CN113192352B - Automatic driving method and system for receiving instructions of traffic control personnel - Google Patents
Automatic driving method and system for receiving instructions of traffic control 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
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- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- 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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- G08G—TRAFFIC CONTROL SYSTEMS
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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 control personnel, wherein the method comprises the following steps: acquiring a first image at an intersection or a road section; identifying whether traffic control personnel exist at the intersection or the road section based on the first image; if no traffic control personnel are available, the vehicle runs normally; if a traffic management person exists, acquiring a track curve generated by arm swing; performing time domain filtering treatment 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 in the set time to obtain a weighted average curve; extracting characteristic values of the weighted average curve; and comparing the characteristic value of the weighted average curve with the first characteristic value stored in the 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 control personnel, reduces the management difficulty of the traffic control personnel to the automatic driving automobile in road traffic, and is beneficial to ensuring 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 control 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 automatic driving method of the automobile mainly aims at the recognition processing methods of a set planning route, traffic lights, traffic signs and the like, and when traffic accidents or emergency situations occur, the existing automatic driving method of the automobile cannot recognize command signals of traffic management personnel, can not take corresponding operations in time, can not cooperate with the traffic management personnel to complete work, and increases the management difficulty of the traffic management personnel on the automatic driving automobile in road traffic.
For example, due to temporary control and dredging of an intersection, an expressway needs to be automatically driven to perform temporary lane changing, yielding and other operations due to accidents, overhauling and the like, and at the moment, the automatic driving automobile needs to identify and listen to manual instructions of traffic management personnel to command the traffic management personnel, so that the traffic management personnel can conveniently process special conditions.
Disclosure of Invention
The invention aims to provide an automatic driving method and system for receiving manual instructions of traffic control personnel, so as to realize manual instruction identification and automatic driving of the traffic control personnel by an automatic driving automobile.
In order to achieve the above object, the present invention provides the following solutions:
an automated driving method of receiving instructions from a traffic officer, the method comprising:
acquiring a first image at an intersection or a road section;
identifying whether traffic management personnel exist at the intersection or the road section based on the first image; if no traffic control personnel are available, the vehicle runs normally; if a traffic management person exists, 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 in 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, an edge parking gesture, or a lane change gesture.
Optionally, before the step of acquiring the trajectory curve generated by the arm swing, the method further comprises:
when the intersection or the road section is identified to have traffic management personnel, identifying based on the first image to obtain traffic management personnel information; 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 present at a set distance in front of the vehicle based on the second image; if no person exists, the vehicle runs normally; if so, judging whether the person is a traffic management person or not;
if the person is a traffic management person, acquiring a track curve generated by arm swing; if the person is not a traffic guidance person, stopping.
Optionally, the method further comprises:
acquiring sound signals of traffic personnel or traffic vehicles;
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 the 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 instruction.
Optionally, before the acquiring the sound signal of the traffic personnel or the traffic vehicle, the method further includes:
and identifying the traffic control 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 or not; if the license plate information is stored in a traffic police license plate database, indicating that the vehicle corresponding to the license plate information is a traffic management vehicle; if the vehicle information is not stored in the traffic police license plate database, indicating that 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, indicating that the vehicle corresponding to the vehicle data is a traffic management vehicle; and if the vehicle data is different from the traffic management vehicle data stored in the database, indicating that the vehicle corresponding to the vehicle data is not the traffic management vehicle.
Optionally, the method further comprises:
and when the vehicle cannot normally run, sending an alarm signal to a responsible person so that the responsible person can drive manually or remotely according to the alarm signal.
An autopilot system that receives instructions from a traffic officer, 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 an intersection or a 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 swing;
the microprocessor is applied to the automatic driving method for receiving the command of the traffic control personnel to identify 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 includes:
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 swing to the microprocessor; the host is also used for controlling the handheld terminal to acquire the track curve of the arm swing according to the acquisition instruction sent by the microprocessor.
Optionally, the action recognition module further includes:
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 of the arm swing to the host; the wireless communication module is also used for sending the acquisition instruction transmitted by the host to the handheld terminal.
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 control personnel by identifying whether the intersection or the road section has the traffic control personnel or not and identifying the instructions of the traffic control personnel, the action is identified, and the automatic driving automobile carries out corresponding operation according to the action, so that the manual instruction identification and automatic driving of the traffic control personnel by the automatic driving automobile are realized, the management difficulty of the traffic control personnel on the automatic driving automobile in road traffic is reduced, and the traffic safety and smoothness are guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an automated driving method for receiving a traffic control personnel instruction according to the present invention;
FIG. 2 is a block diagram of an autopilot system that receives traffic control personnel instructions according to the present invention.
Symbol description: 1-a microprocessor; 2-a hand-held end; 3-an image acquisition module; 4-a host; 5-a wireless communication module; 6-vehicle terminal.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an automatic driving method and system for receiving manual instructions of traffic control personnel, so as to realize manual instruction identification and automatic driving of the traffic control personnel by an automatic driving automobile.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Fig. 1 is a flowchart of an automatic driving method for receiving an instruction of a traffic control person according to the present invention, as shown in fig. 1, and the method includes:
step 101: a first image at an intersection or road segment is acquired. Specifically, when an automatic driving automobile passes through a manually commanded intersection or road section, whether traffic control personnel are in the intersection or road section is firstly identified, and whether traffic control personnel are in the traffic control is determined by identifying a first image at the intersection or road section.
Step 102: identifying whether traffic management personnel exist at the intersection or the road section based on the first image; if no traffic control personnel are available, the vehicle runs normally; if a person crossing the arm is present, a track curve generated by the arm swinging is obtained.
The method further comprises the following steps before the track curve generated by the arm swing is obtained:
when the intersection or the road section is identified to have traffic management personnel, identifying based on the first image to obtain traffic management personnel information; 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, an edge parking gesture, or a lane change gesture.
After confirming the information of the related traffic control personnel, the automatic driving automobile completes corresponding driving operation according to the instruction of the traffic control personnel, such as forward operation, stop operation, side parking operation or lane changing operation, and the like, so that the automatic driving automobile can safely pass through the road section or safely park.
In one embodiment, the method further comprises:
a second image at a set distance in front of the vehicle is identified.
Identifying whether a person is present at a set distance in front of the vehicle based on the second image; if no person exists, the vehicle runs normally; if so, judging whether the person is a traffic management person.
If the person is a traffic management person, acquiring a track curve generated by arm swing; if the person is not a traffic guidance person, stopping.
The received traffic control personnel instruction form comprises a limb instruction and a voice instruction.
In one embodiment, the method further comprises:
and acquiring sound signals of traffic personnel or traffic vehicles.
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 time domain filtered sound signals in the set time to obtain weighted average signals.
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 instruction.
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. Then in the driving process, traffic control personnel can send instructions to the automatic driving automobile at any time according to road conditions. The voice command can be direct shouting, and the automatic driving automobile can recognize and execute the command by comparing the voice command with the command in the database after collecting the voice. Or the management personnel can speak the standard instruction code number, and the automatic driving automobile can directly execute the instruction code number. The traffic control personnel can also directly send out instructions to the target vehicle through the portable communication terminal.
In one specific embodiment, before the acquiring the sound signal of the traffic personnel or the traffic vehicle, the method further includes: and identifying the traffic control vehicle. The automatic driving automobile can identify the traffic control vehicle and the voice instruction and the electronic instruction sent by the traffic control vehicle to finish corresponding operation.
The identifying traffic management vehicle specifically comprises:
and obtaining license plate images.
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 or not; if the license plate information is stored in a traffic police license plate database, indicating that the vehicle corresponding to the license plate information is a traffic management vehicle; if the vehicle information is not stored in the traffic police license plate database, indicating that 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, indicating that the vehicle corresponding to the vehicle data is a traffic management vehicle; and if the vehicle data is different from the traffic management vehicle data stored in the database, indicating that the vehicle corresponding to the vehicle data is not the traffic management vehicle.
In one embodiment, the method further comprises:
and when the vehicle cannot normally run, sending an alarm signal to a responsible person so that the responsible person can drive manually or remotely according to the alarm signal.
In the case of failure or traffic accident of an automatic driving car or other situations where it is necessary to contact a responsible person, the following method is to be followed: firstly, identifying traffic management personnel which are processed before, and determining the type, the identity and the number of the traffic management personnel; the automatic driving automobile can be used for identifying the traffic management personnel through interaction between an automatic driving system and personal equipment of the traffic management personnel, or can be used for identifying the identity through specific positioning of the traffic management center cloud and the traffic management personnel.
When the traffic management identity recognition is finished, the automatic driving automobile judges the traffic management personnel instruction to finish corresponding driving operation, such as side parking, so as to prevent traffic from being blocked and secondary accidents from being caused after unexpected occurrence; after the manual intervention driving operation, the automatic driving automobile contacts the vehicle responsibilities to be processed according to the requirements of the traffic management personnel.
By utilizing the automatic driving method for receiving the traffic management manual instruction, the automatic driving automobile can identify traffic management personnel or traffic management vehicles, can perform actions such as lane changing, stopping and the like according to the instruction of the traffic management personnel or the traffic management vehicles, and can also be contacted with an automatic driving automobile owner, so that the management problem of the traffic management personnel on the automatic driving automobile in road traffic is solved.
Fig. 2 is a block diagram of an autopilot system for receiving instructions from traffic personnel according to the present invention, as shown in fig. 2, the system comprising: an image acquisition module 3, an action recognition module and an in-vehicle 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 an intersection or a road section. The image acquisition module 3 may be an area camera, a line camera, a 3D camera or video camera, etc.
The action recognition module comprises a handheld end 2 and a microprocessor 1; the handheld terminal 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 hand-held end 2 is used for acquiring a track curve of arm swing.
The microprocessor 1 recognizes an action by applying the above method according to the acquired trajectory curve.
The microprocessor 1 is used for acquiring a first image at an intersection or road segment. Identifying whether traffic control personnel are present at the intersection or road segment based on the first image; if no traffic control personnel are available, the vehicle runs normally; if a person crossing the arm is present, a track curve generated by the arm swinging 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 in the set time to obtain a weighted average curve; extracting a characteristic value of the weighted average curve; finally, comparing the characteristic value of the weighted average curve with the first characteristic value stored in the database, and identifying an action, wherein the microprocessor 1 sends the action to the vehicle-mounted terminal 6.
The in-vehicle terminal 6 is configured to perform automatic driving according to the action transmitted from the microprocessor 1.
The automatic driving automobile can recognize the limb movements of the traffic control personnel through the traffic control personnel movement recognition module. The system comprises a hand-held terminal 2 (signal acquisition module) and a microprocessor 1 (core processing module). The hand-held terminal 2 adopts a motion sensor to collect acceleration generated by hand swing, generates a track curve and uses a lithium battery to supply power. The microprocessor 1 is arranged on the automobile and receives wireless signals transmitted by the handheld terminal 2. The microprocessor 1 carries out recognition processing after carrying out software algorithm filtering on the transmitted signals, compares the recognition data with the data stored in the database, and determines the actions of traffic management personnel. The data to be processed in the identification process is a track curve generated by arm waving. Although the hand motion is regular, the generated acceleration value is related to the swing speed and the swing force, and multiple paths possibly exist in the same motion, so that the motion path cannot be obtained by identifying the acceleration generated in the process of swinging the arm. Taking the uncertainty factors into consideration, a simple and efficient time domain filtering method is adopted for filtering, and a smoother weighted average curve is obtained by carrying out weighted average on a track curve in a certain time in a time domain. 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 specific embodiment, the action recognition module further includes:
the host computer 4 is arranged between the microprocessor 1 and the handheld terminal 2, and is respectively connected with the microprocessor 1 and the handheld terminal 2, and is used for sending the track curve of the arm swing to the microprocessor 1; the host 4 is further configured to control the handheld terminal 2 to obtain a track curve of arm swing according to an acquisition instruction sent by the microprocessor 1. Specifically, the host computer 4 simply processes the trajectory curve of the arm swing and sends the trajectory curve to the microprocessor 1 through the serial port.
In one specific embodiment, the action recognition module further includes:
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 swing to the host 4; the wireless communication module 5 is further configured to send an acquisition instruction transmitted by the host 4 to the handheld terminal 2.
The automatic driving automobile can identify the traffic management vehicle through a traffic management vehicle license plate identification system or a traffic management vehicle appearance identification system.
When the automobile runs out of the normal running state under the fault or other conditions, the automatic driving automobile can give a signal to related responsible persons through telephone or intelligent terminal software, and the responsible persons manually take over driving or remotely command the automatic driving automobile to stop to a reasonable position, so that traffic is prevented from being blocked or potential safety hazards are caused.
The license plate recognition system of the traffic management vehicle 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 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 control vehicle after license plate information is established, if the vehicle is the traffic control vehicle, the license plate information is sent to the microprocessor 1 to generate an acquisition instruction, the host 4 acquires the sound signal of the vehicle according to the acquisition instruction sent by the microprocessor 1 and sends the sound signal to the microprocessor to be processed, the voice instruction of the vehicle is determined, and the vehicle-mounted terminal 6 automatically drives 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 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 the database, identifying whether the vehicle is a traffic control vehicle, if so, sending vehicle information to the microprocessor 1 to generate an acquisition instruction, and the host 4 acquires a sound signal of the vehicle according to the acquisition instruction sent by the microprocessor 1 and sends the sound signal to the microprocessor to be processed, so as to determine a voice instruction of the vehicle, and the vehicle-mounted terminal 6 automatically drives according to the voice instruction of the vehicle.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (9)
1. An automated driving method for receiving instructions from traffic personnel, the method comprising:
acquiring a first image at an intersection or a road section;
identifying whether traffic management personnel exist at the intersection or the road section based on the first image; if no traffic control personnel are available, the vehicle runs normally; if a traffic management person exists, acquiring a track curve generated by arm swing; collecting acceleration generated by arm swing, and generating a track curve;
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 in 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 actions comprise a forward gesture, a stop gesture, an edge parking gesture or a lane changing gesture;
the method further comprises the steps of:
acquiring sound signals of traffic personnel or traffic vehicles;
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 the set time to obtain weighted average signals;
extracting a characteristic value of the weighted average signal;
comparing the characteristic value of the weighted average signal with a second characteristic value stored in a database to identify a voice instruction;
in the case of failure or traffic accident of an automatic driving car or other situations where it is necessary to contact a responsible person, the following method is to be followed: firstly, identifying traffic management personnel which are processed before, and determining the type, the identity and the number of the traffic management personnel; the automatic driving automobile carries out interactive identification on traffic management personnel through an automatic driving system and personal equipment of the traffic management personnel or carries out identity identification through the cloud end of a traffic management center and specific positioning of the traffic management personnel;
after the traffic management identity recognition is completed, the automatic driving automobile judges a traffic management personnel instruction to complete corresponding driving operation; after the manual intervention driving operation, the automatic driving automobile contacts the vehicle responsibilities to be processed according to the requirements of the traffic management personnel.
2. An automated driving method for receiving instructions from a traffic shaper according to claim 1, further comprising, prior to said obtaining a trajectory profile generated by an arm swing:
when the intersection or the road section is identified to have traffic management personnel, identifying based on the first image to obtain traffic management personnel information; the traffic management personnel information comprises an identity type and a post number.
3. An automated driving method of receiving traffic 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 present at a set distance in front of the vehicle based on the second image; if no person exists, the vehicle runs normally; if so, judging whether the person is a traffic management person or not;
if the person is a traffic management person, acquiring a track curve generated by arm swing; if the person is not a traffic guidance person, stopping.
4. The method of claim 1, further comprising, prior to said obtaining the sound signal of the traffic officer or traffic vehicle:
and identifying the traffic control vehicle.
5. The method for automatically driving the vehicle according to claim 1, wherein the identifying the traffic control vehicle 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 or not; if the license plate information is stored in a traffic police license plate database, indicating that the vehicle corresponding to the license plate information is a traffic management vehicle; if the vehicle information is not stored in the traffic police license plate database, indicating that 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, indicating that the vehicle corresponding to the vehicle data is a traffic management vehicle; and if the vehicle data is different from the traffic management vehicle data stored in the database, indicating that the vehicle corresponding to the vehicle data is not the traffic management vehicle.
6. An automated driving method of receiving traffic personnel instructions according to claim 1, wherein the method further comprises:
and when the vehicle cannot normally run, sending an alarm signal to a responsible person so that the responsible person can drive manually or remotely according to the alarm signal.
7. An autopilot system that receives instructions from a traffic officer, 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 an intersection or a 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 swing;
the microprocessor being adapted to recognize an action by the automatic driving method of receiving instructions from traffic personnel of any one of claims 1-6;
and the vehicle-mounted terminal is used for carrying out automatic driving according to the action sent by the microprocessor.
8. The automated driving system of claim 7, 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 swing to the microprocessor; the host is also used for controlling the handheld terminal to acquire the track curve of the arm swing according to the acquisition instruction sent by the microprocessor.
9. The automated driving system of claim 7, 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 of the arm swing to the host; the wireless communication module is also used for sending the acquisition instruction transmitted by the host to the handheld terminal.
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