WO2019119334A1 - 一种车辆偏航警示与控制方法及系统 - Google Patents

一种车辆偏航警示与控制方法及系统 Download PDF

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Publication number
WO2019119334A1
WO2019119334A1 PCT/CN2017/117601 CN2017117601W WO2019119334A1 WO 2019119334 A1 WO2019119334 A1 WO 2019119334A1 CN 2017117601 W CN2017117601 W CN 2017117601W WO 2019119334 A1 WO2019119334 A1 WO 2019119334A1
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WIPO (PCT)
Prior art keywords
vehicle
yaw
signal
control signal
warning
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PCT/CN2017/117601
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English (en)
French (fr)
Inventor
赵海天
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Shenzhen University
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Shenzhen University
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    • 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
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Definitions

  • the present invention relates to the field of intelligent transportation technologies, and in particular, to a vehicle yaw warning and control method and system.
  • LED Light Emitting Diode
  • the current positioning sensors mainly include the Global Positioning System (GPS), the visual sensor, the millimeter wave radar and the laser radar. All four sensors use the ranging method to identify whether the vehicle is yawed. In bad weather, the sensor detects the vehicle and the accuracy of the road location is low, and it is impossible to make accurate yaw warning for the motor vehicle driving out of the road. Therefore, relying solely on machine vision to determine whether the vehicle is yaw or not can not guarantee the driving. Safety.
  • GPS Global Positioning System
  • the main object of the present invention is to provide a vehicle yaw warning and control method and system, which are used for solving the prior art technology for determining whether a motor vehicle is yaw or not, and ensuring the safety of driving in a bad weather. problem.
  • a first aspect of the present invention provides a vehicle yaw warning and control system, the vehicle yaw warning and control system comprising: a dedicated road lighting system, a two-channel yaw detection system, and a head-up display device;
  • the dedicated road lighting system is configured to provide a lighting environment required by human vision to enable a driver to form a driving environment into a human visual image through a windshield of the vehicle;
  • the two-channel yaw detection system is configured to acquire an optical signal in the dedicated road illumination system, and make a corresponding indication control signal according to the optical signal;
  • the heads up display device is configured to display the indication control signal and form machine vision of the vehicle such that the driver controls the direction of travel of the vehicle by cross-checking the machine vision with the human eye.
  • a second aspect of the present invention provides a vehicle yaw warning and control method, the method comprising:
  • the dedicated road lighting system provides a lighting environment required by human vision to enable a driver to form a driving environment into a human visual image through a windshield of the vehicle;
  • the two-channel yaw detection system acquires an optical signal in the dedicated road illumination system, and makes a corresponding indication control signal according to the optical signal;
  • the heads up display device displays the indication control signal to form machine vision of the vehicle such that the driver controls the direction of travel of the vehicle by cross-checking the machine vision with the human eye.
  • the special road lighting system of the vehicle yaw warning and control system provides a lighting environment required for human vision, so that the driver forms a human eye visual image through the windshield of the vehicle.
  • the driver controls the vehicle through the human visual image to avoid rear-end collision and collision of the vehicle.
  • the two-channel yaw detection system acquires the optical signal in the special road illumination system, and makes corresponding indication according to the optical signal.
  • the control signal, the head-up display device will indicate the control signal to display the machine vision of the vehicle, and the driver adjusts the driving direction of the vehicle according to the displayed machine vision.
  • the machine direction and the human eye vision are used to control the driving direction of the vehicle. In the bad weather, the rear-end collision, collision and yaw of the vehicle are avoided, which ensures the safety of the vehicle.
  • FIG. 1 is a vehicle yaw warning and control system according to a first embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a two-channel yaw detection system according to a first embodiment of the present invention
  • FIG. 3 is a schematic diagram of an indication control signal for a head-up display device displaying a straight line
  • FIG. 4 is a schematic diagram of a head-up display device displaying an indication control signal of a left turn
  • FIG. 5 is a schematic diagram of an indication control signal of a right turn displayed by the head-up display device
  • Figure 6 is a schematic diagram showing the danger signal display on both sides of the head-up display device
  • FIG. 7 is a schematic diagram of a left side interference signal display of a head-up display device
  • FIG. 8 is a schematic diagram of a left-to-right right-off signal display of the head-up display device
  • FIG. 9 is a schematic diagram showing a left right disturbance signal display of a head-up display device
  • FIG. 10 is a schematic diagram showing interference signal display on both sides of a head-up display device
  • Figure 11 is a schematic view showing the working principle of the driving system of the present invention.
  • FIG. 12 is a schematic flow chart of a vehicle yaw warning and control method according to a second embodiment of the present invention.
  • FIG. 13 is a schematic flow chart of the refinement step of step 102.
  • the present invention provides a vehicle yaw warning and control system.
  • FIG. 1 is a vehicle yaw warning and control system according to a first embodiment of the present invention.
  • the vehicle yaw warning and control system includes: a dedicated road lighting system, a two-channel yaw detection system 2, and Head up display device 3;
  • the special road lighting system 1 is used to provide a lighting environment required for human eye vision, so that the driver can form a driving environment into a human visual image through the windshield of the vehicle;
  • the dual-channel yaw detection system 2 is configured to acquire an optical signal in a dedicated road lighting system, and make a corresponding indication control signal according to the optical signal;
  • the heads up display device 3 is for displaying the indication control signal and forming a machine vision of the vehicle to enable the driver to control the direction of travel of the vehicle by cross-checking of machine vision and human vision.
  • the special road lighting system can provide a clear lighting environment for the human eye, so that the driver can see the road environment where the vehicle is located in the bad weather environment, and avoid the rear-end collision and collision of the vehicle.
  • the two-channel yaw detection system determines the yaw condition of the vehicle by acquiring the optical signal in the dedicated road lighting system and analyzing the light intensity distribution of the optical signals acquired in the two channels, and then making corresponding indications for the situation. And outputting the indication control signal, and the head-up display device displays the indication control signal, and the driver performs corresponding control on the vehicle according to the indication control signal to avoid the yaw condition of the vehicle.
  • the dedicated road lighting system of the vehicle yaw warning and control system provides a lighting environment required for human vision, so that the driver can drive through the windshield of the vehicle.
  • the environment forms a human visual image
  • the driver controls the vehicle through the human visual image to avoid rear-end collision and collision of the vehicle.
  • the two-channel yaw detection system acquires the optical signal in the special road lighting system, and according to the The light signal makes a corresponding indication control signal
  • the head-up display device displays the indication control signal to form a machine vision of the vehicle, and the driver adjusts the driving direction of the vehicle according to the displayed machine vision, where both machine vision and human vision are utilized. Control the driving direction of the vehicle, avoiding the rear-end collision, collision and yaw of the vehicle in bad weather, and ensuring the driving safety of the vehicle.
  • the dedicated road lighting system 1 employs a light source of high penetration and high display.
  • the traditional LED light source will be extremely weak due to insufficient penetration, and the light reaching the human eye will be extremely weak due to the absorption and scattering of water droplets, ice crystal particles and aerosol molecules. , resulting in low visibility, the human eye can not see the obstacles ahead of the road.
  • the driver attempts to open the vehicle's high beam to increase the visual distance, it will cause a "white wall phenomenon” that hinders the driver's vision due to scattering and reflection of the particles.
  • the dedicated illumination system 1 uses high penetration and high display light sources to enhance the color sharpness of the human eye, thereby overcoming the above-mentioned obstacles to the driver's vision.
  • the special illumination system 1 can further improve the edge sharpness of the human eye by using the lateral illumination mode, and improve the stereoscopic sharpness of the human eye by using the low-light illumination mode.
  • the lighting method is used to form continuous inductivity, which overcomes the drawbacks of the existing street lamps that cannot provide effective illumination in bad weather, and effectively restores human visual ability.
  • the special human eye visual environment provided by the special road lighting system adopts the special road lighting system 1, which makes the positioning calculation of the vehicle simple, the detection is less interfered, and the light source can have a specific spectrum.
  • FIG. 2 is a schematic structural diagram of a two-channel yaw detection system according to a first embodiment of the present invention.
  • the dual-channel yaw detection system 2 includes: a light intensity detector 4 and a light intensity calculation analyzer 5
  • the light intensity detector 4 is configured to acquire an optical signal emitted by a light source of the dedicated road illumination system 1
  • the light intensity calculation analyzer 5 is configured to determine whether the light intensity signal sequence of the optical signal is in an equilibrium state in the spatial and temporal dimensions. If the driving state of the vehicle is in a balanced state, it is determined that the vehicle is in a normal running state, and outputs a straight line indicating control signal.
  • a yaw warning signal is output, and then determined. Whether the yaw is a left yaw, if it is determined to be a left yaw, a right turn instruction control command is output, and if it is determined to be a right yaw, a left turn instruction control command is output.
  • the light intensity detector 4 is disposed as a left and right dual channel, respectively acquiring optical signals on the left and right sides, and the acquired optical signal is visible light or other electromagnetic waves.
  • the light intensity detector 4 is specifically a high directivity wireless illuminometer.
  • the number of the high directional wireless illuminometer is two, and the two high directional illuminance meters respectively obtain the optical signals on the left and right sides, and obtain the left and right sides. Visible light or other electromagnetic waves.
  • the two high directivity illuminometers respectively acquire optical signals on the left and right sides, and transmit the optical signals to the light intensity calculation analyzer 5.
  • the light intensity calculation analyzer 5 adopts a dynamic balance algorithm to determine the traveling state of the vehicle by analyzing the balance relationship between the spatial and temporal dimensions of the two-channel light intensity signal sequence. If the light intensity signal sequence is in a balanced state in the spatial and temporal dimensions, it is determined that the vehicle is in a normal driving state, and the straight line indication control signal is output, and the head display device displays the straight line indication control signal, if the light intensity signal sequence is in space and time.
  • the yaw warning signal is output, and then it is determined whether the yaw is left yaw. If it is determined to be left yaw, the right turn indication control signal is output.
  • the head up display device displays the right turn indication control signal. If it is determined to be right yaw, the left turn indication control signal is output, and the head up display device displays the left turn indication control signal. The driver controls the vehicle accordingly by observing the road condition and the indication control signal displayed by the head-up display device.
  • the sampling period of the light intensity detector 4 in the two-channel yaw detection system 2 is less than 0.01 seconds
  • the calculation accuracy of the light intensity calculation analyzer 5 is centimeter level
  • the display period of the head-up display device is less than 0.02 seconds
  • the accuracy is decimeter level, so that in the bad weather, the two-channel yaw detection system 2 has high precision in yaw positioning of the vehicle.
  • the invention converts the measured reflected wave into the measuring optical signal, converts the ranging calculation into the optical signal intensity comparison, the vehicle yaw positioning can reach the centimeter level, and the detection frequency and the real-time calculation rate support the traveling speed of 40 km/h.
  • the vehicle yaw warning and control system further includes an embedded vehicle control system, configured to acquire a yaw warning signal output by the light intensity calculation analyzer, and determine the yaw warning signal Whether the duration exceeds the preset time, if the preset time is exceeded, the vehicle is controlled to follow the indication of the indication control signal output by the light intensity calculation analyzer.
  • an embedded vehicle control system configured to acquire a yaw warning signal output by the light intensity calculation analyzer, and determine the yaw warning signal Whether the duration exceeds the preset time, if the preset time is exceeded, the vehicle is controlled to follow the indication of the indication control signal output by the light intensity calculation analyzer.
  • the embedded vehicle control system has a control command system and a servo mechanism for comprehensively controlling the running state of the motor vehicle, and the embedded vehicle control system fails to obtain the yaw warning signal for more than the preset time. Completely complete the correct driving operation, the embedded vehicle control system controls the vehicle to follow the indication of the indication control signal at this time, achieving intelligent and safe driving around the clock. If the acquired yaw warning signal does not exceed the preset time, the driver controls the direction of travel of the vehicle according to the human eye vision and machine vision cross check and depth fusion.
  • the yaw condition of the detected light intensity by the two-channel yaw detection system 2 is detected under the condition that the light source can be normally acquired, that is, the street lamps on both sides of the road are normal, and there is no extinction. If the street lights on both sides of the road are damaged, the optical signal strength detected by any one of the left and right dual channels of the two-channel yaw detection system 2 is not within the preset normal value range, then it is determined that the dedicated road lighting system is in an abnormal situation. And outputting the indication control signal of interest, and the head up display device displays the indication control signal of interest.
  • the head up display device 3 is also used to display the above-described indication control signal in a graphical form.
  • the head-up display device 3 includes a mark area and a plurality of signal lights.
  • the plurality of signal lights are distributed in the left and right columns of the mark area.
  • the mark area is used for displaying the indication graphic in the indication control signal, and the plurality of signal lights are used to display the indicator according to the indication control signal. Signal light.
  • the number of the signal lights is six, and six signal lights are distributed in the left and right columns of the mark area, and six signal lights are used to display the signal light according to the indication control signal.
  • FIG. 3 is a schematic diagram of the head-up display device displaying the indication control signal of the straight line.
  • the six signal lights are symmetrically distributed on both sides of the marking area, and the signal lights on both sides respectively indicate the driving environment on both sides of the vehicle, wherein The green light indicates normal, the red light indicates dangerous forbidden, and the yellow light indicates that the special road lighting system is in an abnormal situation.
  • the driving environment is unclear and requires the attention of the vehicle driver.
  • FIG. 4 is a schematic diagram of the head-up display device displaying the left-turning indication control signal, and the flag display area of the head-up display device indicates a left-turning graphic, the green light on the left side of the flag area is on, and the red light on the right side is on, indicating right. Side danger, need to turn left.
  • FIG. 5 is a schematic diagram of a right-turning indication control signal displayed by the head-up display device.
  • the flag area of the head-up display device displays a graph indicating a right turn, the left side of the sign area is lit red, and the right side green light is on. Indicates that the left side is dangerous and needs to turn right.
  • FIG. 6 is a schematic diagram of danger signals on both sides of the head-up display device
  • FIG. 7 is a schematic diagram of the left-side interference signal display of the head-up display device
  • FIG. 8 is a head-up display device.
  • FIG. 9 is a schematic diagram showing the display of the left forbidden signal of the head-up display device
  • FIG. 9 is a schematic diagram showing the display of the left forbidden signal of the head-up display device
  • FIG. 10 is a schematic diagram showing the display of the interference signals on both sides of the head-up display device.
  • the yellow light on the side of the channel is bright.
  • the display signals of the left and right sides of the display device are respectively displayed.
  • the yaw condition of the vehicle on the left and right sides of the vehicle is indicated, and the graph of the head-up display device 3 shows the direction of travel required by the vehicle at this time. The driver can control the direction of travel of the vehicle based on the indication control signal displayed in the head-up display device.
  • FIG. 11 is a schematic diagram showing the working principle of the driving system according to the present invention.
  • the human eye vision provides a clear human eye visual environment for the human eye visual environment.
  • Machine vision is the yaw condition of the vehicle positioning information detected by the road illumination system and the two-channel yaw detection system.
  • the human eye vision and the machine vision depth are merged into the display graphic of the head-up display device and the road vision image of the human eye in the human brain.
  • the special road lighting system provides a clear visual environment for the human eye by improving the sharpness of the human eye, the stereoscopic sharpness and the color sharpness.
  • the driver stores the acquired light signal in the brain and sends out the driving.
  • the vehicle passes the data acquisition of the two-channel yaw detection system, the data processing of the light intensity calculation analyzer and the analysis of the positioning and driving state of the vehicle based on the principle of dynamic dynamic balance, and finally the vehicle driving state signal is issued.
  • the driver uses human vision to communicate with machine vision
  • the fork test controls the vehicle to travel.
  • the manual driving operation is prioritized, and the machine can be forced to operate after the manual operation fails.
  • a second embodiment of the present invention provides a vehicle yaw warning and control method, which is applied to the vehicle yaw warning and control system of the first embodiment.
  • FIG. 12 is a schematic flowchart diagram of a vehicle yaw warning and control method according to a second embodiment of the present invention, where the method includes steps 101 to 103:
  • Step 101 The special road lighting system provides a lighting environment required for human eye vision, so that the driver forms a driving environment of the human eye through the windshield of the vehicle;
  • Step 102 The two-channel yaw detection system acquires an optical signal in the special road illumination system, and makes a corresponding indication control signal according to the optical signal;
  • Step 103 The head-up display device displays the indication control signal to form a machine vision of the vehicle, so that the driver controls the traveling direction of the vehicle through cross-checking of machine vision and human vision.
  • the special road lighting system can provide a clear lighting environment for the human eye, so that the driver can see the road environment where the vehicle is located in the bad weather environment, and avoid the rear-end collision and collision of the vehicle.
  • the two-channel yaw detection system determines the yaw condition of the vehicle by acquiring the optical signal in the road illumination system and analyzing the light intensity distribution of the optical signals acquired in the two channels, and then giving corresponding indications to the situation.
  • the output indicates a control signal
  • the head-up display device displays the indication control signal, and the driver controls the vehicle according to the indication control signal to avoid the yaw condition of the vehicle.
  • the dedicated road lighting system provides a lighting environment required for human vision, so that the driver forms a human eye visual image through the windshield of the vehicle, and the driver The vehicle vision control is performed by the human visual image to avoid the rear-end collision and collision of the vehicle.
  • the two-channel yaw detection system acquires the optical signal in the special road illumination system, and corresponding control signals are generated according to the optical signal.
  • the head-up display device displays the indication control signal to form a machine vision of the vehicle, and the driver adjusts the direction of travel of the vehicle according to the displayed machine vision, where both the machine vision and the human eye vision are used to control the driving direction of the vehicle in bad weather.
  • the rear-end collision, collision and yaw of the vehicle are avoided to ensure the safety of the vehicle.
  • FIG. 13 is a schematic flowchart of the refinement step of step 102.
  • the refinement step of step 102 is specifically step 201 to step 206:
  • Step 201 The light intensity detector acquires an optical signal emitted by the light source in the special road lighting system
  • Step 201 The light intensity calculation analyzer determines the running state of the vehicle by determining whether the light intensity signal sequence of the optical signal is in a balanced state in the spatial and temporal dimensions;
  • Step 203 If it is in an equilibrium state, determine that the vehicle is in a normal driving state, and output a straight line indication control signal;
  • Step 204 If it is in an unbalanced state, determine that the vehicle is in a yaw state, output a warning signal of yaw, and determine whether the yaw is left yaw;
  • Step 205 If it is determined to be left yaw, output an indication control signal of a right turn;
  • Step 206 If it is determined to be right yaw, output a left turn indication control signal.
  • the light intensity detector is disposed as a left and right dual channel, and respectively obtains optical signals on the left and right sides, and the acquired optical signal is visible light or other electromagnetic waves.
  • the light intensity detector is specifically a high directivity wireless illuminometer.
  • the number of the high directional wireless illuminometer is two.
  • Two high directional illuminance meters respectively acquire optical signals on the left and right sides, and transmit the optical signals to the light intensity. Calculated in the analyzer.
  • the light intensity calculation analyzer uses a dynamic balance algorithm to determine the driving state of the vehicle by analyzing the balance between the spatial and temporal dimensions of the two-channel light intensity signal sequence.
  • the head display device displays the straight line indication control signal, if the light intensity signal sequence is in space and time. If the dimension is in a non-equilibrium state, it is determined that the vehicle is in a yaw state, and the yaw warning signal is output, and then it is determined whether the yaw is left yaw. If it is determined to be left yaw, the right turn indication control signal is output. The head up display device displays the right turn indication control signal. If it is determined to be right yaw, the left turn indication control signal is output, and the head up display device displays the left turn indication control signal. The driver controls the vehicle accordingly by observing the road condition and the indication control signal displayed by the head-up display device.
  • the sampling period of the light intensity detector in the dual-channel yaw detection system is less than 0.01 seconds
  • the calculation accuracy of the light intensity calculation analyzer is centimeter level
  • the display period of the head-up display device is less than 0.02 seconds
  • the display precision is The meter level, so that in the bad weather, the two-channel yaw detection system has high accuracy in yaw positioning of the vehicle.
  • the invention converts the measured reflected wave of the current technology into a measuring optical signal, converts the ranging calculation into the optical signal intensity comparison, the vehicle yaw positioning can reach the centimeter level, and the detection frequency and the real-time calculation rate support the traveling speed of 40 km/h. .
  • the vehicle yaw warning and control method further includes: the embedded vehicle control system acquires a yaw warning signal output by the light intensity calculation analyzer, and determines whether the duration of the yaw warning signal exceeds a preset time If the preset time is exceeded, the vehicle is controlled to follow the indication of the indication control signal output by the light intensity calculation analyzer.
  • the embedded vehicle control system has a control command system and a servo mechanism for comprehensively controlling the running state of the motor vehicle, and the embedded vehicle control system fails to obtain the yaw warning signal for more than the preset time. Completely complete the correct driving operation, the embedded vehicle control system controls the vehicle to follow the indication of the indication control signal at this time, achieving intelligent and safe driving around the clock. If the acquired yaw warning signal does not exceed the preset time, the driver controls the direction of travel of the vehicle according to the human eye vision and machine vision cross check and depth fusion.
  • the yaw condition of the two-channel yaw detection system to detect the light intensity is detected under the condition that the light source can be normally acquired, that is, the street lamps on both sides of the road are normal, and there is no extinction, if the street lamps on both sides of the road exist
  • the optical signal strength detected by any of the left and right dual channels of the two-channel yaw detection system is not within the preset normal value range, it is determined that the dedicated road lighting system is in an abnormal condition, and the indication control signal of interest is output.
  • the head up display device displays the indication control signal of interest.
  • the specific step of step 103 is that the head-up display device displays the above-mentioned indication control signal in a graphical form.
  • the head-up display device comprises a marking area and six signal lights, and the six signal lights are distributed in the left and right columns of the marking area, wherein the marking area is used for displaying the indication graphic in the indication control signal, and the six signal lights are used for displaying the control signal according to the indication.
  • the semaphore is displayed.
  • FIG. 3 is a schematic diagram of a straight line command display of the head-up display device.
  • the six signal lights are symmetrically distributed on both sides of the sign area, and the signal lights on both sides respectively indicate the driving environment on both sides of the vehicle, wherein the green light indicates Normal, the red light indicates that the danger is forbidden, and the yellow light indicates that the special road lighting system is in an abnormal situation.
  • the driving environment is unknown and requires the attention of the driver.
  • FIG. 4 is a schematic diagram of the head-up display device displaying the left-turning indication control signal, and the flag display area of the head-up display device indicates a left-turning graphic, the green light on the left side of the flag area is on, and the red light on the right side is on, indicating right. Side danger, need to turn left.
  • FIG. 5 is a schematic diagram of a right-turning indication control signal displayed by the head-up display device.
  • the flag area of the head-up display device displays a graph indicating a right turn, the left side of the sign area is lit red, and the right side green light is on. Indicates that the left side is dangerous and needs to turn right.
  • FIG. 6 is a schematic diagram showing the danger signal display on both sides of the head-up display device
  • FIG. 7 is a schematic diagram showing the left-side interference signal display of the head-up display device
  • FIG. 8 is a head-up display. Schematic diagram of the left-to-right right-off signal display of the device, FIG.
  • FIG. 9 is a schematic diagram of the left-right right-distance signal display of the head-up display device
  • FIG. 10 is a schematic diagram of the interference signal display on both sides of the head-up display device.
  • the human eye vision provides a clear human eye visual environment for the special road lighting system, and the machine vision is road lighting.
  • the vehicle positioning information detected by the system and the two-channel yaw detection system is the yaw situation.
  • the human eye vision and the machine vision depth are merged into the depth of the human brain in the display graphic of the head-up display device and the road vision image in the human eye.
  • the lighting system provides a clear visual environment for the human eye by improving the sharpness of the human eye, stereoscopic sharpness and color sharpness.
  • the driver stores the acquired light signals in the brain and issues driving instructions. At the same time, the vehicle passes.
  • the driver uses the human eye vision and machine vision cross-check to control the vehicle line .
  • the manual driving operation is prioritized, and the machine can be forced to operate after the manual operation fails.

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Abstract

属于智能交通技术领域，公开了一种车辆偏航警示与控制方法及系统，该系统包括：专用道路照明系统、双通道偏航检测系统和抬头显示设备，该专用道路照明系统用于提供人眼视觉所需的照明环境，以使驾驶员通过该车辆的挡风玻璃将行车环境形成人眼视觉影像，该双通道偏航检测系统用于获取专用道路照明系统中的光信号，并根据该光信号做出相应指示控制信号，该抬头显示设备用于显示指示控制信号并形成车辆的机器视觉，以使驾驶员通过机器视觉与人眼视觉的交叉校验来控制所述车辆的行驶方向。这里同时利用机器视觉和人眼视觉来控制车辆的行驶方向，在恶劣天气下避免了车辆的追尾、碰撞和偏航等情况，保证了车辆的行车安全。

Description

一种车辆偏航警示与控制方法及系统
本发明涉及智能交通技术领域，尤其涉及一种车辆偏航警示与控制方法及系统。
在大雾、大雪和雾霾等恶劣天气下，采用发光二极管（Light Emitting Diode，LED）光源的传统高位路灯，会因穿透性不够变得极其微弱，由于水滴、冰晶颗粒、气溶胶分子团的吸收和散射，能够到达人眼的光通量微乎其微，导致可见度降低，人眼无法清晰看清道路前方障碍物，当驾驶员试图通过打开机动车远光灯来增大可视距离时，会因粒子的散射与反射，造成阻碍驾驶员视觉的“白墙现象”。在恶劣天气下因能见度不足和“白墙现象”，驾驶员无法正确判断本车与前方车辆的实际距离，识别障碍物、交通标识等，易导致发生大量的追尾、车辆驶出道路等恶性交通事故。
目前，可通过智能驾驶的机器视觉来防止追尾、碰撞，但是智能驾驶的机器视觉仅能防止追尾、碰撞。目前的定位传感器主要有全球定位系统（Global Positioning System，GPS）、视觉传感器、毫米波雷达和激光雷达四种，这四种传感器均采用测距方法来识别机动车是否偏航。在恶劣天气下，传感器检测车辆及对道路定位的准确性低，无法对驶出路面的机动车辆做出精确的偏航警示,因此单纯依靠机器视觉来确定机动车是否偏航，无法保证行车的安全。
发明内容
本发明的主要目的在于提供一种车辆偏航警示与控制方法及系统，用于解决现有技术中在恶劣天气下，单纯依靠机器视觉来确定机动车是否偏航，无法保证行车的安全的技术问题。
为实现上述目的，本发明第一方面提供一种车辆偏航警示与控制系统，所述车辆偏航警示与控制系统包括：专用道路照明系统、双通道偏航检测系统和抬头显示设备；
所述专用道路照明系统用于提供人眼视觉所需的照明环境，以使驾驶员通过所述车辆的挡风玻璃将行车环境形成人眼视觉影像；
所述双通道偏航检测系统用于获取所述专用道路照明系统中的光信号，并根据所述光信号做出相应指示控制信号；
所述抬头显示设备用于显示所述指示控制信号并形成车辆的机器视觉，以使驾驶员通过所述机器视觉与所述人眼视觉的交叉校验来控制所述车辆的行驶方向。
本发明第二方面提供一种车辆偏航警示与控制方法，所述方法包括：
所述专用道路照明系统提供人眼视觉所需的照明环境，以使驾驶员通过所述车辆的挡风玻璃将行车环境形成人眼视觉影像；
所述双通道偏航检测系统获取所述专用道路照明系统中的光信号，并根据所述光信号做出相应指示控制信号；
所述抬头显示设备显示所述指示控制信号形成车辆的机器视觉，以便驾驶员通过所述机器视觉与所述人眼视觉的交叉校验来控制所述车辆的行驶方向。
从上述本发明提供的技术方案可知，该车辆偏航警示与控制系统的专用道路照明系统提供人眼视觉所需的照明环境，使驾驶员通过车辆的挡风玻璃将行车环境形成人眼视觉影像，驾驶员通过该人眼视觉影像进行对车辆控制，避免了车辆的追尾和碰撞情况，同时，双通道偏航检测系统获取专用道路照明系统中的光信号，并根据该光信号做出相应指示控制信号，抬头显示设备将指示控制信号显示出来形成车辆的机器视觉，驾驶人员根据显示出来的机器视觉，调整车辆的行驶方向，这里同时利用机器视觉和人眼视觉来控制车辆的行驶方向，在恶劣天气下避免了车辆的追尾、碰撞和偏航等情况，保证了车辆的行车安全。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明第一实施例提供的一种车辆偏航警示与控制系统；
图2为本发明第一实施例提供的双通道偏航检测系统的结构示意图
图3为抬头显示设备显示直行的指示控制信号的示意图；
图4为抬头显示设备显示左转的指示控制信号的示意图；
图5为抬头显示设备显示的右转的指示控制信号的示意图；
图6为抬头显示设备的两侧危险信号显示的示意图；
图7为抬头显示设备的左侧干扰信号显示的示意图；
图8为抬头显示设备的左扰右禁信号显示的示意图；
图9为抬头显示设备的左禁右扰信号显示的示意图；
图10为抬头显示设备的两侧干扰信号显示的示意图；
图11为本发明提供驾驶系统工作原理图；
图12为本发明第二实施例提供的一种车辆偏航警示与控制方法的流程示意图；
图13为步骤102的细化步骤的流程示意图。
具体实施方式
为使得本发明的发明目的、特征、优点能够更加的明显和易懂，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而非全部实施例。基于本发明中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
由于现有技术中，在恶劣天气下单纯依靠机器视觉来确定机动车是否偏航，无法保证行车的安全的技术问题。为了解决上述问题，本发明提出一种车辆偏航警示与控制系统。
请参阅图1，图1为本发明第一实施例提供的一种车辆偏航警示与控制系统，该车辆偏航警示与控制系统包括：专用道路照明系统1、双通道偏航检测系统2和抬头显示设备3；
专用道路照明系统1用于提供人眼视觉所需的照明环境，以使驾驶员通过该车辆的挡风玻璃将行车环境形成人眼视觉影像；
双通道偏航检测系统2用于获取专用道路照明系统中的光信号，并根据光信号做出相应指示控制信号；
抬头显示设备3用于显示该指示控制信号并形成车辆的机器视觉，以使驾驶员通过机器视觉与人眼视觉的交叉校验来控制该车辆的行驶方向。
其中，专用道路照明系统能给人眼视觉提供清晰的照明环境，使驾驶员在恶劣天气的环境下也能看清该车辆所处的路面环境，避免了车辆的追尾和碰撞情况。双通道偏航检测系统通过获取专用道路照明系统中的光信号，并分析两个通道中获取的光信号的光强分布情况来判断该车辆的偏航情况，然后对该情况做出相应的指示，输出指示控制信号，抬头显示设备显示该指示控制信号，驾驶员根据该指示控制信号对车辆做出相应的控制，避免该车辆的偏航情况。
需要说明的是，上述利用人眼视觉与机器视觉的交叉校验和深度融合，对机动车在恶劣天气条件下行驶中的偏航进行警示与控制。
从上述附图1示例的车辆偏航警示与控制系统可知，该车辆偏航警示与控制系统的专用道路照明系统提供人眼视觉所需的照明环境，使驾驶员通过车辆的挡风玻璃将行车环境形成人眼视觉影像，驾驶员通过该人眼视觉影像进行对车辆控制，避免了车辆的追尾和碰撞情况，同时，双通道偏航检测系统获取专用道路照明系统中的光信号，并根据该光信号做出相应指示控制信号，抬头显示设备将该指示控制信号显示出来形成车辆的机器视觉，驾驶人员根据显示出来的机器视觉，调整车辆的行驶方向，这里同时利用机器视觉和人眼视觉来控制车辆的行驶方向，在恶劣天气下避免了车辆的追尾、碰撞和偏航等情况，保证了车辆的行驶安全。
进一步地，专用道路照明系统1采用高穿透力和高显示性的光源。在恶劣的天气，传统的LED光源，会因穿透性不够使到达人眼的光变得极其微弱，且由于水滴、冰晶颗粒，气溶胶分子团的吸收和散射，能够到达人眼的光微乎其微，导致可见度低，人眼无法看清道路前方障碍。当驾驶员试图打开车辆远光灯来增大可视距离时，会因粒子的散射和反射，造成阻碍驾驶员视觉的“白墙现象”。专用照明系统1采用高穿透力和高显示性光源提高人眼的色彩锐度，从而克服上述给驾驶员视觉造成的障碍。除了高穿透力和高显示性光源之外，专用照明系统1还可以进一步采用横向照明方式提高人眼的边缘视锐度，采用低灯位照明方式提高人眼的立体视锐度，采用分布式照明方式以形成连续诱导性，克服现有路灯在恶劣天气下无法提供有效照明的弊端，有效恢复人眼视觉能力。
其中，专用道路照明系统提供的清晰的人眼视觉环境，采用专用道路照明系统1，使车辆的定位计算简单，探测受干扰小，光源可特定光谱。
进一步地，请参阅图2，图2为本发明第一实施例提供的双通道偏航检测系统的结构示意图，双通道偏航检测系统2包括：光强探测器4和光强计算分析器5，光强探测器4用于获取专用道路照明系统1的光源发出的光信号，光强计算分析器5用于通过判断光信号的光强信号序列在空间与时间维度是否处于平衡状态来确定该车辆的行驶状态，若处于平衡状态，则确定该车辆处于正常行驶状态，输出直行的指示控制信号，若处于非平衡状态，则确定该车辆处于偏航状态，输出偏航的警示信号，再确定该偏航是否为左偏航，若确定是左偏航，则输出右转的指示控制指令，若确定是右偏航，则输出左转的指示控制指令。
进一步地，光强探测器4设置为左右双通道，分别获取左右两侧的光信号，获取的光信号为可见光或其他电磁波。
其中，光强探测器4具体为高指向性无线照度计，该高指向性无线照度计的数量为两个，两个高指向性照度计分别获取左右两侧的光信号，获取到左右两侧的可见光或者其他电磁波。
具体的，两个高指向性照度计分别获取左右两侧的光信号，并将光信号传输到光强计算分析器5中。光强计算分析器5采用动态平衡算法，通过分析双通道的光强信号序列在空间与时间维度上平衡关系，确定车辆的行驶状态。若光强信号序列在空间与时间维度上处于平衡状态，则确定该车辆处于正常行驶状态，输出直行的指示控制信号，抬头显示设备显示直行的指示控制信号，若光强信号序列在空间与时间维度上处于非平衡状态，则确定该车辆处于偏航状态，输出偏航的警示信号，再确定该偏航是否为左偏航，若确定是左偏航，则输出右转的指示控制信号，抬头显示设备显示该右转的指示控制信号，若确定是右偏航，则输出左转的指示控制信号，抬头显示设备显示左转的指示控制信号。驾驶员通过观察路面情况和抬头显示设备显示的指示控制信号对车辆做出相应的控制。
其中，双通道偏航检测系统2中的光强探测器4获取光信号的采样周期均小于0.01秒，光强计算分析器5计算精度为厘米级，抬头显示设备的显示周期小于0.02秒，显示精度为分米级，从而在恶劣天气下，双通道偏航检测系统2对车辆偏航定位的精度性高。本发明将测量反射波转变为测量光信号，将测距计算转变为光信号强度比较，车辆偏航定位可达厘米级别，探测频次与实时计算速率支持的车行速度达40km/h。
进一步地，该车辆偏航警示与控制系统还包括嵌入式车辆控制系统，该嵌入式车辆控制系统用于获取光强计算分析器输出的偏航的警示信号，并判断该偏航的警示信号的持续时间是否超过预置时间，若超过预置时间，则控制该车辆按照光强计算分析器输出的指示控制信号的指示行驶。
其中，嵌入式车辆控制系统具有全面控制机动车行驶状态的控制指令系统和伺服机构，嵌入式车辆控制系统在获取的偏航的警示信号持续的时间超过预置时间时，此时驾驶员无法正常完整地完成正确的驾驶操作，嵌入式车辆控制系统控制车辆按照此时的指示控制信号的指示行驶，实现全天候的智能化安全驾驶。若获取的偏航的警示信号持续的时间没有超过预置时间时，驾驶员根据人眼视觉与机器视觉交叉校验和深度融合来控制车辆的行驶方向。
需要说明的是，在该车辆偏航警示与控制系统控制策略中，坚持人工自主驾驶优先原则，只有在判定驾驶员无法完整地完成正确的驾驶操作并可能发生事故后，才由机器控制车辆，实现全天候的智能化安全驾驶。
还需要说明的是，双通道偏航检测系统2检测光强的偏航情况是在光源能正常获取的条件下检测的，即道路两边的路灯正常，不存在熄灭的情况。若道路两边的路灯存在损坏的情况下，双通道偏航检测系统2左右双通道中任何一个通道检测到的光信号强度不在预置的正常值范围内，则确定专用道路照明系统处于非正常情况，输出关注的指示控制信号，抬头显示设备显示关注的指示控制信号。
进一步地，抬头显示设备3还用于通过以图形的形式显示上述的指示控制信号。其中，抬头显示设备3包括标志区和若干信号灯，若干信号灯分布在标志区的左右两列，该标志区用于显示上述指示控制信号中的指示图形，若干信号灯用于根据指示控制信号来显示该信号灯。
其中，该信号灯的数量为6个，6个信号灯分布在标志区的左右两列，6个信号灯用于根据指示控制信号来显示该信号灯。
如图3所示，图3为抬头显示设备显示直行的指示控制信号的示意图，6个信号灯分别对称分布在标志区的两边，两侧的信号灯分别表示车辆两侧的行车环境的情况，其中，绿灯表示正常，红灯表示危险禁行，黄灯表示专用道路照明系统处于非正常情况，行车环境情况不明，需要车辆驾驶员关注。
如图3所示，抬头显示设备的标志区显示直行的箭头，标志区左右两列信号灯中的绿灯均亮，表示车辆行驶的两侧环境正常，车辆可以继续直行。如图4所示，图4为抬头显示设备显示左转的指示控制信号的示意图，抬头显示设备的标志区显示表示左转的图形，标志区左侧绿灯亮，右侧红灯亮，表示右侧危险，需要左转。
如图5所示，图5为抬头显示设备显示的右转的指示控制信号的示意图，抬头显示设备的标志区显示表示右转的图形，标志区的左侧红灯亮，右侧绿灯亮，表示左侧危险，需要右转。如图6、图7、图8和图9所示，图6为抬头显示设备的两侧危险信号的示意图，图7为抬头显示设备的左侧干扰信号显示的示意图，图8为抬头显示设备的左扰右禁信号显示的示意图，图9为抬头显示设备的左禁右扰信号显示的示意图，图10为抬头显示设备的两侧干扰信号显示的示意图。其中，双通道偏航检测系统2双通道中任一通道检测出路面行车环境处于非正常情况时，该通道所在侧的黄灯亮，若路面行车环境正常，抬头显示设备左右两侧信号灯的显示分别表示车辆左右两侧的车辆偏航情况，抬头显示设备3的图形显示出了车辆此时所需行驶方向。驾驶员可根据抬头显示设备中显示的指示控制信号来控制车辆的行驶方向。
请参阅图11，图11为本发明提供驾驶系统工作原理图，恶劣天气条件下，在本发明实施例中，人眼视觉为专用道路照明系统提供清晰的人眼视觉环境形成的人眼视觉影像，机器视觉为道路照明系统与双通道偏航检测系统检测出的车辆定位信息即偏航情况，人眼视觉与机器视觉深度融合为抬头显示设备的显示图形与人眼中道路视觉影像的在人脑中的融合，专用道路照明系统通过提高人眼轮廓视锐度、立体视锐度和颜色视锐度，给人眼提供清晰的视觉环境，驾驶员将获取的光信号储存在大脑中并发出驾驶指令，同时，车辆通过双通道偏航检测系统光信号数据的采集，光强计算分析器的数据处理且基于光强动态平衡原理对车辆进行定位和行驶状态的分析，最后发出车辆行驶状态信号，显示在抬头显示设备并发出驾驶指令，驾驶员利用人眼视觉与机器视觉交叉检验控制车辆行驶。在该车辆偏航警示与控制系统中，坚持人工驾驶操作优先处理，机器在人工操纵失败后可强行进行操作。
本发明第二实施例提供一种车辆偏航警示与控制方法，该车辆偏航警示与控制方法运用于第一实施例的车辆偏航警示与控制系统中。
请参阅图12，图12为本发明第二实施例提供的一种车辆偏航警示与控制方法的流程示意图，该方法包括步骤101至步骤103：
步骤101、专用道路照明系统提供人眼视觉所需的照明环境，以使驾驶员通过该车辆的挡风玻璃将行车环境形成人眼视觉影像；
步骤102、双通道偏航检测系统获取该专用道路照明系统中的光信号，并根据该光信号做出相应指示控制信号；
步骤103、抬头显示设备显示该指示控制信号形成车辆的机器视觉，以使驾驶员通过机器视觉与人眼视觉的交叉校验来控制该车辆的行驶方向。
其中，专用道路照明系统能给人眼视觉提供清晰的照明环境，使驾驶员在恶劣天气的环境下也能看清该车辆所处的路面环境，避免了车辆的追尾和碰撞情况。双通道偏航检测系统通过获取道路照明系统中的光信号，并分析两个通道中获取的光信号的光强分布情况来判断该车辆的偏航情况，然后对该情况做出相应的指示，输出指示控制信号，抬头显示设备显示该指示控制信号，驾驶员根据该指示控制信号对车辆做出相应的控制，避免该车辆的偏航情况。
需要说明的是，上述利用人眼视觉与机器视觉的交叉校验和深度融合，对机动车在恶劣天气条件下行驶中的偏航进行警示控制。
从上述附图12示例的车辆偏航警示与控制方法可知，专用道路照明系统提供人眼视觉所需的照明环境，使驾驶员通过车辆的挡风玻璃将行车环境形成人眼视觉影像，驾驶员通过该人眼视觉影像进行对车辆控制，避免了车辆的追尾和碰撞情况，同时，双通道偏航检测系统获取专用道路照明系统中的光信号，并根据该光信号做出相应指示控制信号，抬头显示设备将该指示控制信号显示出来形成车辆的机器视觉，驾驶人员根据显示出来的机器视觉，调整车辆的行驶方向，这里同时利用机器视觉和人眼视觉来控制车辆的行驶方向，在恶劣天气下避免了车辆的追尾、碰撞和偏航等情况，保证了车辆的行车安全。
进一步地，请参阅图13，图13为步骤102的细化步骤的流程示意图，步骤102的细化步骤具体为步骤201至步骤206：
步骤201、光强探测器获取专用道路照明系统中光源发出的光信号；
步骤201、光强计算分析器通过判断光信号的光强信号序列在空间与时间维度是否处于平衡状态来确定车辆的行驶状态；
步骤203、若处于平衡状态，则确定该车辆处于正常行驶状态，输出直行的指示控制信号；
步骤204、若处于非平衡状态，则确定该车辆处于偏航状态，输出偏航的警示信号，再确定该偏航是否为左偏航；
步骤205、若确定为左偏航，则输出右转的指示控制信号；
步骤206、若确定为右偏航，则输出左转的指示控制信号。
具体地，光强探测器设置为左右双通道，分别获取左右两侧的光信号，获取的光信号为可见光或其他电磁波。光强探测器具体为高指向性无线照度计，该高指向性无线照度计的数量为两个，两个高指向性照度计分别获取左右两侧的光信号，并将光信号传输到光强计算分析器中。光强计算分析器采用动态平衡算法，通过分析双通道的光强信号序列在空间与时间维度上平衡关系，确定车辆的行驶状态。若光强信号序列在空间与时间维度上处于平衡状态，则确定该车辆处于正常行驶状态，输出直行的指示控制信号，抬头显示设备显示直行的指示控制信号，若光强信号序列在空间与时间维度上处于非平衡状态，则确定该车辆处于偏航状态，输出偏航的警示信号，再确定该偏航是否为左偏航，若确定是左偏航，则输出右转的指示控制信号，抬头显示设备显示该右转的指示控制信号，若确定是右偏航，则输出左转的指示控制信号，抬头显示设备显示左转的指示控制信号。驾驶员通过观察路面情况和抬头显示设备显示的指示控制信号对车辆做出相应的控制。
其中，双通道偏航检测系统中的光强探测器获取光信号的采样周期均小于0.01秒，光强计算分析器计算精度为厘米级，抬头显示设备的显示周期小于0.02秒，显示精度为分米级，从而在恶劣天气下，双通道偏航检测系统对车辆偏航定位的精度性高。本发明将现行技术的测量反射波转变为测量光信号，将测距计算转变为光信号强度比较，车辆偏航定位可达厘米级别，探测频次与实时计算速率支持的车行速度达40km/h。
进一步地，该车辆偏航警示与控制方法还包括：该嵌入式车辆控制系统获取光强计算分析器输出的偏航的警示信号，并判断该偏航的警示信号的持续时间是否超过预置时间，若超过预置时间，则控制该车辆按照光强计算分析器输出的指示控制信号的指示行驶。
其中，嵌入式车辆控制系统具有全面控制机动车行驶状态的控制指令系统和伺服机构，嵌入式车辆控制系统在获取的偏航的警示信号持续的时间超过预置时间时，此时驾驶员无法正常完整地完成正确的驾驶操作，嵌入式车辆控制系统控制车辆按照此时的指示控制信号的指示行驶，实现全天候的智能化安全驾驶。若获取的偏航的警示信号持续的时间没有超过预置时间时，驾驶员根据人眼视觉与机器视觉交叉校验和深度融合来控制车辆的行驶方向。
需要说明的是，在该车辆偏航警示与控制系统控制策略中，坚持人工自主驾驶优先原则，只有在判定驾驶员无法完整地完成正确的驾驶操作并可能发生事故后，才由机器控制车辆，实现全天候的智能化安全驾驶。
还需要说明的是，双通道偏航检测系统检测光强的偏航情况是在光源能正常获取的条件下检测的，即道路两边的路灯正常，不存在熄灭的情况，若道路两边的路灯存在损坏的情况下，双通道偏航检测系统左右双通道中任何一个通道检测到的光信号强度不在预置的正常值范围内，则确定专用道路照明系统处于非正常情况，输出关注的指示控制信号，抬头显示设备显示关注的指示控制信号。
进一步地，步骤103的具体步骤为：抬头显示设备通过以图形的形式显示上述的指示控制信号。其中，抬头显示设备包括标志区和6个信号灯，6个信号灯分布在标志区的左右两列，该标志区用于显示上述指示控制信号中的指示图形，6个信号灯用于根据指示控制信号来显示该信号灯。
如图3所示，图3为抬头显示设备的直行指令显示的示意图，6个信号灯分别对称分布在标志区的两边，两侧的信号灯分别表示车辆两侧的行车环境的情况，其中，绿灯表示正常，红灯表示危险禁行，黄灯表示专用道路照明系统处于非正常情况，行车环境情况不明，需车辆驾驶员关注。
如图3所示，抬头显示设备的标志区显示直行的箭头，标志区左右两列信号灯中的绿灯均亮，表示车辆行驶的两侧环境正常，车辆可以继续直行。如图4所示，图4为抬头显示设备显示左转的指示控制信号的示意图，抬头显示设备的标志区显示表示左转的图形，标志区左侧绿灯亮，右侧红灯亮，表示右侧危险，需要左转。
如图5所示，图5为抬头显示设备显示的右转的指示控制信号的示意图，抬头显示设备的标志区显示表示右转的图形，标志区的左侧红灯亮，右侧绿灯亮，表示左侧危险，需要右转。如图6、图7、图8和图9所示，图6为抬头显示设备的两侧危险信号显示的示意图，图7为抬头显示设备的左侧干扰信号显示的示意图，图8为抬头显示设备的左扰右禁信号显示的示意图，图9为抬头显示设备的左禁右扰信号显示的示意图，图10为抬头显示设备的两侧干扰信号显示的示意图。其中，双通道偏航检测系统双通道中任一通道检测出路面行车环境处于非正常情况时，该通道所在侧的黄灯亮，若路面行车环境正常，抬头显示设备左右两侧信号灯的显示分别表示车辆左右两侧的车辆偏航情况，抬头显示设备的图形显示出了车辆此时所需行驶方向。驾驶员可根据抬头显示设备中显示的指示控制信号来控制车辆的行驶方向。
如图11所示，恶劣天气条件下，恶劣天气条件下，在本发明实施例中，人眼视觉为专用道路照明系统提供清晰的人眼视觉环境形成的人眼视觉影像，机器视觉为道路照明系统与双通道偏航检测系统检测出的车辆定位信息即偏航情况，人眼视觉与机器视觉深度融合为抬头显示设备的显示图形与人眼中道路视觉影像的在人脑的深度融合，专用道路照明系统通过提高人眼轮廓视锐度、立体视锐度和颜色视锐度，给人眼提供清晰的视觉环境，驾驶员将获取的光信号储存在大脑中并发出驾驶指令，同时，车辆通过双通道偏航检测系统光信号数据的采集，光强计算分析器的数据处理且基于光强动态平衡原理对车辆进行定位和行驶状态的分析，最后发出车辆行驶状态信号，显示在抬头显示设备并发出驾驶指令，驾驶员利用人眼视觉与机器视觉交叉检验控制车辆行驶。在该车辆偏航警示与控制系统中，坚持人工驾驶操作优先处理，机器在人工操纵失败后可强行进行操作。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其它实施例的相关描述。
以上为对本发明所提供的一种车辆偏航警示与控制方法及系统的描述，对于本领域的技术人员，依据本发明实施例的思想，在具体实施方式及应用范围上均会有改变之处，综上，本说明书内容不应理解为对本发明的限制。

Claims (10)

  1. 一种车辆偏航警示与控制系统，其特征在于，所述车辆偏航警示与控制系统包括：专用道路照明系统、双通道偏航检测系统和抬头显示设备；
    所述专用道路照明系统用于提供人眼视觉所需的照明环境，以使驾驶员通过所述车辆的挡风玻璃将行车环境形成人眼视觉影像；
    所述双通道偏航检测系统用于获取所述专用道路照明系统中的光信号，并根据所述光信号做出相应指示控制信号；
    所述抬头显示设备用于显示所述指示控制信号并形成车辆的机器视觉，以使驾驶员通过所述机器视觉与所述人眼视觉的交叉校验来控制所述车辆的行驶方向。
  2. 根据权利要求1所述的车辆偏航警示与控制系统，其特征在于，所述专用道路照明系统采用高穿透力和高显示性的光源。
  3. 根据权利要求2所述的车辆偏航警示与控制系统，其特征在于，所述双通道偏航检测系统包括：光强探测器和光强计算分析器；
    所述光强探测器用于获取所述光源发出的光信号；
    所述光强计算分析器用于通过判断所述光信号的光强信号序列在空间与时间维度是否处于平衡状态来确定所述车辆的行驶状态；
    若处于平衡状态，则确定所述车辆处于正常行驶状态，输出直行的指示控制信号；
    若处于非平衡状态，则确定所述车辆处于偏航状态，输出偏航的警示信号，再确定所述偏航是否为左偏航，若确定是左偏航，则输出右转的指示控制信号，若确定是右偏航，则输出左转的指示控制信号。
  4. 根据权利要求3所述的车辆偏航警示与控制系统，其特征在于，所述车辆偏航警示与控制系统还包括嵌入式车辆控制系统；
    所述嵌入式车辆控制系统用于获取所述光强计算分析器输出的所述偏航的警示信号，并判断所述偏航的警示信号的持续时间是否超过预置时间；
    若超过所述预置时间，则控制所述车辆按照所述指示控制信号的指示行驶。
  5. 根据权利要求1所述的车辆偏航警示与控制系统，其特征在于，所述抬头显示设备还用于通过以图形的形式显示所述指示控制信号。
  6. 根据权利要求1所述的车辆偏航警示与控制系统，其特征在于，所述抬头显示设备包括标志区和若干信号灯，所述若干信号灯分布在标志区的左右两列，所述标志区用于显示所述指示控制信号中的指示图形，所述若干信号灯用于根据所述指示控制信号来显示所述信号灯。
  7. 根据权利要求3所述的车辆偏航警示与控制系统，其特征在于，所述光强探测器设置为左右双通道，分别获取左右两侧的光信号，获取的光信号为可见光或其它电磁波。
  8. 一种车辆偏航警示与控制方法，所述方法用于权利要求1至7任意一项所述的系统中，其特征在于，所述方法包括：
    所述专用道路照明系统提供人眼视觉所需的照明环境，以使驾驶员通过所述车辆的挡风玻璃将行车环境形成人眼视觉影像；
    所述双通道偏航检测系统获取所述专用道路照明系统中的光信号，并根据所述光信号做出相应指示控制信号；
    所述抬头显示设备显示所述指示控制信号形成车辆的机器视觉，以便驾驶员通过所述机器视觉与所述人眼视觉的交叉校验来控制所述车辆的行驶方向。
  9. 根据所述权利要求8所述的方法，其特征在于，所述双通道偏航检测系统获取所述专用道路照明系统中的光信号，并根据所述光信号做出相应指示控制信号的步骤包括：
    所述光强探测器获取所述光源发出的光信号；
    所述光强计算分析器通过判断所述光信号的光强信号序列在空间与时间维度是否处于平衡状态来确定所述车辆的行驶状态；
    若处于平衡状态，则确定所述车辆处于正常行驶状态，输出直行的指示控制信号；
    若处于非平衡状态，则确定所述车辆处于偏航状态，输出偏航的警示信号，再确定所述偏航是否为左偏航，若确定是左偏航，则输出右转的指示控制信号，若确定是右偏航，则输出左转的指示控制信号。
  10. 根据权利要求9所述的方法，其特征在于，所述嵌入式车辆控制系统获取所述光强计算分析器输出的所述偏航的警示信号，并判断所述偏航的警示信号的持续时间是否超过预置时间，若超过所述预置时间，则控制所述车辆按照所述指示控制信号的指示行驶。
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