CN115320625A - Identification and judgment method for optimizing rainy scene of intelligent driving system - Google Patents
Identification and judgment method for optimizing rainy scene of intelligent driving system Download PDFInfo
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- CN115320625A CN115320625A CN202211012187.8A CN202211012187A CN115320625A CN 115320625 A CN115320625 A CN 115320625A CN 202211012187 A CN202211012187 A CN 202211012187A CN 115320625 A CN115320625 A CN 115320625A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000006870 function Effects 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 13
- 238000005259 measurement Methods 0.000 claims description 9
- 239000003344 environmental pollutant Substances 0.000 claims description 6
- 231100000719 pollutant Toxicity 0.000 claims description 6
- 238000004140 cleaning Methods 0.000 claims description 4
- 230000008447 perception Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 description 2
- 239000000356 contaminant Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/04—Wipers or the like, e.g. scrapers
- B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
- B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
- B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
- B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
-
- 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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention belongs to the technical field of automotive electronics, and particularly relates to a method for identifying and judging a rainy scene of an optimized intelligent driving system; the intelligent driving system comprises a camera, a rainfall sensor, a control unit, a camera, a windscreen wiper, a control unit and a control unit, wherein the camera and the rainfall sensor are arranged right above a front windshield of a vehicle, when the functions of ACC, ICA and TJA are started, the control unit of the intelligent driving system periodically inputs rainfall sensor data and state data of the windscreen wiper, the intelligent driving system identifies and judges whether a rainy scene is detected by combining the sensing result of the camera, and the system carries out different responses according to different identification and judgment results; the invention reduces the false alarm rate of scene recognition in rainy days by fusing the data of the rainfall sensor and the windscreen wiper.
Description
Technical Field
The invention belongs to the technical field of automotive electronics, and particularly relates to a method for identifying and judging a rainy scene of an optimized intelligent driving system.
Background
The intelligent driving system mainly comprises an active safety and driving function auxiliary technology, wherein the latter provides a more relaxed driving mode for a driver by controlling the transverse direction, the longitudinal direction or the transverse and longitudinal directions of the automobile in a combined manner so as to reduce the fatigue feeling of the driver. Currently, the intelligent driving assistance functions configured for the vehicles on the market mainly include an Adaptive Cruise Control (ACC), an Integrated Cruise Assistance (ICA), a Traffic congestion assistance (TJA), and the like.
The ACC system detects the exact position of a forward target vehicle during vehicle travel by sensors (radar, camera, lidar) mounted on the front of the vehicle, while the wheel speed sensors acquire the vehicle speed signal. When the distance between the vehicle and the front vehicle is too small or a new target vehicle is monitored, the ACC control unit can properly brake the wheels through the coordination action of the braking system and the engine control system, and the output power of the engine is reduced, so that the vehicle and the front vehicle can always keep a safe distance. When the situation that the front road obstacle is cleared is monitored, the speed is accelerated to be restored to the set speed for cruising. ICA and TJA are upgraded on the basis of ACC functions, lane lines on a road in front are identified through a camera, the transverse position of the vehicle in the current lane is detected in real time, and the vehicle is controlled transversely through an electronic power steering system to assist a driver to control the vehicle in the current lane.
When the intelligent driving system senses the environmental information through the camera as a sensor, under the weather conditions of rainy days, snowy days, foggy days, sand and dust and the like, the accuracy of target recognition is reduced under the above working condition due to the recognition principle, and at the moment, the system can timely recognize the external weather condition and prompt a driver to take over the vehicle. At present, the image data based on a camera has low precision for identifying a rainy scene and relatively high missing report rate, and a driver cannot be prompted to take over a vehicle in time.
Disclosure of Invention
In order to overcome the problems, the invention provides a method for identifying and judging a rainy scene of an optimized intelligent driving system, which reduces the false alarm rate of identifying the rainy scene by fusing data of a rainfall sensor and a windscreen wiper.
In order to realize the purpose, the invention adopts the technical scheme that:
a recognition and judgment method for optimizing a rainy scene of an intelligent driving system comprises the following steps:
step one, mounting a camera and a rainfall sensor on a front windshield of a vehicle;
step two, when any intelligent driving system subfunction in ACC, ICA and TJA is started, judging whether the first 20 frames of perception identification results of the current moment t of the camera are rainy scenes, and reading the detection value of a rainfall sensor according to the identification results to judge the next step;
step three, if the current weather is identified as a rainy scene by the sensing result of the camera, reading the rainfall sensor detection data 3s before the current time t, and calculating a measurement average value X in 3 s; when the X is larger than the threshold a, further judging whether the state of the windscreen wiper is started, and when the windscreen wiper is started, prompting a driver that the current weather is rainy and the vehicle needs to be taken over; when the windscreen wiper is detected not to be opened or X is smaller than a threshold value a, prompting that pollutants exist in a field angle area of the camera, and asking for timely cleaning;
step four, if the current weather is identified to be a non-rainy scene by the sensing result of the camera, reading the rainfall sensor detection data 3s before the current time t, and calculating the measurement average value Y in 3 s; when Y is smaller than the threshold b, the normal operation of the intelligent driving function of the vehicle is kept; otherwise, comparing Y with a threshold value a;
step five, when the Y is larger than the threshold value a, further judging whether the state of the windscreen wiper is opened, and when the windscreen wiper is opened, prompting a driver that the current weather is rainy and the vehicle needs to be taken over; when the windscreen wiper is not opened or Y is smaller than a threshold value a, the possibility that pollutants exist in the field angle area of the camera is prompted, and timely cleaning is requested.
And in the first step, the camera and the rainfall sensor are arranged right above the front windshield of the vehicle.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1) Compared with the identification based on image data, the identification precision of a rainy day scene is higher and the missing report rate is reduced by fusing the data of the rainfall sensor and the data of the windscreen wiper;
2) The driver is prompted according to the recognition result, so that the driver can timely cope with the external environment change, and the driving safety is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
Example 1
As shown in fig. 1, in the method for identifying and determining the rainy scene in the optimized intelligent driving system, the camera and the rainfall sensor are installed right above a front windshield of the vehicle, and the wiper combination switch is located at the lower right of a steering wheel of the vehicle. When the functions of ACC, ICA and TJA are started, extracting required data according to the sensors, and identifying and judging the rainy scene by the following method:
when any intelligent driving system subfunction of ACC, ICA and TJA is started, the intelligent driving system control unit periodically inputs rainfall sensor data and wiper state data, and combines the sensing result of the camera to identify and judge whether the scene is rainy, and the system makes different responses according to different identification and judgment results.
Firstly, judging whether the first 20 frames of sensing and identifying results at the current time t are rainy scenes according to data of a camera, and reading a detection value of a rainfall sensor according to the identifying results to judge the next step.
And if the current weather is identified as a rainy scene by the sensing result of the camera, reading the rainfall sensor detection data 3s before the current time t, and calculating the measurement average value X. When the X is larger than a certain threshold value a (which can be calibrated), further judging whether the state of the windscreen wiper is started, and when the windscreen wiper is started, prompting a driver that the current weather is rainy and the vehicle needs to be taken over; when the windscreen wiper is detected not to be opened or X is smaller than a given threshold value a, a driver is prompted that pollutants are possibly in the camera view field angle area, and the driver is asked to clean the windscreen wiper in time.
And if the current weather is identified to be a non-rainy scene by the sensing result of the camera, reading the rainfall sensor detection data 3s before the current time t, and calculating the measurement average value Y of the rainfall sensor detection data. When Y is smaller than a certain threshold b (which can be calibrated), the normal operation of the intelligent driving function of the vehicle is kept; otherwise, Y needs to be compared with the threshold a to further determine whether the driver is prompted to take over the vehicle or whether the driver is prompted that there may be contaminants in the angular field of view of the camera.
Example 2
The invention realizes the recognition and judgment of rainy scenes based on the data of the forward-looking camera, the rainfall sensor and the windscreen wiper. The front-View camera is arranged right above a front windshield Of a vehicle, and a Field Of View (FOV) Of the camera is required to be ensured to cover a front View area to the maximum extent; the rainfall sensor is arranged in a black area of a front windshield glass, so that the measurement performance of the sensor is ensured, and the coordination of the sensor arrangement and the appearance of a vehicle is also considered; the wiper combination switch is positioned at the lower right part of a steering wheel of the vehicle and is consistent with the arrangement position of the vehicle types on the market, so that the operation of a driver is facilitated, and the independent figure description is omitted.
As shown in fig. 1, when any one of the horizontal control function, the vertical control function, or the horizontal and vertical control functions of the intelligent driving system is simultaneously turned on, the intelligent driving system performs preliminary judgment on the current weather scene through the sensing data of the camera. When the camera senses that the recognition result is a rainy scene, the intelligent driving system control unit reads rainfall sensor data and state data of the windscreen wiper, further analyzes whether the recognition result is the rainy scene, and the system carries out different responses according to different recognition results.
Firstly, sensing the previous 20 frames of data at the current time t based on the data of a front-view camera of the intelligent driving system, and reading the data information of the rainfall sensor according to the identification result for further judgment.
And if the current weather is identified as a rainy scene by the continuous 20 frames of camera sensing data, reading the rainfall sensor detection data 3s before the current time t, and calculating the measurement average value X. When the X is larger than a certain threshold value a (which can be calibrated), further judging whether the state of the windscreen wiper is started, and when the windscreen wiper is started, prompting a driver that the current weather is rainy and the vehicle needs to be taken over; when the windscreen wiper is detected not to be opened or X is smaller than a given threshold value a, a driver is prompted that pollutants are possibly in the camera view field angle area, and the driver is asked to clean the windscreen wiper in time.
And if the current weather is identified to be a non-rainy scene by the continuous 20 frames of camera sensing data, reading the rainfall sensor detection data 3s before the current time t, and calculating the measurement average value Y of the rainfall sensor detection data. When Y is smaller than a certain threshold b (which can be calibrated), the normal operation of the intelligent driving function of the vehicle is kept; otherwise, Y needs to be compared with the threshold a to further determine whether the driver is prompted to take over the vehicle or whether the driver is prompted that there may be contaminants in the angular field of view of the camera.
Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the scope of the present invention is not limited to the specific details of the above embodiments, and any person skilled in the art can substitute or change the technical solution of the present invention and its inventive concept within the technical scope of the present invention, and these simple modifications belong to the scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention can be made, and the same should be considered as the disclosure of the present invention as long as the idea of the present invention is not violated.
Claims (2)
1. A recognition and judgment method for optimizing a rainy scene of an intelligent driving system is characterized by comprising the following steps:
step one, mounting a camera and a rainfall sensor on a front windshield of a vehicle;
step two, when any intelligent driving system subfunction in ACC, ICA and TJA is started, judging whether the first 20 frames of perception identification results of the current moment t of the camera are rainy scenes, and reading the detection value of the rainfall sensor according to the identification results to judge the next step;
step three, if the current weather is identified as a rainy scene by the sensing result of the camera, reading the rainfall sensor detection data 3s before the current time t, and calculating a measurement average value X in 3 s; when the X is larger than the threshold a, further judging whether the state of the windscreen wiper is started, and when the windscreen wiper is started, prompting a driver that the current weather is rainy and the vehicle needs to be taken over; when the windscreen wiper is detected not to be opened or X is smaller than a threshold value a, prompting that the possibility of pollutants exists in a camera view field angle area, and asking for timely cleaning;
step four, if the current weather is identified to be a non-rainy scene by the sensing result of the camera, reading the rainfall sensor detection data 3s before the current time t, and calculating the measurement average value Y in 3 s; when Y is smaller than a threshold value b, the normal operation of the intelligent driving function of the vehicle is kept; otherwise, comparing Y with a threshold value a;
step five, when Y is larger than a threshold value a, further judging whether the state of the windscreen wiper is started, and when the windscreen wiper is started, prompting a driver that the current weather is rainy and the vehicle needs to be taken over; when the windscreen wiper is detected not to be opened or Y is smaller than a threshold value a, the possibility that pollutants exist in the corner area of the camera field of view is prompted, and timely cleaning is requested.
2. The method for identifying and determining the rainy scene of the optimized intelligent driving system according to claim 1, wherein in the first step, the camera and the rain sensor are installed right above a front windshield of the vehicle.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116215424A (en) * | 2023-05-09 | 2023-06-06 | 江铃汽车股份有限公司 | Night rain and fog weather safe driving control method, system and storage medium |
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| 张禹;龙永红;: "基于车载摄像机的雨量传感器算法研究", 湖南工业大学学报, no. 06, 12 January 2018 (2018-01-12), pages 42 - 47 * |
| 杨梦英;: "基于模拟驾驶的天气环境对驾驶员危险感知特性影响", 北京汽车, no. 02, 25 April 2017 (2017-04-25), pages 11 - 13 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116215424A (en) * | 2023-05-09 | 2023-06-06 | 江铃汽车股份有限公司 | Night rain and fog weather safe driving control method, system and storage medium |
| CN116215424B (en) * | 2023-05-09 | 2023-07-25 | 江铃汽车股份有限公司 | Night rain and fog weather safe driving control method, system and storage medium |
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