CN113232677A - Vehicle driving assistance control method, control system, electronic device, and storage medium - Google Patents
Vehicle driving assistance control method, control system, electronic device, and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
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Abstract
The application discloses a vehicle driving assistance control method, a control system, an electronic device, and a storage medium. The method comprises the following steps: acquiring position information and driving state information of a vehicle; determining the incident illumination angle of the driving direction according to the position information and the driving state information; acquiring the current angle of the vehicle-mounted camera, and determining an influence angle according to the incident illumination angle of the driving direction and the current angle; acquiring adjusting information matched with the influence angle according to the influence angle and a preset adjusting database, wherein the preset adjusting database comprises: adjustment information matched with the angle of influence; adjusting the camera shooting parameters of the vehicle-mounted camera according to the adjusting information; acquiring the limit sensing distance of the vehicle-mounted camera after the vehicle-mounted camera carries out parameter adjustment according to the camera parameters; determining an upper limit value of the vehicle speed according to the limit sensing distance and a preset speed limit database, wherein the preset speed limit database comprises: and the upper limit value of the vehicle speed is matched with the limit sensing distance. The auxiliary control method improves the safety of automatic driving.
Description
Technical Field
The present application relates to the field of automatic driving, and in particular, to a vehicle driving assistance control method, a control system, an electronic device, and a storage medium.
Background
The imaging principle of the camera is simply summarized as follows: the camera collects a reflection signal of light on an object, generates an optical image according to the reflection signal and projects the optical image on the surface of the image sensor so as to convert the optical image into an electric signal. The electric signal is converted into a digital image signal through an analog-to-digital conversion port, the obtained digital image signal is sent to a digital signal processing chip for processing, and then is transmitted to corresponding display equipment through a USB interface so as to display the corresponding digital image. From the above principle, it can be derived that: the image effect and the image quality identified by the camera are greatly influenced by light, and the light is the only signal source for identifying environmental things by the camera.
In the related art, cameras used in vehicles are fixed to a certain portion of a vehicle body, which results in the following: the camera of this kind can only gather external environmental information with fixed angle, and when highlight just to (or most light irradiation) camera, the camera loses the data of the detection to the environment object in the place ahead very easily or gathering is a white light image. This drawback presents a potential safety hazard in current autonomous driving, or later more advanced autonomous driving.
Disclosure of Invention
The present application is directed to solving at least one of the problems in the prior art. Therefore, the vehicle driving auxiliary control method can intelligently adjust the vehicle-mounted camera, expands the adaptive capacity of the vehicle-mounted camera, reduces the development cost of an automatic driving system, improves the safety of automatic driving, and facilitates the application of an automatic driving technology.
The application also provides a vehicle driving auxiliary control system.
The application also provides an electronic device.
The present application also provides a computer-readable storage medium.
A driving assistance control method for a vehicle according to an embodiment of a first aspect of the present application includes:
acquiring position information and driving state information of a vehicle;
determining the incident illumination angle of the driving direction according to the position information and the driving state information;
acquiring the current angle of the vehicle-mounted camera, and determining an influence angle according to the incident illumination angle of the driving direction and the current angle;
acquiring adjusting information matched with the influence angle according to the influence angle and a preset adjusting database, wherein the preset adjusting database comprises: adjustment information matched with the angle of influence;
adjusting the camera shooting parameters of the vehicle-mounted camera according to the adjusting information;
acquiring the limit sensing distance of the vehicle-mounted camera after the vehicle-mounted camera carries out parameter adjustment according to the camera shooting parameters;
determining an upper limit value of the vehicle speed according to the limit sensing distance and a preset speed limit database, wherein the preset speed limit database comprises: and the upper limit value of the vehicle speed is matched with the limit sensing distance.
According to the vehicle driving assistance control method of the embodiment of the application, at least the following beneficial effects are achieved: the incident illumination angle of the driving direction of the light is determined according to the real-time position of the vehicle and the real-time driving state information, the influence angle is determined according to the incident illumination angle of the driving direction and the current angle of the vehicle-mounted camera, and corresponding matching information in an influence angle preset adjusting database is matched to determine corresponding adjusting information so as to realize automatic adjustment of the camera parameters of the vehicle-mounted camera, so that the adaptability of the vehicle-mounted camera is expanded, and the development cost of an automatic driving system is reduced; meanwhile, the limit sensing distance of the adjusted vehicle-mounted camera is obtained, and according to the upper limit value of the vehicle speed corresponding to the limit sensing distance in the preset speed limit database, the safety of automatic driving is improved, and the application of an automatic driving technology is facilitated.
According to some embodiments of the application, the driving state information comprises: travel direction information, travel time information, and travel date information.
According to some embodiments of the application, the determining the driving direction incident illumination angle from the location information and the driving state information determining the illumination angle from the location information and the driving state information comprises:
determining a solar direct-emitting point according to the driving date information;
determining a time zone of the position of the vehicle according to the longitude information;
determining the actual time of the location of the vehicle according to the running time information and the time zone;
determining the sun illumination angle of the vehicle location according to the sun direct-irradiating point and the latitude information;
determining the illumination angle, the sun illumination angle and the actual time according to the time zone and the time zone to determine the vehicle incidence angle;
and determining the incident illumination angle of the driving direction according to the incident angle of the vehicle and the driving direction information.
According to some embodiments of the present application, the obtaining of the limit sensing distance of the vehicle-mounted camera after the vehicle-mounted camera performs parameter adjustment according to the camera shooting parameter includes:
acquiring image information and camera parameters of the vehicle-mounted camera after parameter adjustment;
and determining the limit perception distance according to the image information and the camera shooting parameters.
According to some embodiments of the application, the imaging parameters include: camera focus, camera height, camera angle, pixel length, according to image information with the parameter of making a video recording confirms limit perception distance includes:
acquiring the height of the camera, the angle of the camera and the focal length of the camera after the vehicle-mounted camera performs parameter adjustment;
acquiring pixels of the image information;
and determining the limit perception distance according to the height of the camera, the angle of the camera, the focal length of the camera and the pixel.
According to some embodiments of the present application, the driving assistance control method further includes:
acquiring state information of the vehicle-mounted camera, wherein the state information comprises: state normal information and state abnormal information;
if the state information is normal state information, adjusting the vehicle-mounted camera according to the adjusting information;
if the state information is abnormal state information, outputting alarm information matched with the abnormal state information;
and outputting fault prompt information according to the alarm information.
According to some embodiments of the present application, the state anomaly information includes angle adjustment anomaly information and image acquisition anomaly information, and the warning information includes: first warning information matched with the angle adjustment abnormal information and second warning information matched with the image acquisition abnormal information;
if the state information is abnormal state information, outputting alarm information matched with the abnormal state information, wherein the alarm information comprises:
if the state information is angle adjustment abnormity information, outputting first alarm information matched with the angle adjustment abnormity;
and if the state information is image acquisition abnormity information, outputting second alarm information matched with the image acquisition abnormity.
A driving assistance control system for vehicle according to an embodiment of a second aspect of the present application includes: the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the position information and the running state information of a vehicle;
the calculation module is used for determining the incident illumination angle of the driving direction according to the position information and the driving state information;
the acquisition module is also used for acquiring the current angle of the vehicle-mounted camera;
the calculation module is further used for determining an influence angle according to the illumination angle and the current angle;
the control module is used for acquiring adjusting information matched with the influence angle according to the influence angle and a preset angle adjusting database, wherein the preset adjusting database comprises: adjustment information matched with the angle of influence;
the adjusting module is used for adjusting the camera shooting parameters of the vehicle-mounted camera according to the adjusting information;
the acquisition module is also used for acquiring the limit sensing distance of the vehicle-mounted camera after the vehicle-mounted camera performs parameter adjustment according to the camera shooting parameters;
the control module is also used for determining the upper limit value of the vehicle speed according to the limit sensing distance and a preset speed limit database, wherein the preset speed limit database comprises: and the upper limit value of the vehicle speed is matched with the limit sensing distance.
According to the vehicle driving auxiliary control system of the embodiment of the application, at least the following beneficial effects are achieved: the incident illumination angle of the driving direction of the light is determined according to the real-time position of the vehicle and the real-time driving state information, the influence angle is determined according to the illumination angle of the driving direction and the current angle of the vehicle-mounted camera, and corresponding matching information in an influence angle preset adjusting database is matched to determine corresponding adjusting information so as to realize automatic adjustment of the camera parameters of the vehicle-mounted camera, so that the adaptability of the vehicle-mounted camera is expanded, and the development cost of an automatic driving system is reduced; meanwhile, the limit sensing distance of the adjusted vehicle-mounted camera is obtained, and according to the upper limit value of the vehicle speed corresponding to the limit sensing distance in the preset speed limit database, the safety of automatic driving is improved, and the application of an automatic driving technology is facilitated.
An electronic device according to an embodiment of a third aspect of the present application includes: a memory, a processor and a computer program stored on the memory and operable on the processor, the processor implementing the driving assistance control method for vehicle as claimed in any one of the embodiments of the first aspect when executing the computer program.
According to a fourth aspect of the present application, there is provided a computer-readable storage medium storing computer-executable instructions for executing the vehicle driving assistance control method according to any one of the first aspect.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The present application is further described with reference to the following figures and examples, in which:
FIG. 1 is a flow chart of a method for controlling driving assistance in a vehicle according to some embodiments of the present disclosure;
FIG. 2 is a flow chart of a method for controlling driving assistance in a vehicle according to some embodiments of the present disclosure;
FIG. 3 is a flow chart of a method for controlling driving assistance in a vehicle according to some embodiments of the present disclosure;
FIG. 4 is a schematic illustration of an extreme perceived distance measurement provided by some embodiments of the present application;
FIG. 5 is a flow chart of a method for controlling driving assistance in a vehicle according to some embodiments of the present disclosure;
fig. 6 is a block diagram of a vehicle driving assistance control system according to some embodiments of the present application.
Reference numerals: 100. an acquisition module; 200. a calculation module; 300. a control module; 400. and an adjusting module.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the positional descriptions, such as the directions of up, down, front, rear, left, right, etc., referred to herein are based on the directions or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present application.
In the description of the present application, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present number, and the above, below, within, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present application, unless otherwise expressly limited, terms such as set, mounted, connected and the like should be construed broadly, and those skilled in the art can reasonably determine the specific meaning of the terms in the present application by combining the detailed contents of the technical solutions.
In the description of the present application, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In a first aspect, referring to fig. 1, some embodiments of the present application provide a vehicle driving assistance control method, including, but not limited to, step S100, step S200, step S300, step S400, step S500, step S600, and step S700.
Step S100: acquiring position information and driving state information of a vehicle;
step S200: determining the incident illumination angle of the driving direction according to the position information and the driving state information;
step S300: acquiring the current angle of the vehicle-mounted camera, and determining an influence angle according to the incident illumination angle of the driving direction and the current angle;
step S400: acquiring adjusting information matched with the influence angle according to the influence angle and a preset adjusting database, wherein the preset adjusting database comprises: adjustment information matched with the angle of influence;
step S500: adjusting the camera shooting parameters of the vehicle-mounted camera according to the adjusting information;
step S600: acquiring the limit sensing distance of the vehicle-mounted camera after the vehicle-mounted camera carries out parameter adjustment according to the camera parameters;
step S700: determining an upper limit value of the vehicle speed according to the limit sensing distance and a preset speed limit database, wherein the preset speed limit database comprises: and the upper limit value of the vehicle speed is matched with the limit sensing distance.
According to the vehicle driving auxiliary control method, the incident illumination angle of the driving direction of light is determined according to the real-time position of the vehicle and the real-time driving state information, the influence angle is determined according to the incident illumination angle of the driving direction and the current angle of the vehicle-mounted camera, and corresponding adjusting information is determined by matching corresponding matching information in the preset adjusting database of the influence angle, so that the automatic adjustment of the camera shooting parameters of the vehicle-mounted camera is realized, the adaptive capacity of the vehicle-mounted camera is expanded, and the development cost of an automatic driving system is reduced; meanwhile, the limit sensing distance of the adjusted vehicle-mounted camera is obtained, and according to the upper limit value of the vehicle speed corresponding to the limit sensing distance in the preset speed limit database, the safety of automatic driving is improved, and the application of an automatic driving technology is facilitated.
In some embodiments of the present application, the driving state information includes driving direction information, driving time information, and driving date information.
Specifically, in the present embodiment, the driving direction incident illumination angle in the current state is determined according to the real-time specific position information and the real-time driving state information of the vehicle, so as to determine the optimal shooting angle of the vehicle-mounted camera in the current state. And determining an influence angle according to the current shooting angle of the vehicle-mounted camera, and acquiring corresponding adjusting information according to the influence angle and a preset adjusting database, so as to adjust the camera shooting parameters of the vehicle-mounted camera, and facilitate the vehicle-mounted camera to acquire clear image information. And determining the upper limit value of the vehicle speed according to the image information obtained after the vehicle-mounted camera carries out parameter adjustment according to the camera parameters and a preset speed limit database.
For example: in the morning, the vehicle is driving in the direct illumination direction (opposite to the direct illumination direction), the background control system determines that the best shooting angle of the vehicle-mounted camera is 3 degrees needed to be finely adjusted downwards relative to the horizontal plane according to the specific position information and the real-time driving state information in the current state, and the current angle of the current vehicle-mounted camera is 4 degrees finely adjusted downwards relative to the horizontal plane, so that the vehicle-mounted camera needs to be finely adjusted upwards by 1 degree relative to the current angle, and the angle, the resolution, the focal length, the camera height and the like of the vehicle-mounted camera are adjusted according to a preset adjusting database.
It can be understood that the incidence angles of the light rays at different time points at the same position are different due to the rotation of the earth. Such as: the incidence angles of the light rays in the morning and at noon with respect to the vehicle-mounted camera are completely different. Meanwhile, the real-time driving direction information of the vehicle has a great influence on the light acquisition of the vehicle-mounted camera. Such as: in the evening, the driving direction of the vehicle is directly opposite to the sun and oppositely opposite to the sun, and the adjusting angles of the vehicle-mounted cameras are inconsistent.
It should be noted that the travel time information mentioned in the present application is a specific time, which is a time, minute and second, such as: 10:40:17, 17:53:24, and the like; the driving date and time is a specific date, such as 26/3/2020/3, 14/5/2021, and the like. Imaging parameters include, but are not limited to: camera height, camera angle, resolution, focal length, shutter frequency, etc. The preset adjustment database and the preset speed limit database mentioned in the application are set based on a large amount of historical experimental data.
Referring to fig. 2, in some embodiments of the present application, the location information includes latitude information and longitude information, and step S200 includes, but is not limited to, step S210, step S220, step S230, step S240, step S250, and step S260.
Step S210: determining a solar direct-emitting point according to the driving date information;
step S220: determining a time zone of the position of the vehicle according to the longitude information;
step S230: determining the actual time of the location of the vehicle according to the running time information and the time zone;
step S240: determining the sun illumination angle of the location of the vehicle according to the sun direct-irradiating point and the latitude information;
step S250: determining the incident angle of the vehicle according to the sun illumination angle and the actual time;
step S260: and determining the incident illumination angle of the driving direction according to the incident angle of the vehicle and the information of the driving direction.
Specifically, in the present embodiment, the travel date information specifically refers to the year, month and day, and the solar direct point is determined by the specific date. It will be appreciated that the time we obtain is typically an official time determined in a country or region. For example: the official time of China is Beijing time of the east eight districts. However, the direct solar angle in other places cannot be judged only by the time of Beijing. Such as: the sunrise time and the sunset time of the northeast area and the Xinjiang area are different, if the judgment of the direct solar angle is carried out based on the Beijing time, the obtained regulation result will be wrong, and the judgment of automatic driving of the automobile is not facilitated. Therefore, longitude information of the position of the vehicle needs to be acquired to obtain a time zone of the position of the vehicle, so as to obtain actual time (converted into time zone time of the position) of the position of the vehicle, determine a sun illumination angle of the position of the vehicle according to the sun direct-irradiation point and the latitude information, and determine a vehicle incidence angle according to the sun illumination angle and the actual time. That is, the sunlight illumination angle at the current latitude is determined, and the angle of the sunlight irradiating the vehicle at the current time needs to be obtained according to the actual time. And determining the incident illumination angle of the driving direction according to the incident angle of the vehicle and the information of the driving direction. That is, the traveling direction is incident with the illumination angle determined by the specific traveling direction of the vehicle and the angle at which sunlight is irradiated on the vehicle. Such as: in the evening, the driving direction of the vehicle is directly opposite to the sun and oppositely opposite to the sun, and the adjusting angles of the vehicle-mounted cameras are inconsistent
Through the arrangement, the incident illumination angle of the driving direction of the vehicle can be accurately calculated, so that accurate adjustment information can be determined according to the incident illumination angle of the driving direction, and the safety of automatic driving is improved.
In some embodiments of the present application, step S600 includes, but is not limited to, step S610 and step S620.
Step S610: acquiring image information and camera parameters of the vehicle-mounted camera after parameter adjustment;
step S620: and determining the limit perception distance according to the image information and the camera shooting parameters.
Referring to fig. 3, in some embodiments of the present application, the imaging parameters include: camera focal length, camera height, camera angle, pixel, step S610 includes, but is not limited to, step S611, step S612, and step S613.
Step S611: acquiring the height of a camera, the angle of the camera and the focal length of the camera after the vehicle-mounted camera performs parameter adjustment;
step S612: acquiring pixels of image information;
step S613: and determining the limit sensing distance according to the height of the camera, the angle of the camera, the focal length of the camera and the pixel.
Through setting up like this, the limit perception distance that obtains on-vehicle camera that can be comparatively accurate to the speed of a motor vehicle limit value of accurate definite vehicle, thereby improved autopilot's security.
Specifically, referring to fig. 4, it is assumed in fig. 4 that the camera is horizontally installed (if the angle is adjusted, the actual distance can be obtained only by orthogonal decomposition), the installation height of the vehicle-mounted camera is H, the focal length of the adjusted vehicle-mounted camera is f, the pixel (longitudinal pixel) of the image information is y, and the limit sensing distance of the vehicle-mounted camera is D. According to the pinhole imaging principle, the method comprises the following steps:
the ultimate perceived distance D is then:
the detectable limit sensing distance under the current visual angle is determined by acquiring the adjusted image information, so that the upper limit value of the vehicle speed is automatically adjusted, the current vehicle speed is adaptively adjusted, and the safety of automatic driving is improved.
Referring to fig. 5, in some embodiments of the present application, the driving assistance control method includes, but is not limited to, step S800, step 900, step S1000, and step S1100.
Step S800: acquiring the state information of the vehicle-mounted camera, wherein the state information comprises: state normal information and state abnormal information;
step S900: if the state information is normal state information, adjusting the vehicle-mounted camera according to the adjusting information;
step S1000: if the state information is abnormal state information, outputting alarm information matched with the abnormal state information;
step S1100: and outputting fault prompt information according to the alarm information.
In some embodiments of the present application, the state exception information includes angle adjustment exception information and image acquisition exception information, and the warning information includes: the first warning information is matched with the abnormal angle adjustment information, and the second warning information is matched with the abnormal image acquisition information; step S1000 includes, but is not limited to, step S1010 and step S1020:
step S1010: if the state information is angle adjustment abnormal information, outputting first alarm information matched with the angle adjustment abnormality;
step S1020: and if the state information is image acquisition abnormity information, outputting second alarm information matched with the image acquisition abnormity.
Specifically, in this embodiment, the background control system of the vehicle detects the vehicle-mounted camera, and directly adjusts the vehicle-mounted camera according to the adjustment information when the state information of the vehicle-mounted camera is the normal state information. When the state information of the vehicle-mounted camera is judged to be the state abnormal information, the specific abnormal information is judged. If the state information is angle adjustment abnormal information, outputting first alarm information matched with the angle adjustment abnormal information, such as: the angle adjustment is displayed in a flashing manner in an instrument panel or in an HMI (Human Machine Interface), and the angle adjustment can also be directly alarmed by voice. If the state information is image acquisition abnormal information, outputting second alarm information matched with the image acquisition abnormal information, such as: the corresponding red light in the instrument panel flickers or the image acquisition abnormity is displayed on a Human Machine Interface (HMI), or the image acquisition abnormity can be directly alarmed by voice.
It can be understood that light pollution in the city is comparatively serious, and the light of reflection such as through glass also is comparatively serious to vehicle-mounted camera's influence, consequently, can also set up light detection module and light compensation module on vehicle-mounted camera or the vehicle, through the real-time light that acquires vehicle-mounted camera, carries out angle modulation or light compensation according to predetermineeing light database and real-time light to further improve vehicle-mounted camera's adaptability.
In a second aspect, referring to fig. 6, some embodiments of the present application further provide a vehicle driving assistance control system including an acquisition module 100, a calculation module 200, a control module 300, and an adjustment module 400.
The obtaining module 100 is used for obtaining position information and driving state information of a vehicle; the system is also used for acquiring the current angle of the vehicle-mounted camera; and the limit sensing distance of the vehicle-mounted camera after the vehicle-mounted camera performs parameter adjustment according to the camera shooting parameters is also acquired.
The calculation module 200 is configured to determine an incident illumination angle in the driving direction according to the position information and the driving state information; and the method is also used for determining the influence angle according to the illumination angle and the current angle.
The control module 300 is configured to obtain adjustment information matched with the angle of influence according to the angle of influence and a preset angle adjustment database, where the preset adjustment database includes: adjustment information matched with the angle of influence; and the limit sensing distance of the vehicle-mounted camera after the vehicle-mounted camera performs parameter adjustment according to the camera shooting parameters is also acquired.
The adjusting module 400 is configured to adjust the camera parameters of the vehicle-mounted camera according to the adjusting information.
According to the vehicle driving auxiliary control system, the incident illumination angle of the driving direction of light is determined according to the real-time position of the vehicle and the real-time driving state information, the influence angle is determined according to the incident illumination angle of the driving direction and the current angle of the vehicle-mounted camera, and corresponding adjusting information is determined by matching corresponding matching information in the preset adjusting database of the influence angle, so that the automatic adjustment of the camera shooting parameters of the vehicle-mounted camera is realized, the adaptive capacity of the vehicle-mounted camera is expanded, and the development cost of an automatic driving system is reduced; meanwhile, the limit sensing distance of the adjusted vehicle-mounted camera is obtained, and according to the upper limit value of the vehicle speed corresponding to the limit sensing distance in the preset speed limit database, the safety of automatic driving is improved, and the application of an automatic driving technology is facilitated.
The vehicle driving assistance control system is identical to the vehicle driving assistance control method described above, and will not be described herein again.
In a third aspect, an embodiment of the present application further provides an electronic device.
In some embodiments, an electronic device includes: at least one processor, and a memory communicatively coupled to the at least one processor; the memory stores instructions, and the instructions are executed by the at least one processor, so that when the at least one processor executes the instructions, the vehicle driving assistance control method in any one of the embodiments of the present application is implemented.
The processor and memory may be connected by a bus or other means.
The memory, as a non-transitory computer-readable storage medium, may be used to store a non-transitory software program and a non-transitory computer-executable program, such as the vehicle driving assistance control method described in the embodiments of the present application. The processor implements the vehicle driving assistance control method described above by running a non-transitory software program and instructions stored in the memory.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data for executing the above-described driving assistance control method for vehicle. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Non-transitory software programs and instructions required to implement the vehicle driving assistance control method described above are stored in a memory, and when executed by one or more processors, perform the vehicle driving assistance control method mentioned in the first aspect embodiment described above.
In a fourth aspect, the present application further provides a computer-readable storage medium.
In some embodiments, a computer-readable storage medium stores computer-executable instructions for executing the vehicle driving assistance control method mentioned in the first aspect embodiment.
In some embodiments, the storage medium stores computer-executable instructions that, when executed by one or more control processors, for example, by a processor in the electronic device, cause the one or more processors to perform the vehicle driving assistance control method.
The above-described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present application. Furthermore, the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
Claims (10)
1. A vehicle driving assist control method characterized by comprising:
acquiring position information and driving state information of a vehicle;
determining the incident illumination angle of the driving direction according to the position information and the driving state information;
acquiring the current angle of the vehicle-mounted camera, and determining an influence angle according to the incident illumination angle of the driving direction and the current angle;
acquiring adjusting information matched with the influence angle according to the influence angle and a preset adjusting database, wherein the preset adjusting database comprises: adjustment information matched with the angle of influence;
adjusting the camera shooting parameters of the vehicle-mounted camera according to the adjusting information;
acquiring the limit sensing distance of the vehicle-mounted camera after the vehicle-mounted camera carries out parameter adjustment according to the camera shooting parameters;
determining an upper limit value of the vehicle speed according to the limit sensing distance and a preset speed limit database, wherein the preset speed limit database comprises: and the upper limit value of the vehicle speed is matched with the limit sensing distance.
2. The vehicular drive assist control method according to claim 1, characterized in that the running state information includes: travel direction information, travel time information, and travel date information.
3. The vehicular drive assist control method according to claim 2, wherein the position information includes latitude information and longitude information, and the determining of the traveling-direction incident illumination angle from the position information and the traveling state information includes:
determining a solar direct-emitting point according to the driving date information;
determining a time zone of the position of the vehicle according to the longitude information;
determining the actual time of the location of the vehicle according to the running time information and the time zone;
determining the sun illumination angle of the vehicle location according to the sun direct-irradiating point and the latitude information;
determining a vehicle incidence angle according to the solar illumination angle and the actual time;
and determining the incident illumination angle of the driving direction according to the incident angle of the vehicle and the driving direction information.
4. The vehicle driving assistance control method according to claim 1, wherein the obtaining of the limit sensing distance of the vehicle-mounted camera after parameter adjustment by the vehicle-mounted camera according to the camera parameter includes:
acquiring image information and camera parameters of the vehicle-mounted camera after parameter adjustment;
and determining the limit perception distance according to the image information and the camera shooting parameters.
5. The vehicular drive assist control method according to claim 4, characterized in that the imaging parameter includes: camera focus, camera height, camera angle, pixel, according to image information with the parameter of making a video recording confirms limit perception distance includes:
acquiring the height of the camera, the angle of the camera and the focal length of the camera after the vehicle-mounted camera performs parameter adjustment;
acquiring pixels of the image information;
and determining the limit perception distance according to the height of the camera, the angle of the camera, the focal length of the camera and the pixel.
6. The vehicular drive assist control method according to any one of claims 1 to 5, characterized by further comprising:
acquiring state information of the vehicle-mounted camera, wherein the state information comprises: state normal information and state abnormal information;
if the state information is the normal state information, adjusting the vehicle-mounted camera according to the adjusting information;
if the state information is the state abnormal information, outputting alarm information matched with the state abnormal information;
and outputting fault prompt information according to the alarm information.
7. The vehicular drive assist control method according to claim 6, characterized in that the state abnormality information includes angle adjustment abnormality information and image acquisition abnormality information, and the warning information includes: first warning information matched with the angle adjustment abnormal information and second warning information matched with the image acquisition abnormal information;
if the state information is abnormal state information, outputting alarm information matched with the abnormal state information, wherein the alarm information comprises:
if the state information is angle adjustment abnormity information, outputting first alarm information matched with the angle adjustment abnormity;
and if the state information is image acquisition abnormity information, outputting second alarm information matched with the image acquisition abnormity.
8. A vehicle driving assist control system characterized by comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the position information and the running state information of a vehicle;
the calculation module is used for determining the incident illumination angle of the driving direction according to the position information and the driving state information;
the acquisition module is also used for acquiring the current angle of the vehicle-mounted camera;
the calculation module is further used for determining an influence angle according to the illumination angle and the current angle;
the control module is used for acquiring adjusting information matched with the influence angle according to the influence angle and a preset angle adjusting database, wherein the preset adjusting database comprises: adjustment information matched with the angle of influence;
the adjusting module is used for adjusting the camera shooting parameters of the vehicle-mounted camera according to the adjusting information;
the acquisition module is also used for acquiring the limit sensing distance of the vehicle-mounted camera after the vehicle-mounted camera performs parameter adjustment according to the camera shooting parameters;
the control module is also used for determining the upper limit value of the vehicle speed according to the limit sensing distance and a preset speed limit database, wherein the preset speed limit database comprises: and the upper limit value of the vehicle speed is matched with the limit sensing distance.
9. An electronic device, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein: the processor realizes the vehicle driving assistance control method according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium characterized in that the computer-readable storage medium stores computer-executable instructions for executing the vehicle driving assistance control method according to any one of claims 1 to 7.
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