to obtain weighted average signals.
And extracting the characteristic value of the weighted average signal.
And comparing the characteristic value of the weighted average signal with a second characteristic value stored in a database to identify the voice command.
After the automatic driving automobile identifies the traffic management personnel or the traffic management vehicle, the voice sent by the traffic management personnel can be identified. In the driving process, the traffic management personnel can send instructions to the automatic driving automobile at any time according to the road condition. The voice command can be a direct shout, and the automatic driving automobile collects the sound and then compares the sound with the command in the database to recognize and execute the command. Or the traffic management personnel can speak the standard instruction code and automatically drive the automobile to directly execute the instruction. The traffic management personnel can also directly send instructions to the target vehicle through the portable communication terminal.
In one embodiment, before the acquiring the sound signal of the traffic management personnel or the traffic management vehicle, the method further includes: and identifying the traffic management vehicle. The automatic driving automobile can identify the traffic control vehicle and the voice command and the electronic command sent by the traffic control vehicle to complete corresponding operation.
The identification traffic management vehicle specifically comprises:
and acquiring a license plate image.
Determining license plate information based on the license plate image;
judging whether the license plate information is stored in a traffic police license plate database; if the license plate information is stored in a traffic police license plate database, the vehicle corresponding to the license plate information is a traffic management vehicle; if the license plate information is not stored in the traffic police license plate database, the vehicle corresponding to the license plate information is not a traffic management vehicle;
or acquiring a vehicle image;
reading vehicle data on the vehicle image; the vehicle data comprises vehicle types and traffic management vehicle marks;
judging whether the vehicle data is the same as the traffic management vehicle data stored in the database; if the vehicle data is the same as the traffic management vehicle data stored in the database, the vehicle corresponding to the vehicle data is the traffic management vehicle; and if the vehicle data is not the same as the traffic control vehicle data stored in the database, the vehicle corresponding to the vehicle data is not the traffic control vehicle.
In a specific embodiment, the method further comprises:
and when the vehicle cannot normally run, sending an alarm signal to the responsible person so that the responsible person can manually or remotely drive according to the alarm signal.
When the automatic driving automobile breaks down or a traffic accident occurs or other situations need to contact the person in charge, the following method is followed: firstly, identifying the traffic management personnel who are processed in the past, and determining the type, the identity and the number of the traffic management personnel; the automatic driving automobile can recognize the traffic management personnel through an automatic driving system and the personal equipment of the traffic management personnel in an interactive mode, and can also recognize the identity through the cloud of a traffic management center and the specific positioning of the traffic management personnel.
After the traffic management identity recognition is finished, the automatic driving automobile judges the command of traffic management personnel, and completes corresponding driving operation, such as parking at the side, so as to prevent traffic obstruction and secondary accidents after accidents occur; after the manually intervened driving operation, the autonomous vehicle will contact the vehicle responsible person for processing according to the requirements of the traffic management personnel.
By utilizing the automatic driving method for receiving the traffic control manual instruction, provided by the invention, the automatic driving automobile can identify the traffic manager or the traffic control vehicle, and can perform actions such as lane changing, stopping, side parking and the like according to the instruction of the traffic manager or the traffic control vehicle, and can also be contacted with the owner of the automatic driving automobile, so that the problem of managing the automatic driving automobile in road traffic by the traffic manager is solved.
Fig. 2 is a block diagram of an automatic driving system for receiving a traffic management person's instruction according to the present invention, as shown in fig. 2, the system includes: the system comprises an image acquisition module 3, an action recognition module and a vehicle-mounted terminal 6.
The image acquisition module 3 is connected with the action recognition module, and the image acquisition module 3 is used for shooting a first image at the intersection or the road section. The image acquisition module 3 may be an area-array camera, a line camera, a 3D camera or a video camera, etc.
The action recognition module comprises a handheld end 2 and a microprocessor 1; the handheld end 2 is connected with the microprocessor 1; the microprocessor 1 is respectively connected with the image acquisition module 3 and the vehicle-mounted terminal 6.
The handheld end 2 is used for acquiring a track curve of arm swing.
The microprocessor 1 identifies the motion by applying the acquired trajectory curve to the above method.
The microprocessor 1 is used for acquiring a first image at the intersection or the road section. Whether a traffic manager exists at the intersection or the road section is further identified based on the first image; if no traffic control personnel exist, the vehicle runs normally; if there is a person in charge, the trajectory curve generated by the swinging of the arm is obtained. Performing time-domain filtering processing on the track curve by adopting a time-domain filtering method to obtain a time-domain filtering curve; carrying out weighted average on the time domain filtering curve within the set time to obtain a weighted average curve; extracting a characteristic value of the weighted average curve; and finally, comparing the characteristic value of the weighted average curve with a first characteristic value stored in a database, identifying an action, and sending the action to the vehicle-mounted terminal 6 by the microprocessor 1.
And the vehicle-mounted terminal 6 is used for carrying out automatic driving according to the action sent by the microprocessor 1.
The recognition of the body actions of the traffic management personnel by the automatic driving automobile can be completed by the traffic management personnel action recognition module. The system comprises a handheld end 2 (signal acquisition module) and a microprocessor 1 (core processing module). The handheld end 2 adopts a motion sensor to collect acceleration generated by hand waving, generates a track curve and uses a lithium battery for power supply. The microprocessor 1 is arranged on the automobile and receives the wireless signal transmitted from the handheld end 2. The microprocessor 1 carries out software algorithm filtering on the transmitted signals, then carries out recognition processing, compares the recognition data with the data stored in the database, and determines the actions of the traffic management personnel. The data to be processed in the identification process is a track curve generated by arm swinging. Although the hand motion is regular, the generated acceleration value is related to the swing speed and the swing force, and multiple paths may exist in the same motion, so that the motion path cannot be obtained by only identifying the acceleration generated in the swing process of the arm. And considering the uncertain factors, filtering by adopting a simple and efficient time domain filtering method, and carrying out weighted average on the track curve in a certain time in a time domain to obtain a smoother weighted average curve. And then sampling the weighted average curve to extract a characteristic value, comparing the characteristic value with the characteristic value stored in the database, and finally identifying the action name.
In one embodiment, the action recognition module further comprises:
the host 4 is arranged between the microprocessor 1 and the handheld end 2, is respectively connected with the microprocessor 1 and the handheld end 2, and is used for sending the track curve of the arm waving to the microprocessor 1; the host 4 is further configured to control the handheld terminal 2 to acquire a trajectory curve of the arm swing according to the acquisition instruction sent by the microprocessor 1. Specifically, the host 4 sends the trajectory curve of the arm swing to the microprocessor 1 through the serial port after simple processing.
In one embodiment, the action recognition module further comprises:
the wireless communication module 5 is arranged between the host 4 and the handheld end 2, is respectively connected with the host 4 and the handheld end 2, and is used for wirelessly transmitting the track curve of the arm waving to the host 4; the wireless communication module 5 is further configured to send the acquisition instruction transmitted by the host 4 to the handheld terminal 2.
The recognition of the traffic management vehicle by the automatic driving vehicle can be realized by a traffic management vehicle license plate recognition system or a traffic management vehicle appearance recognition system.
When a fault or other conditions occur and the vehicle cannot normally run, the automatic driving vehicle can send signals to related responsible persons through the telephone or intelligent terminal software, and the responsible persons take over driving manually or command the automatic driving vehicle to stop at a reasonable position through remote control, so that traffic obstruction or potential safety hazards are prevented.
The traffic management vehicle license plate recognition system comprises a license plate image acquisition unit, a license plate recognition unit and a control unit. The license plate image acquisition unit can be an area-array camera or a video camera and is used for acquiring license plate images of nearby vehicles; the license plate recognition unit is used for recognizing license plate numbers according to the license plate images; the control unit is used for controlling the license plate image acquisition unit and the license plate recognition unit to acquire information, the control unit recognizes whether the vehicle is a traffic management vehicle or not after license plate information is established, if the vehicle is the traffic management vehicle, the license plate information is sent to the microprocessor 1 to generate a collection instruction, the host 4 collects a sound signal of the vehicle according to the collection instruction sent by the microprocessor 1, sends the affiliated sound signal to the microprocessor to be processed, the voice instruction of the vehicle is determined, and the vehicle-mounted terminal 6 carries out automatic driving according to the voice instruction of the vehicle.
The vehicle appearance recognition system comprises a vehicle image acquisition unit, an image storage unit and a control unit. The vehicle image acquisition unit can adopt a linear array camera or a 3D camera and is used for image scanning to obtain image data; the image storage unit is used for storing image data; the control unit is used for controlling the vehicle image acquisition unit to scan images, reading image data on the image storage unit and comparing the image data with data in a database, identifying whether the vehicle is a traffic management vehicle or not, if so, sending vehicle information to the microprocessor 1 to generate an acquisition instruction, acquiring sound signals of the vehicle by the host 4 according to the acquisition instruction sent by the microprocessor 1, sending the sound signals to the microprocessor to be processed, determining a voice instruction of the vehicle, and automatically driving the vehicle by the vehicle-mounted terminal 6 according to the voice instruction of the vehicle.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. An autopilot method for receiving traffic management personnel commands, the method comprising:
acquiring a first image at an intersection or a road section;
identifying whether a traffic manager exists at the intersection or the road section based on the first image; if no traffic control personnel exist, the vehicle runs normally; if the person is managed, acquiring a track curve generated by arm swing;
performing time-domain filtering processing on the track curve by adopting a time-domain filtering method to obtain a time-domain filtering curve;
carrying out weighted average on the time domain filtering curve within the set time to obtain a weighted average curve;
extracting a characteristic value of the weighted average curve;
comparing the characteristic value of the weighted average curve with a first characteristic value stored in a database, and identifying an action so as to automatically drive according to the action; the action includes a forward gesture, a stop gesture, a side-parking gesture, or a lane-change gesture.
2. The method of claim 1, further comprising, prior to the step of obtaining the trajectory profile generated by the arm swing:
when the intersection or the road section is identified to have the traffic management personnel, identifying based on the first image to obtain the information of the traffic management personnel; the traffic management personnel information comprises an identity type and a post number.
3. The automated driving method for receiving traffic management personnel instructions according to claim 1, wherein the method further comprises:
identifying a second image at a set distance in front of the vehicle;
identifying whether a person is at a set distance in front of the vehicle based on the second image; if no one exists, the vehicle runs normally; if the person exists, judging whether the person is a traffic management person;
if the person is a traffic management person, acquiring a track curve generated by arm swinging; and if the person is not the traffic management person, stopping the vehicle.
4. The automated driving method for receiving traffic management personnel instructions according to claim 1, wherein the method further comprises:
acquiring a sound signal of a traffic management person or a traffic management vehicle;
performing time-domain filtering processing on the sound signal by adopting a time-domain filtering method to obtain a time-domain filtered sound signal;
carrying out weighted average on the time-domain filtered sound signals in a set time to obtain weighted average signals;
extracting a characteristic value of the weighted average signal;
and comparing the characteristic value of the weighted average signal with a second characteristic value stored in a database to identify the voice command.
5. The autopilot method of claim 1 wherein prior to the obtaining of the sound signal of the traffic control person or traffic control vehicle, further comprising:
and identifying the traffic management vehicle.
6. The autopilot method of claim 4 wherein identifying a traffic management vehicle specifically comprises:
acquiring a license plate image;
determining license plate information based on the license plate image;
judging whether the license plate information is stored in a traffic police license plate database; if the license plate information is stored in a traffic police license plate database, the vehicle corresponding to the license plate information is a traffic management vehicle; if the license plate information is not stored in the traffic police license plate database, the vehicle corresponding to the license plate information is not a traffic management vehicle;
or acquiring a vehicle image;
reading vehicle data on the vehicle image; the vehicle data comprises vehicle types and traffic management vehicle marks;
judging whether the vehicle data is the same as the traffic management vehicle data stored in the database; if the vehicle data is the same as the traffic management vehicle data stored in the database, the vehicle corresponding to the vehicle data is the traffic management vehicle; and if the vehicle data is not the same as the traffic control vehicle data stored in the database, the vehicle corresponding to the vehicle data is not the traffic control vehicle.
7. The automated driving method for receiving traffic management personnel instructions according to claim 4, wherein the method further comprises:
and when the vehicle cannot normally run, sending an alarm signal to the responsible person so that the responsible person can manually or remotely drive according to the alarm signal.
8. An autopilot system for receiving traffic management personnel commands, the system comprising: the system comprises an image acquisition module, an action recognition module and a vehicle-mounted terminal;
the image acquisition module is connected with the action recognition module and is used for shooting a first image at the intersection or the road section;
the action recognition module comprises a handheld end and a microprocessor; the handheld end is connected with the microprocessor; the microprocessor is respectively connected with the image acquisition module and the vehicle-mounted terminal;
the handheld end is used for acquiring a track curve of arm swinging;
the microprocessor recognizing an action by applying the automatic driving method for receiving a traffic manager's instruction according to any one of claims 1 to 7;
and the vehicle-mounted terminal is used for carrying out automatic driving according to the action sent by the microprocessor.
9. The autopilot system of claim 8 wherein the action recognition module further comprises:
the host is arranged between the microprocessor and the handheld end, is respectively connected with the microprocessor and the handheld end, and is used for sending the track curve of the arm waving to the microprocessor; the host is also used for controlling the handheld end to acquire a track curve of arm swing according to the acquisition instruction sent by the microprocessor.
10. The autopilot system of claim 8 wherein the action recognition module further comprises:
the wireless communication module is arranged between the host and the handheld end, is respectively connected with the host and the handheld end, and is used for wirelessly transmitting the track curve waved by the arm to the host; the wireless communication module is also used for sending the acquisition instruction transmitted by the host to the handheld end.
Priority Applications (1)
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