CN113335305A - Detection method and system applied to automatic driving road condition early warning - Google Patents
Detection method and system applied to automatic driving road condition early warning Download PDFInfo
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- CN113335305A CN113335305A CN202110565914.2A CN202110565914A CN113335305A CN 113335305 A CN113335305 A CN 113335305A CN 202110565914 A CN202110565914 A CN 202110565914A CN 113335305 A CN113335305 A CN 113335305A
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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
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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Abstract
The invention relates to the technical field of vehicles, in particular to a detection method and a detection system applied to automatic driving road condition early warning. The detection method applied to the automatic driving road condition early warning comprises the following steps: acquiring characteristic lines formed by irradiation of lasers emitted by four laser transmitters arranged on the periphery of a vehicle on a road surface; analyzing the characteristic line, and giving early warning to the automatic driving road condition according to the analysis result; the automated driving road conditions include, but are not limited to: slope detection, meeting early warning, tire pressure detection, road shoulder detection and visual measurement of backing. According to the method, the early warning can be made on various road conditions of automatic driving in any environment only by installing four laser transmitters, in addition, the characteristic lines are transmitted in real time and are sensed by the side-looking camera, and the method is quicker and more accurate in response than the method of carrying out characteristic marking after the camera collects road surface information. And the recognition of the radar to the characteristics of short obstacles can be compensated, and the accuracy of the APA and LKA functions is improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a detection method and a detection system applied to automatic driving road condition early warning.
Background
Along with the improvement of people to the requirement of automobile safety performance, vision system and radar perception system are widely applied to the initiative safety control of intelligent driving automobile, vision identification is better mainly in the characteristic line identification of vehicle driving direction, because the change of speed of a motor vehicle relative to the horizontal road surface characteristic is quicker, the discernment ability and the reaction ability to the environmental space in the horizontal direction are weaker, the radar is lower to static state and the barrier identification rate that the reflectivity is low, have certain limitation to the discernment of the barrier in the place ahead, there is the risk of missing judgments easily, be not convenient for provide stable safe driving performance.
Therefore, the binocular parallax technology in the visual recognition is high in cost and cannot be used in a severe environment. The monocular vision recognition rate is poor, the recognition rate is low, and the monocular vision recognition rate is insensitive to distance characteristics. While radar is not sensitive to low road surface information feature capture. Therefore, how to perform good early warning on road conditions in the automatic driving process becomes a technical problem which needs to be solved urgently.
Disclosure of Invention
Therefore, a detection method applied to early warning of automatic driving road conditions needs to be provided to solve the technical problems that the road conditions cannot be well early warned in the existing automatic driving process, and the safety of automatic driving is improved. The specific technical scheme is as follows:
a detection method applied to automatic driving road condition early warning comprises the following steps:
acquiring characteristic lines formed by irradiation of lasers emitted by four laser transmitters arranged on the periphery of a vehicle on a road surface;
analyzing the characteristic line, and giving early warning to the automatic driving road condition according to the analysis result;
the automated driving road conditions include, but are not limited to: slope detection, meeting early warning, tire pressure detection, road shoulder detection and visual measurement of backing.
Further, the "acquiring the characteristic line formed by irradiating the road surface with the laser emitted by the four laser emitters installed on the periphery of the vehicle" specifically includes the following steps:
the method comprises the steps that a characteristic line formed by irradiation of laser emitted by four laser emitters arranged on two sides of a front bumper and a rear bumper on a road surface is obtained through a side-looking camera;
the forward laser emitted by the laser emitters positioned on the two sides of the front bumper on the horizontal road surface is L-shaped and is symmetrical left and right;
backward laser emitted by the laser emitters positioned on two sides of the rear bumper on a horizontal road surface is linear;
an included angle exists between the side-looking camera and the emitting direction of the laser emitter.
Further, the step of analyzing the characteristic line and giving an early warning to the automatic driving road condition according to the analysis result includes the steps of:
judging whether the length of the forward linear laser of the L-shaped laser bar is shortened and whether the length of the transverse linear laser is unchanged, if the length of the forward linear laser of the L-shaped laser bar is shortened and the length of the transverse linear laser is unchanged, the shorter the length of the forward linear laser of the L-shaped laser bar is, the larger the gradient is;
or
Judging whether the length of the forward linear laser of the L-shaped laser bar is shortened and the length of the transverse linear laser is moved backwards, and if the length of the forward linear laser is shortened and the length of the transverse linear laser is moved backwards, judging that the tire pressure of the corresponding side is lower;
or
When the transverse linear laser light received by the L-shaped laser bar is in the shape of two parallel lines, the larger the distance between the two parallel lines is, the higher the road edge is;
or
When backing a car, the staff gauge that is located rear bumper both sides back laser projection assists backing a car.
Further, the two forward straight line lasers of the L-shaped laser bar are as wide as the vehicle;
the method comprises the following steps of analyzing the characteristic line, and giving early warning to the automatic driving road condition according to the analysis result, and specifically comprises the following steps: when vehicles meet, the vehicles meet in an auxiliary mode according to the two straight lines of the L-shaped laser strip in the forward direction.
Further, the forward length of the L-shaped laser bar is 3 meters, and the transverse length of the L-shaped laser bar is 1.5 meters; the length of the backward laser stripe is 2 meters.
In order to solve the technical problem, the detection system applied to the automatic driving road condition early warning is further provided, and the specific technical scheme is as follows:
a detection system applied to automatic driving road condition early warning comprises: the system comprises four laser transmitters, a side-looking camera and an intelligent driving system;
the side-looking camera is used for: acquiring characteristic lines formed by irradiating the road surface with laser emitted by four laser emitters arranged on the periphery of the vehicle, and sending the characteristic lines to the intelligent driving system;
the intelligent driving system is used for: receiving the characteristic line, analyzing the characteristic line, and giving early warning to the automatic driving road condition according to the analysis result;
the automated driving road conditions include, but are not limited to: slope detection, meeting early warning, tire pressure detection, road shoulder detection and visual measurement of backing.
Furthermore, the four laser transmitters are arranged on two sides of the front and rear bumpers;
the forward laser emitted by the laser emitters positioned on the two sides of the front bumper on the horizontal road surface is L-shaped and is symmetrical left and right;
backward laser emitted by the laser emitters positioned on two sides of the rear bumper on a horizontal road surface is linear;
an included angle exists between the side-looking camera and the emitting direction of the laser emitter.
Further, the intelligent driving system is also used for:
judging whether the length of the forward linear laser of the L-shaped laser bar is shortened and whether the length of the transverse linear laser is unchanged, if the length of the forward linear laser of the L-shaped laser bar is shortened and the length of the transverse linear laser is unchanged, the shorter the length of the forward linear laser of the L-shaped laser bar is, the larger the gradient is;
or
Judging whether the length of the forward linear laser of the L-shaped laser bar is shortened and the length of the transverse linear laser is moved backwards, and if the length of the forward linear laser is shortened and the length of the transverse linear laser is moved backwards, judging that the tire pressure of the corresponding side is lower;
or
When the transverse linear laser light received by the L-shaped laser bar is in the shape of two parallel lines, the larger the distance between the two parallel lines is, the higher the road edge is;
or
When backing a car, the staff gauge that is located rear bumper both sides back laser projection assists backing a car.
Further, the two forward straight line lasers of the L-shaped laser bar are as wide as the vehicle;
the intelligent driving system is further used for: when vehicles meet, the vehicles meet in an auxiliary mode according to the two straight lines of the L-shaped laser strip in the forward direction.
Further, the forward length of the L-shaped laser bar is 3 meters, and the transverse length of the L-shaped laser bar is 1.5 meters; the length of the backward laser stripe is 2 meters.
The invention has the beneficial effects that: acquiring characteristic lines formed by irradiation of lasers emitted by four laser transmitters arranged on the periphery of a vehicle on a road surface; and analyzing the characteristic line, and giving early warning to the automatic driving road condition according to an analysis result. According to the method, the early warning can be made on various road conditions of automatic driving in any environment only by installing four laser transmitters, in addition, the characteristic lines are transmitted in real time and are sensed by the side-looking camera, and the method is quicker and more accurate in response than the method of carrying out characteristic marking after the camera collects road surface information. And the recognition of the radar to the characteristics of short obstacles can be compensated, and the accuracy of the APA and LKA functions is improved.
Drawings
Fig. 1 is a flowchart of a detection method applied to an automatic driving road condition warning according to an embodiment;
FIG. 2 is a schematic view of laser beam irradiation on a parallel unobstructed roadway according to an embodiment;
FIG. 3 is a schematic diagram illustrating the shape comparison of L-shaped laser beams for road leveling and uphill climbing according to an embodiment;
FIG. 4 is a schematic view of a laser line having the same width as a vehicle according to an embodiment;
FIG. 5 is a schematic diagram of an embodiment of road edge detection;
FIG. 6a is a schematic view of the reverse drive according to the embodiment;
FIG. 6b is a schematic illustration of a parking impact according to an embodiment;
FIG. 6c is a schematic view of a visual measurement identifier for backing a car according to an embodiment;
fig. 7 is a schematic block diagram of a detection system for automatic driving traffic warning according to an embodiment of the present invention.
Description of reference numerals:
700. a detection system applied to automatic driving road condition early warning,
701. a laser transmitter is arranged on the base plate,
702. a side-view camera head is arranged on the side-view camera head,
703. an intelligent driving system.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1 to 6c, in the present embodiment, a detection method for an automatic driving road condition warning can be applied to a detection system for an automatic driving road condition warning, and the detection system for an automatic driving road condition warning includes: four laser emitter, look sideways at camera and intelligent driving system, four laser emitter install at the vehicle week along, preferably install in plantago rear bumper both sides, wherein look sideways at the camera for controlling the camera, install under the rear-view mirror.
Example 1:
as shown in fig. 1, a specific implementation of a detection method applied to an automatic driving road condition warning is as follows:
step S101: the method comprises the steps of obtaining characteristic lines formed by irradiation of road surfaces by lasers emitted by four laser transmitters arranged on the periphery of a vehicle. The method specifically comprises the following steps: as shown in fig. 2, when there is no shielding on a horizontal road surface, a side-looking camera is used to obtain characteristic lines formed by irradiation of laser beams emitted by four laser emitters arranged on two sides of a front bumper and a rear bumper on the road surface; the forward laser emitted by the laser emitters positioned on the two sides of the front bumper on the horizontal road surface is L-shaped and is symmetrical left and right; backward laser emitted by the laser emitters positioned on two sides of the rear bumper on a horizontal road surface is linear; an included angle exists between the side-looking camera and the emitting direction of the laser emitter. Wherein, preferably, the forward length of the L-shaped laser bar is 3 meters, and the transverse length is 1.5 meters; the length of the backward laser stripe is 2 meters.
Step S102: analyzing the characteristic line, and giving early warning to the automatic driving road condition according to the analysis result; the automated driving road conditions include, but are not limited to: slope detection, meeting early warning, tire pressure detection, road shoulder detection and visual measurement of backing. These various automated driving conditions are described below in further detail with reference to other embodiments.
Acquiring characteristic lines formed by irradiation of lasers emitted by four laser transmitters arranged on the periphery of a vehicle on a road surface; and analyzing the characteristic line, and giving early warning to the automatic driving road condition according to an analysis result. According to the method, the early warning can be made on various road conditions of automatic driving in any environment only by installing four laser transmitters, in addition, the characteristic lines are transmitted in real time and are sensed by the side-looking camera, and the method is quicker and more accurate in response than the method of carrying out characteristic marking after the camera collects road surface information. And the recognition of the radar to the characteristics of short obstacles can be compensated, and the accuracy of the APA and LKA functions is improved.
Example 2: detecting rate of change of slope
The method comprises the following steps of analyzing the characteristic line, and giving early warning to the automatic driving road condition according to the analysis result, and specifically comprises the following steps:
and judging whether the length of the forward straight line laser of the L-shaped laser bar is shortened or not and whether the length of the transverse straight line laser is unchanged or not, wherein if the length of the forward straight line laser of the L-shaped laser bar is shortened and the length of the transverse straight line laser is unchanged, the shorter the length of the forward straight line laser of the L-shaped laser bar is, the larger the gradient is. As shown in fig. 3, the shape of the L-shaped laser beam is schematically compared between the flat road and the uphill road, and it is obvious that the length of the forward straight line laser of the L-shaped laser bar is shortened and the length of the transverse straight line laser is unchanged.
Different slopes can be identified through the above modes, so that the speed of the automatic driving can be adjusted, and the accurate automatic driving can be realized.
Example 3: tire pressure detection
The method comprises the following steps of analyzing the characteristic line, and giving early warning to the automatic driving road condition according to the analysis result, and specifically comprises the following steps:
and judging whether the length of the forward linear laser of the L-shaped laser bar is shortened and the length of the transverse linear laser is moved backwards, and if the length of the forward linear laser is shortened and the length of the transverse linear laser is moved backwards, judging that the tire pressure of the corresponding side is low. The method specifically comprises the following steps: when the tire pressure of one side is reduced more, the height of the side vehicle is reduced synchronously, the laser emitting point is reduced, and the laser is emitted forwards at a certain angle, so that the linear laser length of the forward parallel vehicle with the tire pressure reduced side is shortened, and the transverse linear laser length is moved backwards. When the tire pressure changes, early warning is sent out in time, unnecessary traffic accidents are avoided, and driving safety is ensured.
Example 4: road shoulder detection
The method comprises the following steps of analyzing the characteristic line, and giving early warning to the automatic driving road condition according to the analysis result, and specifically comprises the following steps:
when the transverse linear laser light received by the L-shaped laser bar is in the shape of two parallel lines, the larger the distance between the two parallel lines is, the higher the road edge is. When driving on a lane beside the road edge, the transverse linear laser lights are irradiated on the road edge, and the visual camera and the laser emission direction are at a certain angle, so the transverse linear laser lights irradiated on the road edge captured by the camera are in the shape of two parallel lines, wherein the higher the road edge is, the larger the distance between the parallel lines is. Whether a road edge exists or not can be judged according to the shape, the road edge height can be judged according to the distance between the parallel lines, and when the lane line is not obvious, the shape of the laser line can be used as scene input data of a lane keeping function through vision.
Example 5: monitoring of reversing
The method comprises the following steps of analyzing the characteristic line, and giving early warning to the automatic driving road condition according to the analysis result, and specifically comprises the following steps:
when backing a car, the staff gauge projected by the backward laser positioned at the two sides of the rear bumper assists the backing a car (namely, the backward laser is used as staff gauge lines). As shown in fig. 6a and 6b, when reversing in the open, the reverse assist line is projected to the road surface as shown in the parking image. When there is an obstacle, as shown in fig. 6c, the distance between the projected ruler and the obstacle can be determined. Therefore, when the vehicle backs up with the obstacle, the distance of the obstacle can be known, and the accuracy and the safety of the vehicle backing up are ensured.
Example 6:
the two forward straight line lasers of the L-shaped laser bar are as wide as the vehicle;
the method comprises the following steps of analyzing the characteristic line, and giving early warning to the automatic driving road condition according to the analysis result, and specifically comprises the following steps: when vehicles meet, the vehicles meet in an auxiliary mode according to the two straight lines of the L-shaped laser strip in the forward direction. Because the laser line is as wide as the vehicles, when vehicles meet, the opposite vehicles can know that the meeting space of the two vehicles is not large enough and scratch and the like can not happen only by checking whether the laser line is pressed or not.
Referring to fig. 2 to 7, in the present embodiment, a specific embodiment of a detection system 700 applied to an automatic driving road condition warning is as follows:
example 7:
a detection system 700 for automated driving traffic warning, comprising: four laser transmitters 701, a side-looking camera 702 and an intelligent driving system 703;
the side-looking camera 702 is configured to: the method comprises the steps of obtaining characteristic lines formed by irradiation of laser emitted by four laser emitters 701 arranged on the periphery of a vehicle on a road surface, and sending the characteristic lines to an intelligent driving system 703. The method specifically comprises the following steps: as shown in fig. 2, when there is no shielding on a horizontal road surface, a side-looking camera 702 is used to obtain characteristic lines formed by irradiation of laser beams emitted by four laser emitters 701 installed on two sides of a front and rear bumper on the road surface; forward laser emitted by laser emitters 701 positioned at two sides of the front bumper on a horizontal road surface is L-shaped and is symmetrical left and right; backward laser emitted by the laser emitters 701 positioned on two sides of the rear bumper on a horizontal road surface is linear; the side-looking camera 702 and the emitting direction of the laser emitter 701 form an included angle. Wherein, preferably, the forward length of the L-shaped laser bar is 3 meters, and the transverse length is 1.5 meters; the length of the backward laser stripe is 2 meters.
The intelligent driving system 703 is configured to: receiving the characteristic line, analyzing the characteristic line, and giving early warning to the automatic driving road condition according to the analysis result; the automated driving road conditions include, but are not limited to: slope detection, meeting early warning, tire pressure detection, road shoulder detection and visual measurement of backing. These various automated driving conditions are described below in further detail with reference to other embodiments.
The method comprises the steps that a characteristic line formed by irradiation of laser emitted by four laser emitters 701 arranged on the periphery of a vehicle on a road surface is obtained through a side-looking camera 702, and the characteristic line is sent to an intelligent driving system 703; the intelligent driving system 703 is configured to: and receiving the characteristic line, analyzing the characteristic line, and giving early warning to the automatic driving road condition according to an analysis result. In the system, the early warning on various road conditions of automatic driving can be carried out in any environment only by installing the four laser transmitters 701, in addition, the characteristic lines are transmitted in real time and are sensed by the side-looking cameras 702, and the method has quicker and more accurate response than the method for carrying out characteristic marking after the cameras acquire the road information. And the recognition of the radar to the characteristics of short obstacles can be compensated, and the accuracy of the APA and LKA functions is improved.
Example 8: detecting rate of change of slope
Further, the intelligent driving system 703 is further configured to:
and judging whether the length of the forward straight line laser of the L-shaped laser bar is shortened or not and whether the length of the transverse straight line laser is unchanged or not, wherein if the length of the forward straight line laser of the L-shaped laser bar is shortened and the length of the transverse straight line laser is unchanged, the shorter the length of the forward straight line laser of the L-shaped laser bar is, the larger the gradient is. As shown in fig. 3, the shape of the L-shaped laser beam is schematically compared between the flat road and the uphill road, and it is obvious that the length of the forward straight line laser of the L-shaped laser bar is shortened and the length of the transverse straight line laser is unchanged.
Different slopes can be identified through the above modes, so that the speed of the automatic driving can be adjusted, and the accurate automatic driving can be realized.
Example 9: tire pressure detection
Further, the intelligent driving system 703 is further configured to:
and judging whether the length of the forward linear laser of the L-shaped laser bar is shortened and the length of the transverse linear laser is moved backwards, and if the length of the forward linear laser is shortened and the length of the transverse linear laser is moved backwards, judging that the tire pressure of the corresponding side is low. The method specifically comprises the following steps: when the tire pressure of one side is reduced more, the height of the side vehicle is reduced synchronously, the laser emitting point is reduced, and the laser is emitted forwards at a certain angle, so that the linear laser length of the forward parallel vehicle with the tire pressure reduced side is shortened, and the transverse linear laser length is moved backwards. When the tire pressure changes, early warning is sent out in time, unnecessary traffic accidents are avoided, and driving safety is ensured.
Example 10: road shoulder detection
Further, the intelligent driving system 703 is further configured to:
when the transverse linear laser light received by the L-shaped laser bar is in the shape of two parallel lines, the larger the distance between the two parallel lines is, the higher the road edge is. When driving on a lane beside the road edge, the transverse linear laser lights are irradiated on the road edge, and the visual camera and the laser emission direction are at a certain angle, so the transverse linear laser lights irradiated on the road edge captured by the camera are in the shape of two parallel lines, wherein the higher the road edge is, the larger the distance between the parallel lines is. Whether a road edge exists or not can be judged according to the shape, the road edge height can be judged according to the distance between the parallel lines, and when the lane line is not obvious, the shape of the laser line can be used as scene input data of a lane keeping function through vision.
Example 11: monitoring of reversing
Further, the intelligent driving system 703 is further configured to:
when backing a car, the staff gauge that is located rear bumper both sides back laser projection assists backing a car. As shown in fig. 6a and 6b, when reversing in the open, the reverse assist line is projected to the road surface as shown in fig. 6b as seen from the parking image. When there is an obstacle, as shown in fig. 6c, the distance between the projected ruler and the obstacle can be determined. Therefore, when the vehicle backs up with the obstacle, the distance of the obstacle can be known, and the accuracy and the safety of the vehicle backing up are ensured.
Example 12:
further, the two forward straight line lasers of the L-shaped laser bar are as wide as the vehicle;
the intelligent driving system 703 is further configured to: when vehicles meet, the vehicles meet in an auxiliary mode according to the two straight lines of the L-shaped laser strip in the forward direction. Because the laser line is as wide as the vehicles, when vehicles meet, the opposite vehicles can know that the meeting space of the two vehicles is not large enough and scratch and the like can not happen only by checking whether the laser line is pressed or not.
It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.
Claims (10)
1. A detection method applied to automatic driving road condition early warning is characterized by comprising the following steps:
acquiring characteristic lines formed by irradiation of lasers emitted by four laser transmitters arranged on the periphery of a vehicle on a road surface;
analyzing the characteristic line, and giving early warning to the automatic driving road condition according to the analysis result;
the automated driving road conditions include, but are not limited to: slope detection, meeting early warning, tire pressure detection, road shoulder detection and visual measurement of backing.
2. The detection method applied to the automatic driving road condition early warning as claimed in claim 1, wherein the step of obtaining the characteristic line formed by the irradiation of the laser emitted by the four laser emitters installed on the periphery of the vehicle on the road surface specifically comprises the following steps:
the method comprises the steps that a characteristic line formed by irradiation of laser emitted by four laser emitters arranged on two sides of a front bumper and a rear bumper on a road surface is obtained through a side-looking camera;
the forward laser emitted by the laser emitters positioned on the two sides of the front bumper on the horizontal road surface is L-shaped and is symmetrical left and right;
backward laser emitted by the laser emitters positioned on two sides of the rear bumper on a horizontal road surface is linear;
an included angle exists between the side-looking camera and the emitting direction of the laser emitter.
3. The detection method applied to the automatic driving road condition early warning as claimed in claim 2, wherein the step of analyzing the characteristic line and making the early warning on the automatic driving road condition according to the analysis result further comprises the steps of:
judging whether the length of the forward linear laser of the L-shaped laser bar is shortened and whether the length of the transverse linear laser is unchanged, if the length of the forward linear laser of the L-shaped laser bar is shortened and the length of the transverse linear laser is unchanged, the shorter the length of the forward linear laser of the L-shaped laser bar is, the larger the gradient is;
or
Judging whether the length of the forward linear laser of the L-shaped laser bar is shortened and the length of the transverse linear laser is moved backwards, and if the length of the forward linear laser is shortened and the length of the transverse linear laser is moved backwards, judging that the tire pressure of the corresponding side is lower;
or
When the transverse linear laser light received by the L-shaped laser bar is in the shape of two parallel lines, the larger the distance between the two parallel lines is, the higher the road edge is;
or
When backing a car, the staff gauge that is located rear bumper both sides back laser projection assists backing a car.
4. The detection method applied to the automatic driving road condition early warning as claimed in claim 2, wherein the two forward straight line lasers of the L-shaped laser bar are as wide as the vehicle;
the method comprises the following steps of analyzing the characteristic line, and giving early warning to the automatic driving road condition according to the analysis result, and specifically comprises the following steps: when vehicles meet, the vehicles meet in an auxiliary mode according to the two straight lines of the L-shaped laser strip in the forward direction.
5. The detection method applied to the automatic driving road condition early warning as claimed in any one of claims 1 to 4, wherein the forward length of the L-shaped laser bar is 3 meters, and the transverse length is 1.5 meters; the length of the backward laser stripe is 2 meters.
6. The utility model provides a detecting system for automatic driving road conditions early warning which characterized in that includes: the system comprises four laser transmitters, a side-looking camera and an intelligent driving system;
the side-looking camera is used for: acquiring characteristic lines formed by irradiating the road surface with laser emitted by four laser emitters arranged on the periphery of the vehicle, and sending the characteristic lines to the intelligent driving system;
the intelligent driving system is used for: receiving the characteristic line, analyzing the characteristic line, and giving early warning to the automatic driving road condition according to the analysis result;
the automated driving road conditions include, but are not limited to: slope detection, meeting early warning, tire pressure detection, road shoulder detection and visual measurement of backing.
7. The detection system applied to the automatic driving road condition early warning as claimed in claim 6, wherein the four laser transmitters are installed on two sides of a front bumper and a rear bumper;
the forward laser emitted by the laser emitters positioned on the two sides of the front bumper on the horizontal road surface is L-shaped and is symmetrical left and right;
backward laser emitted by the laser emitters positioned on two sides of the rear bumper on a horizontal road surface is linear;
an included angle exists between the side-looking camera and the emitting direction of the laser emitter.
8. The detection system for the warning of the road condition in automatic driving as claimed in claim 7,
the intelligent driving system is further used for:
judging whether the length of the forward linear laser of the L-shaped laser bar is shortened and whether the length of the transverse linear laser is unchanged, if the length of the forward linear laser of the L-shaped laser bar is shortened and the length of the transverse linear laser is unchanged, the shorter the length of the forward linear laser of the L-shaped laser bar is, the larger the gradient is;
or
Judging whether the length of the forward linear laser of the L-shaped laser bar is shortened and the length of the transverse linear laser is moved backwards, and if the length of the forward linear laser is shortened and the length of the transverse linear laser is moved backwards, judging that the tire pressure of the corresponding side is lower;
or
When the transverse linear laser light received by the L-shaped laser bar is in the shape of two parallel lines, the larger the distance between the two parallel lines is, the higher the road edge is;
or
When backing a car, the staff gauge that is located rear bumper both sides back laser projection assists backing a car.
9. The system as claimed in claim 7, wherein the two forward straight lasers of the L-shaped laser bar have the same width as the vehicle;
the intelligent driving system is further used for: when vehicles meet, the vehicles meet in an auxiliary mode according to the two straight lines of the L-shaped laser strip in the forward direction.
10. The detection system applied to the automatic driving road condition early warning as claimed in any one of claims 6 to 9, wherein the forward length of the L-shaped laser bar is 3 meters, and the transverse length is 1.5 meters; the length of the backward laser stripe is 2 meters.
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