CN117549914B - Vehicle-mounted vision auxiliary driving system and control method thereof - Google Patents
Vehicle-mounted vision auxiliary driving system and control method thereof Download PDFInfo
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- CN117549914B CN117549914B CN202410044515.5A CN202410044515A CN117549914B CN 117549914 B CN117549914 B CN 117549914B CN 202410044515 A CN202410044515 A CN 202410044515A CN 117549914 B CN117549914 B CN 117549914B
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- 238000012544 monitoring process Methods 0.000 claims abstract description 35
- 230000004888 barrier function Effects 0.000 claims description 13
- 238000012423 maintenance Methods 0.000 claims description 6
- 238000012216 screening Methods 0.000 claims description 6
- 230000035945 sensitivity Effects 0.000 claims description 2
- 238000007790 scraping Methods 0.000 description 20
- 230000000007 visual effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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Abstract
The invention relates to the technical field of vehicle control, and discloses a vehicle-mounted vision auxiliary driving system and a control method thereof, wherein a safety driving area and a safety driving line are marked, a corresponding vehicle control instruction is given after a first driving difference value or a second driving difference value is analyzed, and a driver is prompted to perform control operation of keeping driving, steering or stopping of the vehicle; compared with the prior art, the vehicle deviation state monitoring method has the advantages that the auxiliary driving modes which accord with different obstacle widths are made through analysis of the comparison results of the obstacle widths and the vehicle body widths, the vehicle deviation state is monitored on the basis of the driving safety area or the driving safety line, the vehicle control instruction is timely sent out immediately before the vehicle is scratched and bumped, a driver is prompted to avoid the vehicle, the phenomenon that the vehicle and the obstacle are scratched and bumped is prevented, the probability that the vehicle safely and smoothly passes through the obstacle with the narrower width is further improved, and property loss is avoided.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle-mounted vision auxiliary driving system and a control method thereof.
Background
The vehicle-mounted vision auxiliary driving is a vehicle driving technology which is used for acquiring real-time driving images through vehicle-mounted vision equipment, analyzing the driving images and giving control instructions according with the current driving environment of a vehicle, and for some novice drivers, due to insufficient driving experience, deviation is easy to occur in judgment of the environment outside the vehicle, so that the novice drivers are easy to scratch and collide with the obstacle when driving through the narrower obstacle, and unnecessary property loss is caused, and therefore auxiliary driving is needed through the vehicle-mounted vision equipment.
The Chinese application with application publication number of CN110435672A discloses a scene pre-judging safe driving auxiliary method and a system thereof, wherein the scene pre-judging safe driving auxiliary method is used for collecting scene information around a vehicle through an acquisition module, an identification module is used for identifying characteristics of objects in the scene information, a processing module is used for analyzing and processing the identified object characteristic data and calculating the speed and position relation with the vehicle, a control module is used for judging and generating a control instruction, and a display module is used for generating a driving prompt or a vehicle driving instruction understood by a driver from the control instruction;
the prior art has the following defects:
the existing vision-aided driving system displays the real-time positions of the obstacle and the vehicle through the vision images, acquires the distance between the two sides of the vehicle and the inner side of the obstacle, judges the deviation amplitude of the vehicle, and gives an early warning prompt, so that the mode can meet the requirement of the vehicle for passing through the obstacle with larger width, but when the width of the obstacle is smaller, the vehicle can be left and right deviated amplitude is smaller when passing through the obstacle, and the mode of judging the deviation amplitude of the two sides of the vehicle can not accurately monitor whether the vehicle and the obstacle are in the same central line or not, so that the scraping and collision phenomenon of the vehicle and the obstacle is easily caused, the probability of the vehicle safely and smoothly passing through the obstacle with smaller width is reduced, and unnecessary property loss is caused.
In view of the above, the present invention provides a vehicle-mounted vision-assisted driving system and a control method thereof to solve the above-mentioned problems.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the following technical scheme for achieving the purposes: an on-vehicle vision auxiliary driving system is applied to an on-vehicle computer and comprises:
the admission judging module is used for acquiring the width of the obstacle and the width of the vehicle body, acquiring a width difference value based on the width of the obstacle and the width of the vehicle body, and judging whether the vehicle is admitted to pass through the obstacle or not based on the width difference value;
the mode selection module is used for comparing the width difference value with a preset width threshold value, and selecting an auxiliary driving mode according to a comparison result, wherein the auxiliary driving mode comprises a monitoring mode and a sensitive mode;
the first monitoring module marks a safe driving area of the obstacle in a monitoring mode and acquires a first driving difference value based on the safe driving area;
the second monitoring module marks a safe driving line of the obstacle under the sensitive mode and acquires a second driving difference value based on the safe driving line;
the instruction generation module generates a first vehicle control instruction based on the first travel difference value; generating a second vehicle control command based on the second travel difference;
the instruction execution module prompts a driver to control the vehicle to maintain a running state, turn left or right or park according to the first vehicle control instruction; and prompting a driver to control the vehicle to turn left or right at a small angle or stop in an emergency according to the second vehicle control instruction.
Further, the width difference obtaining method includes:
acquiring a main view image of an obstacle through a camera arranged on a vehicle, measuring n horizontal distances between two obstacles on the main view image through a scale, and marking the minimum horizontal distance;
the minimum horizontal distance is scaled by a scale to obtain the width of the obstacle;
obtaining the width of the vehicle body through a vehicle parameter server;
comparing the width of the obstacle with the width of the vehicle body to obtain a width difference;
the expression of the width difference is:
；
in the method, in the process of the invention,for the width difference>For barrier width, +.>Is the width of the vehicle body;
the method of determining whether to permit the vehicle to pass through the obstacle includes:
when (when)When the vehicle is greater than 0, determining that the vehicle is permitted to pass through the obstacle;
when (when)When the vehicle is not more than 0, it is determined that the vehicle is not permitted to pass through the obstacle.
Further, the method for selecting the monitoring mode and the sensitive mode comprises the following steps:
the width difference value is compared with a preset width threshold valueDifference comparison is performed>Greater than 0;
when 0 is less thanAnd->Less than or equal to->When the method is used, a sensitive mode is selected;
when (when)Is greater than->When the monitoring mode is selected.
Further, the marking method of the safe driving area comprises the following steps:
when a vehicle is driven into a space between two obstacles, acquiring overlooking video pictures of the obstacles in real time through a camera arranged on the vehicle;
marking two barriers in a overlook video picture respectively, and drawing lines along the inner side edges of the two barriers to obtain a first dividing line and a second dividing line;
moving the first demarcation line to a preset first safety threshold value in the direction of the second demarcation line to obtain a first safety line;
moving the second boundary line to a preset first safety threshold value in the direction of the first boundary line to obtain a second safety line;
the area between the first safety line and the second safety line is marked as a safe driving area.
Further, the method for obtaining the first driving difference value includes:
marking a first dividing line and a second dividing line in the top view video picture;
simulating the real-time position of the vehicle in the overlooking video picture, and respectively drawing a first driving line and a second driving line along the outer edges of the rearview mirrors at two sides of the vehicle body and in the direction parallel to the vehicle body;
respectively measuring k first distance values from the first driving line to the first dividing line and t second distance values from the second driving line to the second dividing line through a scale, and screening out the minimum distance value from the k first distance values and the t second distance values;
the minimum distance value is converted through the proportion of the proportion scale to obtain a minimum running value;
and comparing the minimum driving value with a first safety threshold value to obtain a first driving difference value.
Further, the marking method of the safety driving line comprises the following steps:
marking the midpoints of the two barriers and the inner boundaries of the two barriers in the overlooking video picture;
drawing a straight line parallel to the first boundary line and the second boundary line through the midpoints of the two barriers;
the resulting straight line is marked as a safe driving line.
Further, the second driving difference obtaining method includes:
marking a safe driving line in a overlook video picture, and simulating the real-time position of the vehicle;
drawing a third driving line and a fourth driving line along the outer edges of the rearview mirrors at two sides of the vehicle body and in parallel with the vehicle body respectively, and drawing h straight lines perpendicular to the third driving line and the fourth driving line between the third driving line and the fourth driving line;
marking the midpoints of h straight lines perpendicular to the third driving line and the fourth driving line respectively, marking the midpoints as passing points, and connecting the h passing points in sequence to obtain a vehicle center line;
measuring w third distance values and p fourth distance values between the center line of the vehicle and the first and second dividing lines through a scale, and screening out a maximum distance value from the w third distance values and the p fourth distance values;
the maximum distance value is converted through the proportion of the proportion scale to obtain the maximum running value;
and comparing the maximum running value with a preset second safety threshold value to obtain a second running difference value.
Further, the first vehicle control command includes a maintain travel state command, a left or right steering command, and a park command;
the method for generating the driving state maintenance command, the left or right steering command and the parking command comprises the following steps:
generating a driving state maintaining instruction when the first driving difference value is larger than a first safety threshold value;
generating a left or right turn when the first travel difference is equal to a first safety threshold;
when the first driving difference value is smaller than a first safety threshold value, a parking instruction is generated;
the second vehicle control command includes a small angle left or right steering command and an emergency stop command;
the method for generating the small-angle left or right steering command and the emergency stop command comprises the following steps:
when the second driving difference value is smaller than a second safety threshold value, generating a small-angle left or right steering instruction;
and when the second driving difference value is greater than or equal to a second safety threshold value, generating an emergency stop instruction.
Further, when the first vehicle control command is a driving state maintenance command, prompting a driver to control the vehicle to maintain a driving state;
when the first vehicle control instruction is a left or right steering instruction, prompting a driver to control the vehicle to steer right if the first driving difference value is a first distance value; if the first driving difference value is the second distance value, prompting a driver to control the vehicle to steer leftwards;
when the first vehicle control instruction is a parking instruction, prompting a driver to control the vehicle to park;
when the second vehicle control instruction is a small-angle left or right steering instruction, if the second driving difference value is a third distance value, prompting a driver to control the vehicle to steer to the right at a small angle; if the second driving difference value is a fourth distance value, prompting a driver to control the vehicle to steer left at a small angle;
and prompting the driver to control the vehicle to stop in emergency when the second vehicle control command is an emergency stop command.
The vehicle-mounted vision auxiliary driving control method is applied to a vehicle-mounted computer and is realized based on the vehicle-mounted vision auxiliary driving control system, and is characterized by comprising the following steps of:
s1: acquiring the width of the obstacle and the width of the vehicle body, acquiring a width difference value based on the width of the obstacle and the width of the vehicle body, and judging whether the vehicle is permitted to pass through the obstacle or not based on the width difference value;
s2: comparing the width difference value with a preset width threshold value, and selecting an auxiliary driving mode according to a comparison result, wherein the auxiliary driving mode comprises a monitoring mode and a sensitive mode;
s3: in a monitoring mode, marking a safe driving area of the obstacle, and acquiring a first driving difference value based on the safe driving area;
s4: marking a safety driving line of the obstacle in a sensitive mode, and acquiring a second driving difference value based on the safety driving line;
s5: generating a first vehicle control command based on the first travel difference; generating a second vehicle control command based on the second travel difference;
s6: prompting a driver to control the vehicle to maintain a running state, turn left or right or park according to the first vehicle control instruction; and prompting a driver to control the vehicle to turn left or right at a small angle or stop in an emergency according to the second vehicle control instruction.
The vehicle-mounted vision auxiliary driving system and the control method thereof have the technical effects and advantages that:
according to the invention, the vehicle vision equipment is used for collecting the width of the obstacle and the width of the vehicle body, judging whether the vehicle is permitted to pass through the obstacle or not, on the basis of permitting the vehicle to pass through the obstacle, selecting a monitoring mode or a sensitive mode as an auxiliary driving mode, on the basis of the monitoring mode or the sensitive mode, respectively marking a safe driving area and a safe driving line, combining the real-time driving state of the vehicle to obtain a first driving difference value or a second driving difference value of the vehicle, analyzing the first driving difference value or the second driving difference value, and then giving a corresponding vehicle control instruction, further prompting a driver to perform control operation of keeping driving, steering or parking on the vehicle, ensuring that the vehicle can safely and smoothly pass through the obstacle, and compared with the prior art, determining an auxiliary driving mode conforming to different obstacle widths on the basis of driving safety area or the driving safety line, timely sending the vehicle control instruction before the vehicle scraping collision situation occurs, prompting the driver to perform vehicle operation, further improving the probability of the vehicle to avoid the vehicle and the obstacle with narrow passing width, and avoiding property loss.
Drawings
Fig. 1 is a schematic diagram of a vehicle-mounted vision-assisted driving system provided in embodiment 1 of the present invention;
fig. 2 is a schematic view of a safe driving area provided in embodiment 1 of the present invention;
fig. 3 is a schematic view of a safe driving line provided in embodiment 1 of the present invention;
fig. 4 is a flow chart of a vehicle-mounted vision-assisted driving control method provided in embodiment 4 of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the following embodiments, the obstacle is specifically a width limiting pier, which shows an auxiliary driving effect when the vehicle passes through the width limiting pier in real life, but the obstacle is not limited to the width limiting pier, and also includes a narrower tunnel, a passage between adjacent buildings, a parking lot passage where vehicles stop at two sides, and the like, taking the obstacle as the width limiting pier as an example, and adopting the following system and method;
example 1: referring to fig. 1, the vehicle vision-assisted driving system according to the present embodiment is applied to a vehicle-mounted computer, and the system includes:
the admission judging module is used for acquiring the width of the width-limiting pier and the width of the vehicle body, acquiring a width difference value based on the width of the width-limiting pier and the width of the vehicle body, and judging whether the vehicle is permitted to pass through the width-limiting pier or not based on the width difference value;
under ideal conditions, when the vehicle needs to pass through the width limiting pier safely and smoothly, the width of the width limiting pier is at least required to be larger than or equal to the width of the vehicle body, and because the side surface of the vehicle body is in a parallel state relative to the width limiting pier when the driver cannot ensure that the vehicle passes through the width limiting pier in an actual driving environment, the width of the width limiting pier needs to be ensured to be larger than the width of the vehicle body in order to ensure that the vehicle passes through the width limiting pier safely and smoothly;
the width difference is the difference between the width of the width limiting pier and the width of the vehicle body, and is used as a basis for judging whether the vehicle is permitted to pass through the width limiting pier or not;
the width difference value acquisition method comprises the following steps:
acquiring a main view image of the width-limiting piers through a camera arranged on the vehicle, measuring n horizontal distances between the two width-limiting piers on the main view image through a scale, and marking the minimum horizontal distance;
the minimum horizontal distance is converted by the proportion of a proportion scale to obtain the width of the width limiting pier;
obtaining the width of the vehicle body through a vehicle parameter server;
comparing the width of the width limiting pier with the width of the vehicle body to obtain a width difference;
the expression of the width difference is:；
in the method, in the process of the invention,for the width difference>For barrier width, +.>Is the width of the vehicle body;
the method of determining whether to permit the vehicle to pass through the obstacle includes:
when (when)When the width of the width limiting pier is larger than 0, the width of the width limiting pier is larger than the width of the vehicle body, and the vehicle can safely and smoothly pass through the width limiting pier at the moment, and the vehicle is judged to be permitted to pass through the width limiting pier;
when (when)When the width of the width limiting pier is smaller than or equal to 0, the width of the width limiting pier is smaller than or equal to the width of the vehicle body, and the vehicle cannot safely and smoothly pass through the width limiting pier at the moment, and the vehicle is not permitted to pass through the width limiting pier;
the mode selection module is used for comparing the width difference value with a preset width threshold value, and selecting an auxiliary driving mode according to a comparison result, wherein the auxiliary driving mode comprises a monitoring mode and a sensitive mode;
the auxiliary driving modes refer to the difficulty level of the vehicle in the process of passing through the width limiting pier, the different auxiliary driving modes refer to the different difficulty levels of the vehicle when passing through the width limiting pier, when the difficulty level is larger, the probability of scraping and colliding with the width limiting pier is higher when the vehicle passes through the width limiting pier, and otherwise, the probability is opposite; the sensitivity mode is large in difficulty and the monitoring mode is small in difficulty;
the method for selecting the monitoring mode and the sensitive mode comprises the following steps:
the width difference value is compared with a preset width threshold valueDifference comparison is performed>Greater than 0; the preset width threshold is a numerical representation of the difficulty level corresponding to the width difference value, and can distinguish whether the width difference value is in a sensitive mode or a monitoring mode, the preset width threshold is counted by collecting a large number of difficulty levels of vehicles corresponding to the width difference value passing through the width limiting piers, and the specific width threshold is set according to the actual situation;
when 0 is less thanAnd->Less than or equal to->When the vehicle passes through the width limiting pier, the difficulty is high, and a sensitive mode is selected;
when (when)Is greater than->When the difficulty level of the vehicle passing through the width limiting pier is small, a monitoring mode is selected;
it should be noted that, by selecting different driving assisting modules, different visual driving assisting control operations can be performed on the vehicle when the vehicle passes through the width limiting pier, when the monitoring mode is selected, the difficulty and the strictness of the visual driving assisting control operation of the vehicle are relatively low, and when the sensitive mode is selected, the difficulty and the strictness of the visual driving assisting control operation of the vehicle are relatively high;
the first monitoring module marks a safe driving area of the width limiting pier in a monitoring mode, and obtains a first driving difference value based on the safe driving area;
in the monitoring mode, the part of the width limiting pier, which is larger than the width of the vehicle body, is larger, at the moment, the vehicle can move to the left and right relatively easily within the width limiting pier by a certain range, the safe and smooth passing of the vehicle between the width limiting piers is not influenced, and the area between two farthest points of the vehicle moving to the left and right within the width limiting pier is a safe driving area;
when the vehicle runs in the safe running area, the probability of scraping and colliding between the vehicle and the width limiting pier is low, so that the safety running area is marked, and the vehicle can pass through the width limiting pier safely and smoothly in an auxiliary mode;
referring to fig. 2, the method for marking the safe driving area includes:
when a vehicle is driven into a space between two width limiting piers, a overlooking video picture of the width limiting piers is acquired in real time through a camera arranged on the vehicle;
marking two width limiting piers in a overlook video picture respectively, and drawing lines along the inner side edges of the two width limiting piers to obtain a first dividing line and a second dividing line;
moving the first demarcation line to a preset first safety threshold value in the direction of the second demarcation line to obtain a first safety line; the preset first safety threshold value is a first safety buffer distance reserved at the inner sides of the two width limiting piers, and the preset first safety threshold value is moved to enable the two side boundaries of the safety driving area not to be attached to the inner side edges of the two width limiting piers, so that the width of the safety driving area is smaller than the width of the width limiting piers, at the moment, when a vehicle drives away from the safety driving area, scraping and collision phenomena with the width limiting piers can not occur directly, and further sufficient reaction time is given to a driver to control the vehicle; the preset first safety threshold is obtained by optimizing the coefficient according to the distance required by a large number of collected historical drivers to control the inner side edge of the vehicle avoidance pier, and the specific numerical value of the first safety threshold is determined according to the actual situation;
moving the second boundary line to a preset first safety threshold value in the direction of the first boundary line to obtain a second safety line;
marking the area between the first safety line and the second safety line as a safe driving area;
for example, in the figure, a and B are a first boundary line and a second boundary line, C and D are a first safety line and a second safety line, respectively, D1 is a first safety threshold value, and the area between C and D is a safe driving area;
the first driving difference value is a minimum distance value between two sides of the vehicle and two side boundaries of the safe driving area, when the vehicle swings left and right in the safe driving area, the distance value between the vehicle and the two side boundaries of the safe driving area also changes, and when the first driving difference value is smaller, the closer the distance between the two sides of the vehicle and the two side boundaries of the safe driving area is, the probability of scraping and colliding between the vehicle and the width limiting pier is increased;
the first driving difference value acquisition method comprises the following steps:
marking a first dividing line and a second dividing line in the top view video picture;
simulating the real-time position of the vehicle in the overlooking video picture, and respectively drawing a first driving line and a second driving line along the outer edges of the rearview mirrors at two sides of the vehicle body and in the direction parallel to the vehicle body;
respectively measuring k first distance values from the first driving line to the first dividing line and t second distance values from the second driving line to the second dividing line through a scale, and screening out the minimum distance value from the k first distance values and the t second distance values;
the minimum distance value is converted through the proportion of the proportion scale to obtain a minimum running value;
comparing the minimum running value with a first safety threshold value to obtain a first running difference value;
the method for obtaining the first travel difference value is applied to practice to obtain a plurality of groups of first distance values and second distance values, and one first travel difference value, and specific data are shown in the following table:
the second monitoring module marks a safety driving line of the width limiting pier in a sensitive mode and acquires a second driving difference value based on the safety driving line;
in a sensitive mode, the numerical value of a part of the width-limiting pier, which is larger than the width of the vehicle body, is smaller, at the moment, the vehicle can move to the left and right sides in the width-limiting pier to a smaller extent and can influence the safe and smooth passing of the vehicle between the width-limiting piers, and a standard line of the vehicle, which is kept at the middle position of the two width-limiting piers in the width-limiting pier, is a safe driving line;
when the vehicle runs along the safety driving line, the probability of scraping and colliding between the vehicle and the width limiting pier is low, so that the safety driving line can be marked to assist the vehicle to safely and smoothly pass through the width limiting pier;
referring to fig. 3, the marking method of the safe driving line includes:
marking the middle points of the two width limiting piers and the inner side boundaries of the two width limiting piers in the overlooking video picture;
drawing a straight line parallel to the first boundary line and the second boundary line through the midpoints of the two width limiting piers;
marking the obtained straight line as a safe driving line;
illustratively, in the figure, a and B are a first boundary line and a second boundary line respectively, Z is the midpoint of two width-limiting piers, and G is a safe driving line;
the second running difference value is a maximum distance value between the central line of the vehicle and the safety running line, when the vehicle swings left and right in the width limiting pier, the distance value between the central line of the vehicle and the safety running line changes, and when the second running difference value is larger, the probability that the vehicle and the width limiting pier are scratched and collided is increased when the distance value between the central line of the vehicle and the safety running line is larger;
the second driving difference value obtaining method comprises the following steps:
marking a safe driving line in a overlook video picture, and simulating the real-time position of the vehicle;
drawing a third driving line and a fourth driving line along the outer edges of the rearview mirrors at two sides of the vehicle body and in parallel with the vehicle body respectively, and drawing h straight lines perpendicular to the third driving line and the fourth driving line between the third driving line and the fourth driving line;
marking the midpoints of h straight lines perpendicular to the third driving line and the fourth driving line respectively, marking the midpoints as passing points, and connecting the h passing points in sequence to obtain a vehicle center line;
measuring w third distance values and p fourth distance values between the center line of the vehicle and the first and second dividing lines through a scale, and screening out a maximum distance value from the w third distance values and the p fourth distance values;
the maximum distance value is converted through the proportion of the proportion scale to obtain the maximum running value;
comparing the maximum driving value with a preset second safety threshold value to obtain a second driving difference value; the preset second safety threshold value is a second safety buffer distance reserved at the inner sides of the two width limiting piers, the deviation amplitude of the central line of the vehicle and the safety driving line can be judged by setting the second safety threshold value, when the deviation distance between the central line of the vehicle and the safety driving line does not exceed the second safety threshold value, the vehicle cannot scratch and collide with the width limiting piers, and further the driver is given sufficient reaction time to control the vehicle; the preset second safety threshold is obtained by optimizing the coefficient according to the distance required by a large number of collected historical drivers to control the inner side edge of the vehicle avoidance pier, and the specific numerical value of the second safety threshold is determined according to the actual situation;
applying the method for obtaining the second driving difference to practice to obtain a plurality of groups of third distance values and fourth distance values, and a second driving difference, wherein specific data are shown in the following table:
it should be noted that, because the vehicle may scratch and collide with the width-limiting piers when passing between the two width-limiting piers, the first driving difference and the second driving difference do not refer to the distance between a certain side of the vehicle and the width-limiting piers and the distance between the center line of the vehicle and a certain side of the safety driving line, but refer to the distance between the two sides of the vehicle and the side of the minimum distance between the inner side of the width-limiting piers and the maximum distance between the center line of the vehicle and the safety driving line, i.e. the first driving difference may be the minimum first distance value, the minimum second distance value, the second driving difference may be the maximum third distance value, and the maximum fourth distance value;
for example, the first distance value is marked as the distance of the left side of the vehicle from the inner side of the width-limiting pier, and the second distance value is marked as the distance of the right side of the vehicle from the inner side of the width-limiting pier; marking the third distance value as the distance of the vehicle center line to the left of the safety driving line, and marking the fourth distance value as the distance of the vehicle center line to the right of the safety driving line;
the instruction generation module generates a first vehicle control instruction based on the first travel difference value; generating a second vehicle control command based on the second travel difference;
the first vehicle control instruction is a control instruction sent by the vehicle-mounted computer and used for providing a driver with control of the vehicle when the vehicle is in a monitoring mode, when the vehicle is in a running in a safe running area and a scraping and collision phenomenon occurs with the inner side of the width limiting pier, and the vehicle is prevented from scraping and collision with the width limiting pier;
the first vehicle control command includes a maintain travel state command, a left or right steering command, and a park command;
the method for generating the driving state maintenance command, the left or right steering command and the parking command comprises the following steps:
when the first driving difference value is larger than a first safety threshold value, the distance between the two sides of the vehicle and the inner side of the width limiting pier is larger than the first safety threshold value, and at the moment, the probability of scraping and colliding of the vehicle is low, and a driving state maintaining instruction is generated;
when the first driving difference value is equal to a first safety threshold value, the distance between the two sides of the vehicle and the inner side of the width limiting pier is equal to the first safety threshold value, and the vehicle is generated to turn left or right in the probability of scraping and colliding;
when the first driving difference value is smaller than a first safety threshold value, the distance between the two sides of the vehicle and the inner side of the width limiting pier is smaller than the first safety threshold value, and at the moment, the probability of scraping and colliding of the vehicle is high, and a parking instruction is generated;
the second vehicle control instruction is a control instruction sent by the vehicle-mounted computer and used for providing a driver with control of the vehicle when the vehicle is in a sensitive mode, when the vehicle is in a two-side offset phenomenon when running on a safety running line and a scraping and collision phenomenon possibly occurs between the vehicle and the inner side of the width limiting pier, and the vehicle is prevented from being scraped and collided with the width limiting pier;
the second vehicle control command includes a small angle left or right steering command and an emergency stop command;
the method for generating the small-angle left or right steering command and the emergency stop command comprises the following steps:
when the second running difference value is smaller than a second safety threshold value, the deviation amplitude of the central line of the vehicle and the safety running line is small, and at the moment, the probability of scraping and colliding of the vehicle is low, and a small-angle left or right steering instruction is generated;
when the second running difference value is larger than or equal to a second safety threshold value, the deviation amplitude of the central line of the vehicle and the safety running line is large, and the probability of scraping and colliding of the vehicle is high at the moment, and an emergency stop instruction is generated;
the instruction execution module prompts a driver to control the vehicle to maintain a running state, turn left or right or park according to the first vehicle control instruction; according to the second vehicle control instruction, prompting a driver to control the vehicle to turn left or right at a small angle or stop in an emergency;
when the first vehicle control instruction is an instruction for maintaining the running state, the probability of scraping and colliding between the vehicle and the width limiting pier is low, and a driver is prompted to control the vehicle to maintain the running state;
when the first vehicle control instruction is a left or right steering instruction, the probability of scraping and colliding between the vehicle and the width limiting pier is described, and the first driving difference value is tracked to be a first distance value or a second distance value; if the first driving difference value is a first distance value, prompting a driver to control the vehicle to steer rightwards; if the first driving difference value is the second distance value, prompting a driver to control the vehicle to steer leftwards;
when the first vehicle control instruction is a parking instruction, the probability of scraping and colliding between the vehicle and the width limiting pier is high, and a driver is prompted to control the vehicle to park;
when the second vehicle control instruction is a small-angle left or right steering instruction, the probability of scraping and colliding between the vehicle and the width limiting pier is low, and the second driving difference value is tracked to be a third distance value or a fourth distance value; if the second driving difference value is a third distance value, prompting a driver to control the vehicle to steer rightwards at a small angle; if the second driving difference value is a fourth distance value, prompting a driver to control the vehicle to steer left at a small angle;
when the second vehicle control instruction is an emergency stop instruction, the probability of scraping and colliding between the vehicle and the width limiting pier is high, and a driver is prompted to control the vehicle to stop emergently.
In this embodiment, the width of the width-limiting pier and the width of the vehicle body are collected through the vehicle vision device, whether the vehicle passes through the width-limiting pier is determined, a monitoring mode or a sensitive mode is selected as an auxiliary driving mode on the basis of passing through the width-limiting pier, a safe driving area and a safe driving line are respectively marked on the basis of the monitoring mode or the sensitive mode, a first driving difference value or a second driving difference value of the vehicle is obtained by combining with the real-time driving state of the vehicle, a corresponding vehicle control instruction can be given after the first driving difference value or the second driving difference value is analyzed, a driver is further prompted to perform control operation of maintaining driving, steering or parking of the vehicle, the vehicle can safely and smoothly pass through the width-limiting pier, and compared with the prior art, an auxiliary driving mode which accords with different width-limiting pier is determined on the basis of the monitoring mode or the sensitive mode, the vehicle deviation state is monitored on the basis of the driving safety area or the driving safety line, the vehicle is timely sent out before the vehicle is scratched, the vehicle is prompted to operate, the vehicle phenomenon is prevented from being scratched, the vehicle is further, the safety loss is further prevented, the safety loss is further, and the width of the vehicle passing through the width-limiting pier is prevented.
Example 2: referring to fig. 4, the embodiment is not described in detail, but in part, in the description of embodiment 1, a vehicle-mounted vision-assisted driving control method is provided, which is applied to a vehicle-mounted computer and implemented based on a vehicle-mounted vision-assisted driving control system, and the method includes:
s1: acquiring the width of the width limiting pier and the width of the vehicle body, acquiring a width difference value based on the width of the width limiting pier and the width of the vehicle body, and judging whether the vehicle is permitted to pass through the width limiting pier or not based on the width difference value;
s2: comparing the width difference value with a preset width threshold value, and selecting an auxiliary driving mode according to a comparison result, wherein the auxiliary driving mode comprises a monitoring mode and a sensitive mode;
s3: in a monitoring mode, marking a safe driving area of the width limiting pier, and acquiring a first driving difference value based on the safe driving area;
s4: marking a safety driving line of the width limiting pier in a sensitive mode, and acquiring a second driving difference value based on the safety driving line;
s5: generating a first vehicle control command based on the first travel difference; generating a second vehicle control command based on the second travel difference;
s6: prompting a driver to control the vehicle to maintain a running state, turn left or right or park according to the first vehicle control instruction; and prompting a driver to control the vehicle to turn left or right at a small angle or stop in an emergency according to the second vehicle control instruction.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A vehicle-mounted vision-aided driving system applied to a vehicle-mounted computer, comprising:
the admission judging module is used for acquiring the width of the obstacle and the width of the vehicle body, acquiring a width difference value based on the width of the obstacle and the width of the vehicle body, and judging whether the vehicle is admitted to pass through the obstacle or not based on the width difference value;
the mode selection module is used for comparing the width difference value with a preset width threshold value, and selecting an auxiliary driving mode according to a comparison result, wherein the auxiliary driving mode comprises a monitoring mode and a sensitive mode;
the first monitoring module marks a safe driving area of the obstacle in a monitoring mode and acquires a first driving difference value based on the safe driving area;
the second monitoring module marks a safe driving line of the obstacle under the sensitive mode and acquires a second driving difference value based on the safe driving line;
the marking method of the safe driving area comprises the following steps:
when a vehicle is driven into a space between two obstacles, acquiring overlooking video pictures of the obstacles in real time through a camera arranged on the vehicle;
marking two barriers in a overlook video picture respectively, and drawing lines along the inner side edges of the two barriers to obtain a first dividing line and a second dividing line;
moving the first demarcation line to a preset first safety threshold value in the direction of the second demarcation line to obtain a first safety line;
moving the second boundary line to a preset first safety threshold value in the direction of the first boundary line to obtain a second safety line;
marking the area between the first safety line and the second safety line as a safe driving area;
the marking method of the safety driving line comprises the following steps:
marking the midpoints of the two barriers and the inner boundaries of the two barriers in the overlooking video picture;
drawing a straight line parallel to the first boundary line and the second boundary line through the midpoints of the two barriers;
marking the obtained straight line as a safe driving line;
the second driving difference value obtaining method comprises the following steps:
marking a safe driving line in a overlook video picture, and simulating the real-time position of the vehicle;
drawing a third driving line and a fourth driving line along the outer edges of the rearview mirrors at two sides of the vehicle body and in parallel with the vehicle body respectively, and drawing h straight lines perpendicular to the third driving line and the fourth driving line between the third driving line and the fourth driving line;
marking the midpoints of h straight lines perpendicular to the third driving line and the fourth driving line respectively, marking the midpoints as passing points, and connecting the h passing points in sequence to obtain a vehicle center line;
measuring w third distance values and p fourth distance values between the center line of the vehicle and the first and second dividing lines through a scale, and screening out a maximum distance value from the w third distance values and the p fourth distance values;
the maximum distance value is converted through the proportion of the proportion scale to obtain the maximum running value;
comparing the maximum driving value with a preset second safety threshold value to obtain a second driving difference value;
the instruction generation module generates a first vehicle control instruction based on the first travel difference value; generating a second vehicle control command based on the second travel difference;
the instruction execution module prompts a driver to control the vehicle to maintain a running state, turn left or right or park according to the first vehicle control instruction; and prompting a driver to control the vehicle to turn left or right at a small angle or stop in an emergency according to the second vehicle control instruction.
2. The vehicle-mounted vision-assisted driving system according to claim 1, wherein the width difference obtaining method comprises:
acquiring a main view image of an obstacle through a camera arranged on a vehicle, measuring n horizontal distances between two obstacles on the main view image through a scale, and marking the minimum horizontal distance;
the minimum horizontal distance is scaled by a scale to obtain the width of the obstacle;
obtaining the width of the vehicle body through a vehicle parameter server;
comparing the width of the obstacle with the width of the vehicle body to obtain a width difference;
the expression of the width difference is:
；
in the method, in the process of the invention,for the width difference>For barrier width, +.>Is the width of the vehicle body;
the method of determining whether to permit the vehicle to pass through the obstacle includes:
when (when)When the vehicle is greater than 0, determining that the vehicle is permitted to pass through the obstacle;
when (when)When the vehicle is not more than 0, it is determined that the vehicle is not permitted to pass through the obstacle.
3. The vehicle vision-aided driving system of claim 2, wherein the method for selecting the monitoring mode and the sensitivity mode comprises:
the width difference value is compared with a preset width threshold valueDifference comparison is performed>Greater than 0;
when 0 is less thanAnd->Less than or equal to->When the method is used, a sensitive mode is selected;
when (when)Is greater than->When the monitoring mode is selected.
4. A vehicle vision-assisted driving system according to claim 3, wherein the first driving difference obtaining method includes:
marking a first dividing line and a second dividing line in the top view video picture;
simulating the real-time position of the vehicle in the overlooking video picture, and respectively drawing a first driving line and a second driving line along the outer edges of the rearview mirrors at two sides of the vehicle body and in the direction parallel to the vehicle body;
respectively measuring k first distance values from the first driving line to the first dividing line and t second distance values from the second driving line to the second dividing line through a scale, and screening out the minimum distance value from the k first distance values and the t second distance values;
the minimum distance value is converted through the proportion of the proportion scale to obtain a minimum running value;
and comparing the minimum driving value with a first safety threshold value to obtain a first driving difference value.
5. The vehicle vision-assisted driving system according to claim 4, wherein the first vehicle control instruction includes a maintenance running state instruction, a left or right steering instruction, and a parking instruction;
the method for generating the driving state maintenance command, the left or right steering command and the parking command comprises the following steps:
generating a driving state maintaining instruction when the first driving difference value is larger than a first safety threshold value;
generating a left or right turn when the first travel difference is equal to a first safety threshold;
when the first driving difference value is smaller than a first safety threshold value, a parking instruction is generated;
the second vehicle control command includes a small angle left or right steering command and an emergency stop command;
the method for generating the small-angle left or right steering command and the emergency stop command comprises the following steps:
when the second driving difference value is smaller than a second safety threshold value, generating a small-angle left or right steering instruction;
and when the second driving difference value is greater than or equal to a second safety threshold value, generating an emergency stop instruction.
6. The vehicle-mounted vision-assisted driving system according to claim 5, wherein when the first vehicle control instruction is a maintenance running state instruction, the driver is prompted to control the vehicle to maintain a running state;
when the first vehicle control instruction is a left or right steering instruction, prompting a driver to control the vehicle to steer right if the first driving difference value is a first distance value; if the first driving difference value is the second distance value, prompting a driver to control the vehicle to steer leftwards;
when the first vehicle control instruction is a parking instruction, prompting a driver to control the vehicle to park;
when the second vehicle control instruction is a small-angle left or right steering instruction, if the second driving difference value is a third distance value, prompting a driver to control the vehicle to steer to the right at a small angle; if the second driving difference value is a fourth distance value, prompting a driver to control the vehicle to steer left at a small angle;
and prompting the driver to control the vehicle to stop in emergency when the second vehicle control command is an emergency stop command.
7. A vehicle-mounted vision-assisted driving control method applied to a vehicle-mounted computer and realized based on the vehicle-mounted vision-assisted driving control system as claimed in any one of claims 1 to 6, comprising:
s1: acquiring the width of the obstacle and the width of the vehicle body, acquiring a width difference value based on the width of the obstacle and the width of the vehicle body, and judging whether the vehicle is permitted to pass through the obstacle or not based on the width difference value;
s2: comparing the width difference value with a preset width threshold value, and selecting an auxiliary driving mode according to a comparison result, wherein the auxiliary driving mode comprises a monitoring mode and a sensitive mode;
s3: in a monitoring mode, marking a safe driving area of the obstacle, and acquiring a first driving difference value based on the safe driving area;
s4: marking a safety driving line of the obstacle in a sensitive mode, and acquiring a second driving difference value based on the safety driving line;
s5: generating a first vehicle control command based on the first travel difference; generating a second vehicle control command based on the second travel difference;
s6: prompting a driver to control the vehicle to maintain a running state, turn left or right or park according to the first vehicle control instruction; and prompting a driver to control the vehicle to turn left or right at a small angle or stop in an emergency according to the second vehicle control instruction.
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