CN113442833B - Auxiliary display method and device for vehicle entering and exiting tunnel - Google Patents

Auxiliary display method and device for vehicle entering and exiting tunnel Download PDF

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CN113442833B
CN113442833B CN202111001728.2A CN202111001728A CN113442833B CN 113442833 B CN113442833 B CN 113442833B CN 202111001728 A CN202111001728 A CN 202111001728A CN 113442833 B CN113442833 B CN 113442833B
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vehicle
tunnel
information
position information
detection result
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CN113442833A (en
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顾兆程
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Ningbo Joynext Technology Corp
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Ningbo Joynext Technology Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K37/00—Dashboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • 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
    • B60W2050/146—Display means

Abstract

The application discloses an auxiliary display method and device for vehicle access in a tunnel, belonging to the technical field of automobiles, wherein the method comprises the following steps: the method comprises the steps of obtaining driving information of a vehicle, wherein the driving information comprises at least one of position information, vehicle speed information and driving direction information, obtaining position information of a tunnel, detecting whether the vehicle is about to drive in or out of the tunnel or not based on the driving information of the vehicle and the position information of the tunnel to obtain a first detection result, and determining whether auxiliary display is carried out on a front image of the vehicle by using an in-vehicle display device of the vehicle or not based on the first detection result. The method and the device can solve the problem that the vehicle does not carry out auxiliary display aiming at the blind phenomenon possibly caused by the current scene under the condition that the light brightness difference inside and outside the tunnel is very large or the humidity and the water vapor in the tunnel are very serious.

Description

Auxiliary display method and device for vehicle entering and exiting tunnel
Technical Field
The application relates to the technical field of automobiles, in particular to an auxiliary display method and device for vehicles to enter and exit a tunnel.
Background
At present, in a bright-light weather scene, vehicles enter or exit a tunnel, particularly a highway, due to the fact that light in the tunnel is dark, the difference of brightness outside the tunnel is large or moisture in the tunnel is serious, fogging is serious, a driver can possibly generate a transient blinding situation, and therefore traffic accidents are caused.
Disclosure of Invention
In order to overcome the technical defects, the application aims to provide an auxiliary display method, an auxiliary display device, an auxiliary display medium and a vehicle when the vehicle enters or exits a tunnel, so as to solve the problem that the vehicle does not perform auxiliary display aiming at the blind phenomenon possibly caused by the current scene under the condition that the brightness difference of light inside and outside the tunnel is great or the humidity and water vapor inside the tunnel are very serious.
The specific technical scheme provided by the application is as follows:
in a first aspect, an auxiliary display method for vehicle access to a tunnel is provided, the method comprising: acquiring running information of a vehicle, wherein the running information comprises at least one of position information, vehicle speed information and running direction information; acquiring position information of a tunnel; detecting whether the vehicle is about to enter or exit the tunnel or not based on the driving information of the vehicle and the position information of the tunnel to obtain a first detection result; and determining whether to perform auxiliary display on the front image of the vehicle by using an in-vehicle display device of the vehicle based on the first detection result.
Further, the driving information includes position information of the vehicle, the vehicle speed information, and the driving direction information, and the detecting whether the vehicle is about to enter or exit the tunnel based on the driving information of the vehicle and the position information of the tunnel to obtain a first detection result includes: determining a distance to be traveled between the vehicle and the tunnel according to the position information of the vehicle, the traveling direction information and the position information of the tunnel; determining an expected first time length of the vehicle running to the tunnel according to the vehicle speed information and the distance to be traveled; and detecting whether the vehicle is about to enter or exit the tunnel according to the expected first time length to obtain the first detection result.
Further, before the detecting whether the vehicle is about to enter or exit the tunnel based on the driving information and the position information of the tunnel and obtaining a first detection result, the method further includes: receiving a V2X directional message sent by a front vehicle of the vehicle, wherein the V2X directional message comprises position information when the front vehicle enters or exits the tunnel; the detecting whether the vehicle is about to enter or exit the tunnel based on the driving information and the position information of the tunnel to obtain a first detection result includes: and detecting whether the vehicle is about to drive into or out of the tunnel or not based on the driving information, the V2X directional message and the position information of the tunnel to obtain the first detection result.
Further, the driving information includes position information of the vehicle, the vehicle speed information, and the driving direction information, and the detecting whether the vehicle is about to enter or exit the tunnel based on the driving information, the V2X directional message, and the position information of the tunnel obtains the first detection result, including: calibrating the position information of the tunnel according to the position information of the front vehicle; determining a distance to be traveled between the vehicle and the tunnel according to the position information of the vehicle, the traveling direction information and the position information after the tunnel calibration; determining a second predicted time length for the vehicle to travel to the tunnel according to the vehicle speed information and the distance to be traveled; and detecting whether the vehicle is about to enter or exit the tunnel according to the estimated second duration to obtain the first detection result.
Further, the running information of the vehicle includes position information of the vehicle, and the detecting whether the vehicle is about to enter or exit the tunnel based on the running information of the vehicle and the position information of the tunnel to obtain a first detection result includes: and detecting whether the vehicle is about to enter or exit the tunnel or not based on the position information of the vehicle and the position information of the tunnel to obtain a first detection result.
Further, the position information of the vehicle includes one or more of global navigation satellite system GNSS positioning information, inertial navigation system INS positioning information, and navigation tunnel derived positioning information, and the detecting whether the vehicle is about to enter or exit the tunnel based on the position information of the vehicle and the position information of the tunnel to obtain a first detection result includes: determining the distance between the position information of the vehicle and the position information of the tunnel according to the Global Navigation Satellite System (GNSS) positioning information and/or Inertial Navigation System (INS) positioning information of the vehicle and the position information of the tunnel; determining whether the distance is smaller than a first threshold value or not to detect whether the vehicle is about to drive into the tunnel or not to obtain a first detection result; or determining the distance between the position information of the vehicle and the position information of the tunnel according to inertial navigation system INS positioning information and/or navigation tunnel deduction positioning information of the vehicle and the position information of the tunnel; and determining whether the distance is smaller than a second threshold value or not to detect whether the vehicle is about to exit the tunnel or not to obtain a first detection result.
Further, before the detecting whether the vehicle is about to enter or exit the tunnel based on the position information of the vehicle and the position information of the tunnel and obtaining the first detection result, the method further includes at least one of: acquiring Global Navigation Satellite System (GNSS) positioning information of the vehicle; when the GNSS positioning information of the vehicle is not acquired, detecting the acceleration of the vehicle in an inertial reference system through a vehicle sensor, integrating the acceleration with time, and simultaneously converting the acceleration into a navigation coordinate system to obtain the position of the vehicle in the navigation coordinate system; acquiring inertial navigation positioning information of a vehicle; acquiring a third time length after the vehicle enters the tunnel; and when the inertial navigation positioning information of the vehicle is not acquired, calculating according to the speed of the vehicle entering the tunnel and/or the speed limited in the tunnel and/or the road condition of the tunnel and the third time length, and deducing the driving position of the vehicle in the tunnel.
Further, before determining whether to perform auxiliary display on the front image of the vehicle by using the in-vehicle display device of the vehicle based on the first detection result, the method further includes: acquiring environmental information around the vehicle through a sensor of the vehicle, wherein the environmental information comprises light and/or humidity; obtaining a second detection result based on the environment information; the determining whether to perform auxiliary display on the real-time front image of the vehicle by using an in-vehicle display device of the vehicle based on the first detection result includes: and determining whether to utilize an in-vehicle display device of the vehicle to perform auxiliary display on the real-time front image of the vehicle based on the first detection result and the second detection result.
Further, the determining whether to perform auxiliary display on the real-time front image of the vehicle by using an in-vehicle display device of the vehicle based on the first detection result and the second detection result includes: and when the fact that the vehicle is about to enter or exit the tunnel is determined based on the first detection result, and the fact that the brightness difference of the vehicle light is larger than a third threshold value and/or the humidity is larger than a fourth threshold value is determined based on the second detection result, utilizing an in-vehicle display device of the vehicle to perform auxiliary display on the real-time front image of the vehicle.
Further, the auxiliary display of the real-time front image of the vehicle by using the in-vehicle display device of the vehicle comprises: and acquiring the real image in front of the vehicle, and carrying out auxiliary display on the real image in the display equipment in the vehicle.
Further, the method comprises: and acquiring the vehicle live-action image by the panoramic camera and the rear-mounted camera through the DVR to integrate the image.
Further, the method further comprises: the vehicle collects traffic flow information at the entrance and the exit of the tunnel; and the vehicle with the auxiliary display function is started to send early warning information to nearby vehicles through V2X so as to remind the following vehicles of entering or exiting the tunnel.
In a second aspect, there is provided an auxiliary display device for a vehicle entering and exiting a tunnel, the device comprising: the device comprises a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to realize the steps of the auxiliary display method when the vehicle enters or exits the tunnel according to any one of the first aspect.
In a third aspect, a computer storage medium is provided, on which a computer program is stored, the computer program, when being executed by a memory, implementing the steps of the auxiliary display method for vehicle entrance and exit in a tunnel according to any one of the first aspect.
In a fourth aspect, a vehicle is provided, which comprises an auxiliary display device for vehicle entering and exiting the tunnel, and the device realizes the steps of the auxiliary display method for vehicle entering and exiting the tunnel according to any one of the first aspect.
Compared with the prior art, the technical scheme provided by the application acquires the driving information of the vehicle, the driving information comprises at least one of position information, vehicle speed information and driving direction information, acquires the position information of the tunnel, detects whether the vehicle is about to drive into or drive out of the tunnel based on the driving information of the vehicle and the position information of the tunnel to obtain a first detection result, and determines whether to use the in-vehicle display equipment of the vehicle to perform auxiliary display on the front image of the vehicle based on the first detection result, so that the problem that the vehicle does not perform auxiliary display on the blind phenomenon possibly caused by the current scene under the condition that the brightness difference between the inside and the outside of the tunnel is great or the humidity water vapor in the tunnel is very serious is solved, the auxiliary display function is realized, the vehicle is more intelligent, and the safety of the vehicle is improved, the user experience is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a frame diagram of an auxiliary display method for a vehicle entering and exiting a tunnel according to an embodiment of the present application;
fig. 2 is a flowchart of a process of entering a tunnel by a vehicle according to a second embodiment of the present application;
fig. 3 is a flowchart of video assistance in a process flow of a vehicle entering a tunnel according to a second embodiment of the present application;
fig. 4 is a flowchart of a process of exiting a tunnel by a vehicle according to a third embodiment of the present application;
fig. 5 is a flowchart of video assistance in a process flow of exiting a tunnel by a vehicle according to a third embodiment of the present application;
fig. 6 is a configuration diagram of an auxiliary display device when a vehicle enters or exits a tunnel according to a fourth embodiment of the present application.
Detailed Description
In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It is to be understood that, unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".
In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified.
Example one
The embodiment of the application provides an auxiliary display method for vehicle entering and exiting a tunnel, and as shown in fig. 1, the method may include:
step S01, acquiring the driving information of the vehicle, wherein the driving information comprises at least one of position information, vehicle speed information and driving direction information;
step S02, acquiring the position information of the tunnel;
step S03, detecting whether the vehicle is about to enter or exit the tunnel based on the driving information of the vehicle and the position information of the tunnel to obtain a first detection result;
step S04, based on the first detection result, determines whether to assist display of the front image of the vehicle by the in-vehicle display device of the vehicle.
Specifically, the position information of the tunnel may be a tunnel entrance position or a tunnel exit position.
In some embodiments, the driving information includes position information of the vehicle, the vehicle speed information, and the driving direction information, and the step S03 may include: determining a distance to be traveled between the vehicle and the tunnel according to the position information of the vehicle, the traveling direction information and the position information of the tunnel; determining an expected first time length of the vehicle running to the tunnel according to the vehicle speed information and the distance to be traveled; and detecting whether the vehicle is about to enter or exit the tunnel according to the expected first time length to obtain the first detection result.
In some embodiments, before the detecting whether the vehicle is about to enter or exit the tunnel based on the driving information and the position information of the tunnel and obtaining the first detection result, the method may further include: receiving a V2X directional message sent by a front vehicle of the vehicle, wherein the V2X directional message comprises position information when the front vehicle enters or exits the tunnel; correspondingly, step S03 may include: and detecting whether the vehicle is about to drive into or out of the tunnel or not based on the driving information, the V2X directional message and the position information of the tunnel to obtain the first detection result.
In one example, the driving information includes position information of the vehicle, the vehicle speed information, and the driving direction information, and the detecting whether the vehicle is about to enter or exit the tunnel based on the driving information, the V2X directional message, and the position information of the tunnel to obtain the first detection result may include: calibrating the position information of the tunnel according to the position information of the front vehicle; determining a distance to be traveled between the vehicle and the tunnel according to the position information of the vehicle, the traveling direction information and the position information after the tunnel calibration; determining a second predicted time length for the vehicle to travel to the tunnel according to the vehicle speed information and the distance to be traveled; and detecting whether the vehicle is about to enter or exit the tunnel according to the estimated second duration to obtain the first detection result.
In some embodiments, the driving information of the vehicle includes position information of the vehicle, and the step S03 may include: and detecting whether the vehicle is about to enter or exit the tunnel or not based on the position information of the vehicle and the position information of the tunnel to obtain a first detection result.
In one example, the position information of the vehicle includes one or more of global Navigation Satellite system gnss (global Navigation Satellite system) positioning information, inertial Navigation system ins (inertial Navigation system) positioning information, and Navigation tunnel derived positioning information, and the detecting whether the vehicle is about to enter or exit the tunnel based on the position information of the vehicle and the position information of the tunnel to obtain a first detection result may include: determining the distance between the position information of the vehicle and the position information of the tunnel according to the Global Navigation Satellite System (GNSS) positioning information and/or Inertial Navigation System (INS) positioning information of the vehicle and the position information of the tunnel; determining whether the distance is smaller than a first threshold value or not to detect whether the vehicle is about to drive into the tunnel or not to obtain a first detection result; or determining the distance between the position information of the vehicle and the position information of the tunnel according to inertial navigation system INS positioning information and/or navigation tunnel deduction positioning information of the vehicle and the position information of the tunnel; and determining whether the distance is smaller than a second threshold value or not to detect whether the vehicle is about to exit the tunnel or not to obtain a first detection result.
In the above example, before the detecting whether the vehicle is about to enter or exit the tunnel based on the location information of the vehicle and the location information of the tunnel and obtaining the first detection result, the method may further include at least one of: acquiring Global Navigation Satellite System (GNSS) positioning information of the vehicle; when the GNSS positioning information of the vehicle is not acquired, detecting the acceleration of the vehicle in an inertial reference system through a vehicle sensor, integrating the acceleration with time, and simultaneously converting the acceleration into a navigation coordinate system to obtain the position of the vehicle in the navigation coordinate system; acquiring inertial navigation positioning information of a vehicle; acquiring a third time length after the vehicle enters the tunnel; and when the inertial navigation positioning information of the vehicle is not acquired, calculating according to the speed of the vehicle entering the tunnel and/or the speed limited in the tunnel and/or the road condition of the tunnel and the third time length, and deducing the driving position of the vehicle in the tunnel.
In some embodiments, before the step S04, the method may further include: acquiring environmental information around the vehicle through a sensor of the vehicle, wherein the environmental information comprises light and/or humidity; obtaining a second detection result based on the environment information; the step S04 may include: and determining whether to utilize an in-vehicle display device of the vehicle to perform auxiliary display on the real-time front image of the vehicle based on the first detection result and the second detection result.
In one example, the determining whether to perform auxiliary display on the live front image of the vehicle by using an in-vehicle display device of the vehicle based on the first detection result and the second detection result may include: and when the fact that the vehicle is about to enter or exit the tunnel is determined based on the first detection result, and the fact that the brightness difference of the vehicle light is larger than a third threshold value and/or the humidity is larger than a fourth threshold value is determined based on the second detection result, utilizing an in-vehicle display device of the vehicle to perform auxiliary display on the real-time front image of the vehicle.
According to the technical scheme provided by the embodiment of the application, the visual image is used for auxiliary display when the vehicle is blinded by short-time vision in and out of the tunnel in a self-adaptive manner; when a vehicle enters and exits the tunnel, the real-scene images of the vehicle are collected, and the real-scene images are displayed in an in-vehicle display in an auxiliary mode, so that the problem that the vehicle does not display in an auxiliary mode aiming at the blind phenomenon possibly caused by the current scene under the condition that the brightness difference of light inside and outside the tunnel is very large or the humidity and water vapor inside the tunnel are very serious is solved, the auxiliary display function is achieved, the vehicle is more intelligent, and the user experience is improved.
Example two
In this embodiment, the same or similar contents as those in the first embodiment may refer to the detailed description in the first embodiment, and are not repeated in the following. As shown in fig. 2, the method may include:
step S11, determining the distance between the position information of the vehicle and the position information of the tunnel according to the Global Navigation Satellite System (GNSS) positioning information and/or Inertial Navigation System (INS) positioning information of the vehicle and the position information of the tunnel;
and determining whether the distance is smaller than a first threshold value or not to detect whether the vehicle is about to enter the tunnel or not to obtain a first detection result.
Here, the location information of the tunnel may be a tunnel entrance location or a tunnel exit location.
Specifically, the implementation process of step S11 may include:
the user of the vehicle determines whether to drive into the tunnel or not by combining with the positioning information of the Global Navigation Satellite System (GNSS);
the method comprises the following steps that a user of the vehicle determines whether to drive into a tunnel or not by combining Inertial Navigation System (INS) positioning information;
the user of the vehicle determines whether to drive into the tunnel or not by combining the GNSS positioning information and the INS positioning information of the inertial navigation system;
here, the GNSS positioning information and the inertial navigation system INS positioning information of the global navigation satellite system assist each other and are fused with each other to acquire the position information of the vehicle, so that the acquired position information of the vehicle is more accurate.
Acquiring Global Navigation Satellite System (GNSS) positioning information of the vehicle;
when the GNSS positioning information of the vehicle is not acquired, the acceleration of the vehicle in an inertial reference system is detected through a vehicle sensor, the acceleration is integrated with time and is converted into a navigation coordinate system at the same time, and the position of the vehicle in the navigation coordinate system is obtained.
The GNSS positioning information and the inertial navigation system INS positioning information of the global navigation satellite system complement each other, the vehicle position information can be better acquired, and the situation that the starting of the auxiliary display function of the vehicle entering the tunnel is influenced because the positioning information of the vehicle cannot be acquired when no signal exists is prevented.
The inertial navigation system is an autonomous navigation system which does not depend on external information and radiates energy to the outside, and the working principle is based on the Newton's law of mechanics.
The inertial navigation is positioning information given by vehicle sensor information under the condition that global navigation satellite system GNSS positioning information does not exist, the current vehicle position is given through inertial navigation system INS information and global navigation satellite system GNSS information, the current tunnel position is given through map data, and when the difference value of the two positions is smaller than or equal to a specific threshold value, the fact that the vehicle is about to enter the tunnel is judged.
In practical applications, the specific threshold may vary with performance parameters of the monitoring device equipped with the vehicle, and will not be described herein.
And step S12, detecting whether the vehicle enters the range of the tunnel or not based on the positioning information of the vehicle, and obtaining a first detection result.
Specifically, determining a distance to be traveled between the vehicle and the tunnel according to the position information of the vehicle, the traveling direction information and the position information of the tunnel; determining an expected first time length of the vehicle running to the tunnel according to the vehicle speed information and the distance to be traveled; and detecting whether the vehicle is about to drive into the tunnel according to the expected first time length to obtain the first detection result.
And detecting whether the vehicle is about to enter the tunnel according to the expected first time length to obtain the first detection result, so that the method not only can detect whether the vehicle is about to enter the tunnel range, but also can predict the time and the distance of the vehicle about to enter the tunnel, and better help a vehicle user to start the judgment of auxiliary display.
Specifically, the implementation process of step S12 may include: receiving a V2X directional message sent by a front vehicle of the vehicle, wherein the V2X directional message comprises position information when the front vehicle drives into the tunnel; correspondingly, the detecting whether the vehicle is about to enter the tunnel or not based on the driving information and the position information of the tunnel to obtain a first detection result comprises: and detecting whether the vehicle is about to drive into the tunnel or not based on the driving information, the V2X directional message and the position information of the tunnel, and obtaining the first detection result.
Here, whether the vehicle is about to enter the tunnel is detected based on the driving information, the V2X directional message and the position information of the tunnel, and the first detection result can obtain the position information of the vehicle through the V2X directional message sent by the front vehicle when the vehicle has a signal failure or a navigation failure, so as to help the vehicle determine whether to start the auxiliary display function, and prevent the vehicle from displaying the current scene without assistance in case of a great difference in brightness between the inside and the outside of the tunnel or a very serious moisture in the tunnel, thereby causing a traffic accident.
Specifically, the implementation process of step S12 may include: calibrating the position information of the tunnel according to the position information of the front vehicle; determining a distance to be traveled between the vehicle and the tunnel according to the position information of the vehicle, the traveling direction information and the position information after the tunnel calibration; determining a second predicted time length for the vehicle to travel to the tunnel according to the vehicle speed information and the distance to be traveled; and detecting whether the vehicle is about to enter the tunnel according to the estimated second duration to obtain the first detection result.
Here, by calibrating the position information of the tunnel according to the position information of the preceding vehicle, detecting whether the vehicle is about to enter the tunnel according to the predicted second duration may enable the positioning information of the vehicle to be more accurate, and may also predict the time and distance when the vehicle is about to enter the tunnel, so as to better assist the vehicle user in determining to turn on the auxiliary display.
The method for detecting whether the vehicle is about to enter the tunnel or not based on the driving information of the vehicle and the position information of the tunnel to obtain a first detection result includes: and detecting whether the vehicle is about to enter the tunnel or not based on the position information of the vehicle and the position information of the tunnel to obtain a first detection result.
The method comprises the steps of detecting whether a vehicle is about to enter a tunnel or not based on position information of the vehicle and position information of the tunnel to obtain a first detection result, and helping a vehicle owner to start an auxiliary display function at the first time when the vehicle is about to enter the tunnel, so that the problem that the vehicle does not carry out auxiliary display aiming at a blind phenomenon possibly caused by a current scene under the condition that the brightness difference of light inside and outside the tunnel is extremely large or humidity water vapor inside the tunnel is extremely serious is solved, the auxiliary display function is realized, the vehicle is more intelligent, and user experience is improved.
Step S13, collecting environmental information around the vehicle through a sensor of the vehicle, wherein the environmental information comprises light and/or humidity;
and obtaining a second detection result based on the environment information.
Specifically, the implementation process of step S13 may include: the method comprises the following steps that a sensor of the vehicle collects vehicle environment information, wherein the environment information comprises light; a sensor of the vehicle acquires vehicle environment information, wherein the environment information comprises humidity; the sensor of the vehicle collects vehicle environmental information, which includes light and humidity.
When the light and humidity environment information is collected, the vehicle auxiliary display function effect is optimal.
The determining whether to perform auxiliary display on the real-time front image of the vehicle by using an in-vehicle display device of the vehicle based on the first detection result includes: and determining whether to utilize an in-vehicle display device of the vehicle to perform auxiliary display on the real-time front image of the vehicle based on the first detection result and the second detection result.
Here, based on the first detection result and the second detection result, whether the in-vehicle display device of the vehicle is used for performing auxiliary display on the real-time front image of the vehicle is determined, so that the vehicle owner can be more comprehensively helped to judge and start the auxiliary display function under the conditions that the brightness difference of light rays inside and outside the tunnel and the tunnel is very large or moisture in the tunnel is very serious, and the vehicle is more intelligent.
Specifically, the implementation process of step S13 may further include: and when the fact that the vehicle is about to enter the tunnel is determined based on the first detection result, and the fact that the brightness difference of the vehicle light is larger than a third threshold value and/or the humidity is larger than a fourth threshold value is determined based on the second detection result, utilizing an in-vehicle display device of the vehicle to perform auxiliary display on a real-time front image of the vehicle.
And judging whether the vehicle needs to start the visual image for auxiliary display by increasing the current weather and the conditions of day and night.
Specifically, on a vehicle with a light humidity sensor, the vehicle is generally of an automatic head lamp type or an automatic air conditioner type, and can be judged whether to start a visual image for auxiliary display by combining with illumination intensity, for example, in cloudy or rainy weather with low illumination intensity, the situation that a user temporarily blinds when entering or exiting a tunnel does not occur can be avoided, the visual image can be judged not to be started for auxiliary display, the visual image can be judged to be started for auxiliary display in the case of night when the ambient light brightness difference of the vehicle when the vehicle enters the tunnel is greater than a third threshold value, and meanwhile, the light humidity sensor of the vehicle has a memory function through a computer information storage module.
It can be understood that the first detection result and the second detection result of the vehicle environment information can be used for identifying potential safety hazards which may exist when the vehicle enters the tunnel, and the occurrence of traffic accidents is reduced.
Step S14, the auxiliary display includes: and acquiring the real-scene image in front of the vehicle, carrying out auxiliary display on the real-scene image in an in-vehicle display device, and acquiring the real-scene image of the vehicle through a panoramic camera and a rear camera, so as to integrate images.
Specifically, the implementation process of step S14 may include: the in-vehicle screen may include a dashboard screen and a central control screen.
It can be understood that, in combination with the vehicle positioning information, a scene entering the tunnel is identified, and in the scene, according to the existing panoramic camera, the rear-mounted camera and the DVR of the vehicle, the live-action image is switched into a central control screen or an instrument screen for auxiliary display. Because the camera is different from human eyes, the influence caused by the change of the brightness intensity can not be generated, and the driver can be assisted to identify the front information, so that the visual image is reasonably used in the screen in the vehicle for auxiliary display, and the auxiliary display can be performed because the human eyes have the transient blinding phenomenon on the front road when the vehicle enters the tunnel.
The screen in the vehicle can make an auxiliary image to be presented in a short time with large light intensity difference, even if the current vehicle has anti-collision early warning and active braking, under the condition of extremely high speed, the auxiliary to the vehicle is limited, and under the condition that the vehicle is higher than certain speed, the remote early warning can not be achieved, so that the safety of the vehicle entering a tunnel can be greatly improved by a clear auxiliary display image for a driver.
Specifically, the implementation process of step S14 can also be embodied by the flow chart of video assistance in the vehicle entering tunnel processing flow shown in fig. 3.
Steps S15, S16, the vehicle collects the traffic flow information at the entrance of the tunnel;
and the vehicle with the auxiliary display function is started to send early warning information to nearby vehicles through V2X so as to remind the following vehicles of entering the tunnel.
Specifically, the implementation process of steps S15 and S16 may further include: on the basis of combining GNSS positioning, inertial navigation positioning and light humidity sensor to judge whether to start a visual image to carry out auxiliary display conditions, the vehicle flow information can be collected at the entrance of the tunnel by combining the V2X technology, and vehicle flow reminding is additionally carried out on the vehicle about to enter the tunnel on the basis of judging conditions.
It can be understood that, in combination with the V2X technology, a vehicle with an auxiliary display function being turned on sends warning information to nearby vehicles, and even if the vehicle receiving the warning information lacks the turn-on condition of the auxiliary display function, the vehicle can use the information to remind the corresponding driver or perform an operation of cutting into a video auxiliary image, and make full use of the communication mechanism between vehicles to avoid the risk as much as possible, for example, a vehicle just entering a tunnel can send V2X orientation information to a following vehicle to remind the following vehicle of coming into the tunnel.
The embodiment of the application provides an auxiliary display method when a vehicle drives into a tunnel, which is used for assisting the vehicle to carry out auxiliary display by using a visual image when the vehicle is blinded by transient vision in and out of the tunnel in a self-adaptive manner; when the vehicle drives into the tunnel, the vehicle live-action images are collected, and the live-action images are displayed in an auxiliary mode in the screen in the vehicle, so that the problem that the vehicle does not display in an auxiliary mode aiming at the blind phenomenon possibly caused by the current scene under the condition that the brightness difference of light inside and outside the tunnel is very large or the humidity and the water vapor in the tunnel are very serious is solved, the vehicle is more intelligent, and the user experience is improved.
EXAMPLE III
In this embodiment, the same or similar contents as or to the first or second embodiment may refer to the detailed description in the first or second embodiment, and will not be repeated hereinafter. As shown in fig. 4, the method may include:
step S21, determining the distance between the position information of the vehicle and the position information of the tunnel according to the inertial navigation INS positioning information and/or navigation tunnel derived positioning information of the vehicle and the position information of the tunnel;
and determining whether the distance is smaller than a second threshold value or not to detect whether the vehicle is about to exit the tunnel or not to obtain a first detection result.
Here, the location information of the tunnel is a tunnel exit location, and the second threshold may be the same as or different from the first threshold.
Specifically, the implementation process of step S21 may include: the method comprises the following steps that a user of the vehicle determines whether to exit a tunnel or not by combining Inertial Navigation System (INS) positioning information; the user of the vehicle combines the navigation tunnel to deduce positioning information to judge whether to exit the tunnel; and the user of the vehicle determines whether to exit the tunnel or not by combining the inertial navigation system INS positioning information and the navigation tunnel deduction positioning information.
The method comprises the steps of preferentially using inertial navigation system INS positioning information and then using a navigation tunnel to deduce positioning information to judge, mutually assisting and mutually fusing to obtain the position information of the vehicle, so that the obtained position information of the vehicle is more accurate.
Specifically, acquiring inertial navigation system INS positioning information of a vehicle; and when the inertial navigation system INS positioning information of the vehicle is not acquired, calculating according to the speed of the vehicle entering the tunnel and/or the speed limited in the tunnel and/or the road condition of the tunnel and combining the third time length, and deducing the driving position of the vehicle in the tunnel.
The inertial navigation system INS positioning information and the navigation tunnel deduction positioning information complement each other, the vehicle position information can be better acquired, and the situation that the starting of the auxiliary display function of the vehicle entering the tunnel is influenced because the positioning information of the vehicle cannot be acquired when no signal exists is prevented.
The inertial navigation system INS system is positioning information given by means of vehicle sensor information under the condition that global navigation satellite system GNSS positioning information does not exist, and can also be combined with the global navigation satellite system GNSS positioning information to judge whether the vehicle is going to exit the tunnel or not.
Specifically, the navigation tunnel deduction positioning means that when the vehicle does not have an inertial navigation function and a global navigation satellite system GNSS signal does not exist in the tunnel, the navigation deduces the position of the vehicle running in the tunnel to position according to the speed when the vehicle enters the tunnel, the speed limited in the tunnel and the road condition of the tunnel by combining time calculation.
And step S22, detecting whether the vehicle is driven out of the range of the tunnel or not based on the positioning information of the vehicle, and obtaining a first detection result.
Specifically, determining a distance to be traveled between the vehicle and the tunnel according to the position information of the vehicle, the traveling direction information and the position information of the tunnel; determining an expected first time length of the vehicle running to the tunnel according to the vehicle speed information and the distance to be traveled; and detecting whether the vehicle is about to exit the tunnel according to the estimated first time length to obtain the first detection result.
And if the vehicle is about to exit from the tunnel, the first detection result is obtained, so that not only can whether the vehicle is about to exit from the tunnel be detected, but also the time and the distance of the vehicle about to exit from the tunnel can be predicted, and the judgment of starting the auxiliary display by the vehicle user can be better assisted.
Specifically, the implementation process of step S22 may include: receiving a V2X directional message sent by a front vehicle of the vehicle, wherein the V2X directional message comprises position information when the front vehicle exits the tunnel; correspondingly, the detecting whether the vehicle is about to exit the tunnel based on the driving information and the position information of the tunnel to obtain a first detection result includes: and detecting whether the vehicle is about to exit the tunnel or not based on the driving information, the V2X directional message and the position information of the tunnel, and obtaining the first detection result.
Here, whether the vehicle is about to exit the tunnel is detected based on the driving information, the V2X directional message and the position information of the tunnel, and the first detection result can obtain the position information of the vehicle through the V2X directional message sent by the front vehicle when the vehicle has a signal failure or a navigation failure, so as to help the vehicle determine whether to start the auxiliary display function, and prevent the vehicle from displaying the current scene without assistance in case of a great difference in brightness between the inside and the outside of the tunnel or a very serious moisture in the tunnel, thereby causing a traffic accident.
Specifically, the implementation process of step S22 may include: calibrating the position information of the tunnel according to the position information of the front vehicle; determining a distance to be traveled between the vehicle and the tunnel according to the position information of the vehicle, the traveling direction information and the position information after the tunnel calibration; determining a second predicted time length for the vehicle to travel to the tunnel according to the vehicle speed information and the distance to be traveled; and detecting whether the vehicle is about to exit the tunnel according to the estimated second duration to obtain the first detection result.
Here, by calibrating the location information of the tunnel according to the location information of the preceding vehicle, detecting whether the vehicle is about to exit the tunnel according to the predicted second duration may enable the location information of the vehicle to be more accurate, and may also predict the time and distance when the vehicle is about to exit the tunnel, thereby better assisting the vehicle user in determining to turn on the auxiliary display.
The method for detecting whether the vehicle is about to exit from the tunnel based on the driving information of the vehicle and the position information of the tunnel to obtain a first detection result includes: and detecting whether the vehicle is about to exit the tunnel or not based on the position information of the vehicle and the position information of the tunnel to obtain a first detection result.
Here, whether the vehicle is about to exit the tunnel is detected based on the position information of the vehicle and the position information of the tunnel, a first detection result is obtained, the vehicle owner can be helped to start an auxiliary display function at the first time when the vehicle is about to exit the tunnel, the problem that the vehicle does not perform auxiliary display on a blind phenomenon possibly caused by a current scene under the condition that the brightness difference of light inside and outside the tunnel is extremely large or humidity water vapor inside the tunnel is extremely serious is solved, the auxiliary display function is realized, the vehicle is enabled to be more intelligent, and user experience is improved.
Step S23, collecting environmental information around the vehicle through a sensor of the vehicle, wherein the environmental information comprises light and/or humidity;
and obtaining a second detection result based on the environment information.
Specifically, the implementation process of step S23 may include: the method comprises the following steps that a sensor of the vehicle collects vehicle environment information, wherein the environment information comprises light; a sensor of the vehicle acquires vehicle environment information, wherein the environment information comprises humidity; the sensor of the vehicle collects vehicle environmental information, which includes light and humidity. When the light and humidity environment information is collected, the vehicle auxiliary display function effect is optimal.
The determining whether to perform auxiliary display on the real-time front image of the vehicle by using an in-vehicle display device of the vehicle based on the first detection result includes: and determining whether to utilize an in-vehicle display device of the vehicle to perform auxiliary display on the real-time front image of the vehicle based on the first detection result and the second detection result.
Here, based on the dual determination of the first detection result and the second detection result, determining whether to use the in-vehicle display device of the vehicle to perform the auxiliary display on the real-time front image of the vehicle may help the vehicle owner to determine to start the auxiliary display function more comprehensively under the conditions that the vehicle exits from the tunnel and the difference between the brightness of the light inside and outside the tunnel is very large or the humidity and the moisture inside the tunnel are very serious, so that the vehicle is more intelligent and the safety is improved.
Specifically, the implementation process of step S23 may further include: and when the fact that the vehicle is about to exit the tunnel is determined based on the first detection result, and the fact that the brightness difference of the vehicle light is larger than a third threshold value and/or the humidity is larger than a fourth threshold value is determined based on the second detection result, utilizing an in-vehicle display device of the vehicle to perform auxiliary display on a real-time front image of the vehicle.
And judging whether the vehicle needs to start the visual image for auxiliary display by increasing the current weather and the conditions of day and night.
Specifically, on a vehicle with a light humidity sensor, the vehicle is generally of an automatic head lamp type or an automatic air conditioner type, and can be judged whether to start a visual image for auxiliary display by combining with illumination intensity, for example, in cloudy or rainy weather with low illumination intensity, the situation that a tunnel is accessed and blinded momentarily can not occur, the visual image can be judged not to be started for auxiliary display, the visual image can be judged to be started for auxiliary display in the night situation, when the ambient light brightness difference of the vehicle when the vehicle exits the tunnel is greater than a third threshold value, and meanwhile, the light humidity sensor of the vehicle has a memory function through a computer information storage module.
It can be understood that the potential danger that the vehicle is unsafe to exit the tunnel can be identified by using the first detection result and the second detection result of the vehicle environment information, so that the occurrence of traffic accidents is reduced.
Step S24, the auxiliary display includes: and acquiring the real-scene image in front of the vehicle, carrying out auxiliary display on the real-scene image in an in-vehicle display device, and acquiring the real-scene image of the vehicle through a panoramic camera and a rear camera, so as to integrate images.
Specifically, the implementation process of step S24 may include: the in-vehicle screen may include a dashboard screen and a central control screen.
It can be understood that, in combination with the vehicle positioning information, a scene of exiting the tunnel is identified, and in the scene, according to the existing panoramic camera of the vehicle, the camera is installed later, and the DVR is installed later, the live-action image is switched into the central control screen or the instrument screen for auxiliary display. Because the camera is different from human eyes, the influence caused by the change of the brightness intensity can not be generated, and the driver can be assisted to identify the front information, so that the visual image is reasonably used in the screen in the vehicle for auxiliary display, and the auxiliary display can be performed because the human eyes have a short-time blinding phenomenon on the front road when the vehicle exits from the tunnel.
The screen in the vehicle can make an auxiliary image to be presented in a short time with large light intensity difference, even if the current vehicle has anti-collision early warning and active braking, under the condition of extremely high speed, the auxiliary to the vehicle is limited, and under the condition that the vehicle is higher than certain speed, the remote early warning can not be achieved, so that the safety of the vehicle entering and exiting the tunnel can be greatly improved by a clear auxiliary display image for a driver.
Specifically, the implementation process of step S24 can also be embodied by the flow chart of video assistance in the vehicle exit tunnel processing flow shown in fig. 5.
Steps S25, S26, the vehicle collects the traffic flow information at the exit of the tunnel;
the vehicle with the auxiliary display function turned on sends out early warning information to nearby vehicles through the V2X to remind the following vehicles of coming out of the tunnel.
Specifically, the implementation process of steps S25 and S26 may further include: on the basis of combining GNSS positioning, inertial navigation positioning and a light humidity sensor to judge whether to start a visual image to carry out auxiliary display conditions, the method can be combined with a V2X technology to collect traffic flow information at a tunnel exit, and additionally carry out traffic flow reminding on a vehicle about to exit from the tunnel on the basis of the basic judgment conditions.
It can be understood that, in combination with the V2X technology, a vehicle with an auxiliary display function being turned on sends warning information to nearby vehicles, and even if the vehicle receiving the warning information lacks the turn-on condition of the auxiliary display function, the vehicle can use the information to remind the corresponding driver or perform an operation of cutting into a video auxiliary image, and make full use of the communication mechanism between vehicles to avoid the risk as much as possible, for example, a vehicle just exiting a tunnel can send V2X orientation information to a following vehicle to remind the following vehicle of being about to exit the tunnel.
The embodiment of the application provides an auxiliary display method for a vehicle to exit from a tunnel, the driving information of the vehicle is acquired, the driving information comprises at least one of position information, vehicle speed information and driving direction information, the position information of the tunnel is acquired, whether the vehicle is about to enter or exit from the tunnel is detected based on the driving information of the vehicle and the position information of the tunnel, a first detection result is obtained, whether auxiliary display is carried out on a front image of the vehicle by utilizing an in-vehicle display device of the vehicle is determined based on the first detection result, and therefore the problem that the vehicle does not carry out auxiliary display on a blinding phenomenon possibly caused by a current scene under the condition that the brightness difference between the inside and the outside of the tunnel is very large or the humidity and the moisture in the tunnel are very serious is solved, the vehicle is enabled to be more intelligent, and user experience is improved.
Example four
In this embodiment, the details corresponding to the first to third embodiments may be referred to in the detailed description of the first to third embodiments, and are not repeated in the following. As shown in fig. 6, the apparatus may include:
and the video input control module 32 is used for collecting and integrating images through the panoramic camera, the rear-mounted camera and the DVR.
And a logic controller module 33 for integrating the information of each party and controlling the logic of the output image.
And the video output control module 34 is used for controlling the output position through an instrument screen and a central control screen, controlling the output and the end of the image, and determining whether to perform auxiliary display on the front image of the vehicle by using the in-vehicle display equipment of the vehicle based on the first detection result.
And a V2X technology module 35, configured to combine with the V2X technology, where the vehicle collects traffic information at the tunnel entrance and exit, and additionally performs traffic reminding for the vehicle about to enter or exit the tunnel.
The vehicle sending early warning information to nearby vehicles triggered by the auxiliary display function in combination with the V2X technology, and the vehicle which just enters the tunnel sends a V2X directional message to the rear vehicle to remind the rear vehicle of entering the tunnel; or the vehicle just exiting the tunnel sends a V2X directional message to the rear vehicle, reminding the rear vehicle of leaving the tunnel.
In a preferred embodiment, the apparatus further comprises:
the detecting module 31 is configured to detect whether the vehicle enters or exits the tunnel range based on the positioning information of the vehicle.
In one example, the method includes detecting whether the vehicle is about to enter or exit the tunnel based on the driving information of the vehicle and the position information of the tunnel, and obtaining a first detection result. For example, the distance to be traveled between the vehicle and the tunnel is determined according to the position information of the vehicle, the traveling direction information, and the position information of the tunnel; determining an expected first time length of the vehicle running to the tunnel according to the vehicle speed information and the distance to be traveled; detecting whether the vehicle is about to drive into or out of the tunnel according to the estimated first time length to obtain a first detection result;
in another example, the first detection result is obtained by detecting whether the vehicle is about to drive into or out of the tunnel based on the driving information, the V2X directional message and the location information of the tunnel. For example, the system is used for calibrating the position information of the tunnel according to the position information of the front vehicle; determining a distance to be traveled between the vehicle and the tunnel according to the position information of the vehicle, the traveling direction information and the position information after the tunnel calibration; determining a second predicted time length for the vehicle to travel to the tunnel according to the vehicle speed information and the distance to be traveled; and detecting whether the vehicle is about to enter or exit the tunnel according to the estimated second duration to obtain the first detection result.
In yet another example, the method includes detecting whether the vehicle is about to enter or exit the tunnel based on the location information of the vehicle and the location information of the tunnel, and obtaining a first detection result.
In a preferred embodiment, the apparatus further comprises:
the acquiring module 30 is configured to acquire driving information of a vehicle, where the driving information includes at least one of position information, vehicle speed information, and driving direction information; acquiring position information of a tunnel; and receiving a V2X directional message sent by a preceding vehicle of the vehicle, the V2X directional message including position information when the preceding vehicle enters or exits the tunnel;
the system is used for acquiring GNSS positioning information and/or inertial navigation positioning information of the vehicle and position information of the tunnel, and determining the distance between the position information of the vehicle and the position information of the tunnel; determining whether the distance is smaller than a first threshold value or not so as to detect whether the vehicle is about to enter the tunnel or not, wherein the GNSS positioning information and the inertial navigation positioning information are mutually assisted and fused to acquire the GNSS positioning information of the vehicle; when the GNSS positioning information of the vehicle is not acquired, the acceleration of the vehicle in an inertial reference frame is detected through a vehicle sensor, the acceleration is integrated with time and is converted into a navigation coordinate system at the same time, and the position of the vehicle in the navigation coordinate system is obtained.
The obtaining module 30 is further configured to obtain INS positioning information and/or navigation tunnel derived positioning information of the vehicle, and position information of the tunnel, and determine a distance between the position information of the vehicle and the position information of the tunnel; determining whether the distance is smaller than a second threshold value or not to detect whether the vehicle is about to exit the tunnel or not and acquire inertial navigation positioning information of the vehicle; and when the inertial navigation positioning information of the vehicle is not acquired, deducing the driving position of the vehicle in the tunnel according to the speed of the vehicle entering the tunnel and/or the speed limited in the tunnel and/or the road condition of the tunnel by combining the third duration calculation, and preferably using the inertial navigation positioning information and then using the navigation tunnel to deduce the positioning information.
In a preferred embodiment, the detection module 31 is specifically configured to: acquiring environmental information around the vehicle through a sensor of the vehicle, wherein the environmental information comprises light and/or humidity; obtaining a second detection result based on the environment information; correspondingly, the determining whether to utilize an in-vehicle display device of the vehicle to perform auxiliary display on the real-time front image of the vehicle based on the first detection result comprises: and determining whether to utilize an in-vehicle display device of the vehicle to perform auxiliary display on the real-time front image of the vehicle based on the first detection result and the second detection result. For example, when it is determined that the vehicle is about to enter or exit the tunnel based on the first detection result, and it is determined that the vehicle light brightness difference is greater than a third threshold value and/or the humidity is greater than a fourth threshold value based on the second detection result, the real-time front image of the vehicle is displayed in an auxiliary manner by using the in-vehicle display device of the vehicle.
In a preferred embodiment, the detection module 31 is specifically configured to: on the vehicle that has light humidity transducer, the vehicle is generally for having automatic headlight, automatic air conditioner motorcycle type, can judge whether opens the visual image and carry out auxiliary display in combination with illumination intensity, for example, in the cloudy or cloudy and rainy weather that illumination intensity is lower, the condition that the tunnel of cominging in and going out is short to cause the blindness can not appear, then can judge not open the visual image and carry out auxiliary display, the night condition when the vehicle goes out tunnel vehicle environment light luminance difference is greater than first threshold value, can judge to open the visual image and carry out auxiliary display, simultaneously the light humidity transducer of vehicle has memory function through computer information storage module.
The auxiliary display device for auxiliary display of vehicle access in the tunnel provided by the embodiment belongs to the same inventive concept as the auxiliary display method for vehicle access in the tunnel provided by the embodiment of the present application, can execute the auxiliary display method for vehicle access in the tunnel provided by the embodiment of the present application, and has functional modules and beneficial effects corresponding to the auxiliary display method for vehicle access in the tunnel. For details of the technology not described in detail in this embodiment, reference may be made to the auxiliary display method for the vehicle entering and exiting the tunnel provided in the embodiment of the present application, and details are not described here again.
EXAMPLE five
The present application provides a computer storage medium, which includes a memory, and when the memory executes a computer program, the steps in the methods shown in the first to third embodiments are implemented, for which specific reference may be made to the detailed description in the first to third embodiments, which is not described in detail later. For example, the memory, when executing the computer program, implements the steps of:
acquiring running information of a vehicle, wherein the running information comprises at least one of position information, vehicle speed information and running direction information;
acquiring position information of a tunnel;
detecting whether the vehicle is about to enter or exit the tunnel or not based on the driving information of the vehicle and the position information of the tunnel to obtain a first detection result;
and determining whether to perform auxiliary display on the front image of the vehicle by using an in-vehicle display device of the vehicle based on the first detection result.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (7)

1. An auxiliary display method for vehicle access in a tunnel, the method comprising:
acquiring running information of a vehicle, wherein the running information comprises at least one of position information, vehicle speed information and running direction information;
acquiring position information of a tunnel;
receiving a V2X directional message sent by a front vehicle of the vehicle, wherein the V2X directional message comprises position information when the front vehicle enters or exits the tunnel;
detecting whether the vehicle is about to enter or exit the tunnel based on the driving information of the vehicle and the position information of the tunnel to obtain a first detection result, wherein the detecting comprises: detecting whether the vehicle is about to drive into or drive out of the tunnel or not based on the driving information, the V2X directional message and the position information of the tunnel to obtain the first detection result;
acquiring environmental information around the vehicle through a sensor of the vehicle, wherein the environmental information comprises light and/or humidity;
obtaining a second detection result based on the environment information;
determining whether to perform auxiliary display on the front image of the vehicle by using an in-vehicle display device of the vehicle based on the first detection result, wherein the determining includes: determining whether to perform auxiliary display on a real-time front image of the vehicle by using an in-vehicle display device of the vehicle based on the first detection result and the second detection result;
wherein the detecting whether the vehicle is about to drive into or out of the tunnel based on the driving information, the V2X directional message and the location information of the tunnel to obtain the first detection result includes:
calibrating the position information of the tunnel according to the position information of the front vehicle;
determining a distance to be traveled between the vehicle and the tunnel according to the position information of the vehicle, the traveling direction information and the position information after the tunnel calibration;
determining a second predicted time length for the vehicle to travel to the tunnel according to the vehicle speed information and the distance to be traveled;
and detecting whether the vehicle is about to enter or exit the tunnel according to the estimated second duration to obtain the first detection result.
2. The method according to claim 1, wherein the driving information includes position information of the vehicle, the vehicle speed information, and the driving direction information, and the detecting whether the vehicle is about to enter or exit the tunnel based on the driving information of the vehicle and the position information of the tunnel obtains a first detection result, including:
determining a distance to be traveled between the vehicle and the tunnel according to the position information of the vehicle, the traveling direction information and the position information of the tunnel;
determining an expected first time length of the vehicle running to the tunnel according to the vehicle speed information and the distance to be traveled;
and detecting whether the vehicle is about to enter or exit the tunnel according to the expected first time length to obtain the first detection result.
3. The method according to claim 1, wherein the driving information of the vehicle includes position information of the vehicle, and the detecting whether the vehicle is about to enter or exit the tunnel based on the driving information of the vehicle and the position information of the tunnel to obtain a first detection result includes:
and detecting whether the vehicle is about to enter or exit the tunnel or not based on the position information of the vehicle and the position information of the tunnel to obtain a first detection result.
4. The method of claim 3, wherein the position information of the vehicle comprises one or more of Global Navigation Satellite System (GNSS) positioning information, Inertial Navigation System (INS) positioning information and navigation tunnel deduction positioning information, and the detecting whether the vehicle is about to enter or exit the tunnel based on the position information of the vehicle and the position information of the tunnel obtains a first detection result, comprising:
determining the distance between the position information of the vehicle and the position information of the tunnel according to the Global Navigation Satellite System (GNSS) positioning information and/or Inertial Navigation System (INS) positioning information of the vehicle and the position information of the tunnel;
determining whether the distance is smaller than a first threshold value or not to detect whether the vehicle is about to drive into the tunnel or not to obtain a first detection result;
alternatively, the first and second electrodes may be,
determining the distance between the position information of the vehicle and the position information of the tunnel according to inertial navigation system INS positioning information and/or navigation tunnel deduction positioning information of the vehicle and the position information of the tunnel;
and determining whether the distance is smaller than a second threshold value or not to detect whether the vehicle is about to exit the tunnel or not to obtain a first detection result.
5. The method according to claim 4, wherein before detecting whether the vehicle is about to enter or exit the tunnel based on the position information of the vehicle and the position information of the tunnel and obtaining a first detection result, the method further comprises at least one of:
acquiring Global Navigation Satellite System (GNSS) positioning information of the vehicle;
when the GNSS positioning information of the vehicle is not acquired, detecting the acceleration of the vehicle in an inertial reference system through a vehicle sensor, integrating the acceleration with time, and simultaneously converting the acceleration into a navigation coordinate system to obtain the position of the vehicle in the navigation coordinate system;
acquiring inertial navigation positioning information of a vehicle;
acquiring a third time length after the vehicle enters the tunnel;
and when the inertial navigation positioning information of the vehicle is not acquired, calculating according to the speed of the vehicle entering the tunnel and/or the speed limited in the tunnel and/or the road condition of the tunnel and the third time length, and deducing the driving position of the vehicle in the tunnel.
6. The method according to any one of claims 1 to 5, wherein the determining whether to assist in displaying the real-time forward image of the vehicle with an in-vehicle display device of the vehicle based on the first detection result and the second detection result comprises:
and when the fact that the vehicle is about to enter or exit the tunnel is determined based on the first detection result, and the fact that the brightness difference of the vehicle light is larger than a third threshold value and/or the humidity is larger than a fourth threshold value is determined based on the second detection result, utilizing an in-vehicle display device of the vehicle to perform auxiliary display on the real-time front image of the vehicle.
7. An auxiliary display device for vehicle entrance and exit in a tunnel, comprising a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 6.
CN202111001728.2A 2021-08-30 2021-08-30 Auxiliary display method and device for vehicle entering and exiting tunnel Active CN113442833B (en)

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