WO2023155283A1 - 一种基于智慧灯杆的自动驾驶信息辅助系统 - Google Patents

一种基于智慧灯杆的自动驾驶信息辅助系统 Download PDF

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WO2023155283A1
WO2023155283A1 PCT/CN2022/086232 CN2022086232W WO2023155283A1 WO 2023155283 A1 WO2023155283 A1 WO 2023155283A1 CN 2022086232 W CN2022086232 W CN 2022086232W WO 2023155283 A1 WO2023155283 A1 WO 2023155283A1
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information
street lamp
vehicle
terminal
automatic driving
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PCT/CN2022/086232
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English (en)
French (fr)
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温鑫鑫
李婷婷
李敬
田志怀
唐兰香
付晓燕
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同辉电子科技股份有限公司
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Publication of WO2023155283A1 publication Critical patent/WO2023155283A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V23/00—Arrangement of electric circuit elements in or on lighting devices
    • F21V23/04—Arrangement of electric circuit elements in or on lighting devices the elements being switches
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the invention relates to the technical field of smart street lamps, in particular to an automatic driving information assistance system based on smart lamp posts.
  • Autonomous driving technology relies on computer vision, radar, monitoring devices, and global positioning systems to work together to allow motor vehicles to drive autonomously without the need for active human operation. Since automatic driving does not require humans to drive motor vehicles, it can theoretically effectively avoid human driving errors, reduce traffic accidents, and improve road transportation efficiency. Therefore, autonomous driving technology is getting more and more attention.
  • the automatic driving of vehicles usually relies on detection devices such as cameras and radars installed on the vehicle itself to detect road information, and formulate driving strategies based on this.
  • detection devices such as cameras and radars installed on the vehicle itself to detect road information, and formulate driving strategies based on this.
  • the detection range of detection devices such as cameras and radars set on the vehicle itself is usually relatively limited and has a relatively large blind area.
  • part of the automatic driving system also arranges road information collection units on the street lamps beside the road, and sends them to the vehicle. Strategy.
  • the present invention proposes an automatic driving information assistance system based on a smart light pole, so as to reduce the possibility of accidents.
  • An information assistance system for automatic driving based on a smart light pole including a street lamp end and a vehicle end;
  • the street lamp end is provided with a warning unit, a first information collection unit, a first data processing unit, and a first communication unit, and the first information collection unit is used to collect first road information around the street lamp end;
  • the vehicle end is provided with a second information collection unit, a second data processing unit, and a second communication unit, and the second information collection unit is used to collect second road information around the vehicle end;
  • the vehicle end receives the first road information, and the second data processing unit determines a driving strategy according to the first road information and the second road information;
  • the street lamp end receives the second road information, and the first data processing unit controls the warning unit to issue a warning to the outside according to the second road information and the first road information.
  • the first information collection unit includes at least a first image collection module, a first radar module and a first GPS module;
  • the first image acquisition module is used to collect image information around the street lamp end
  • the first radar module is used to collect three-dimensional point cloud data of the street lamp end
  • the first GPS module is used to collect the image information of the street lamp end location information.
  • the street lamp end is provided with a lighting lamp, and the lighting lamp is rotatably provided on the street lamp end;
  • the first radar module is configured to detect a moving object, and when the moving speed of the object is within a preset speed range, the first data processing unit controls the illuminating light to rotate with the object, for the objects to provide illumination.
  • the warning unit includes an illuminating lamp, the illuminating lamp is rotatably arranged on the end of the street lamp, the first data processing unit determines the target object according to the first road information and the second road information, and The illumination lamp is controlled to rotate to irradiate the target object.
  • the illumination lamp is configured such that the color of the light is variable.
  • the second information collection unit includes a second image collection module, a second radar module and a second GPS module;
  • the second image collection module is used to collect image information around the vehicle end
  • the second radar module is used to collect three-dimensional point cloud data around the vehicle end
  • the second GPS module is used to collect the Vehicle location information.
  • the second communication unit sends the location information of the vehicle to the cloud;
  • the street lamp terminal receives the location information of the vehicle terminal from the cloud, and judges the distance between the vehicle terminal and the street lamp terminal, and the distance between the vehicle terminal and the street lamp terminal is less than or equal to a preset distance threshold , to control the lights on the street lamp end to turn on.
  • the first road information collected by the first information collection unit installed on the street lamp and around the street lamp end can be sent to the vehicle end, and the vehicle end can pass through its own first road information.
  • the second road information collected by the second information collection unit is combined with the first road information to finally determine the driving strategy.
  • the road information used to determine the driving strategy in the scheme of the present invention is more efficient.
  • the street lamp terminal can determine the target object that may collide with the automatic driving vehicle according to the second road information and the first road information, And control the warning unit to send a warning to the target object, so that the possibility of collision can be reduced.
  • Fig. 1 is an organizational structure diagram of an automatic driving information assistance system based on a smart light pole provided by an embodiment of the present invention
  • Fig. 2 is a road condition diagram of the driving of the vehicle provided by the embodiment of the utility model.
  • 100-street lamp terminal 110-first information collection unit, 120-warning unit, 200-vehicle terminal, 300-cloud, 400-obstacle, 500-target.
  • the auxiliary system includes a street lamp terminal 100 and a vehicle terminal 200;
  • the first data processing unit and the first communication unit, the first information collection unit 110 is used to collect the first road information around the street lamp terminal 100;
  • the vehicle terminal 200 is provided with a second information collection unit, a second data processing unit and a second
  • the communication unit, the second information collection unit is used to collect the second road information around the vehicle terminal 200;
  • the vehicle terminal 200 receives the first road information, and the second data processing unit determines the driving strategy according to the first road information and the second road information; street lights
  • the terminal 100 receives the second road information, the first data processing unit determines the target object 500 according to the second road information and the first road information, and controls the warning unit 120 to issue a warning to the target object 500 .
  • the first information collection unit 110 collects the first road information around the street lamp terminal 100, and the first road
  • the information is sent to nearby self-driving vehicles; and the self-driving vehicle, on the one hand, collects the second road information around the vehicle through the second information collection unit on itself, and on the other hand, receives the above-mentioned first road information, and The driving strategy of the vehicle is finally determined through the first road information and the second road information.
  • the street lamp terminal 100 receives the second road information, determines the target object 500 that may affect the driving of the vehicle according to the first road information and the second road information, and controls the warning unit 120 on the street lamp terminal 100 to issue a warning to the target.
  • the driving strategy is only determined through the second road information, because The road information obtained by the vehicle terminal 200 in this embodiment is more sufficient and comprehensive, and the driving strategy finally determined by it is obviously more reasonable and safer.
  • the warning unit 120 on the street lamp terminal 100 sends a warning to the target to warn the target 500 of possible dangers, which can further reduce the possibility of traffic accidents.
  • the above-mentioned second information collection unit specifically includes a second image collection module, a second radar module, and a second GPS module; wherein, the second image collection module is used to collect image information around the vehicle terminal 200, and the second The radar module is used to collect three-dimensional point cloud data around the vehicle terminal 200 , and the second GPS module is used to collect location information of the vehicle terminal 200 .
  • the second image acquisition module can be, for example, a monocular and/or binocular camera
  • the second radar module can include millimeter radar wave radar and/or laser radar
  • the second road information includes road structure information, vehicle/pedestrian identification, dynamic Static target recognition, the vehicle terminal 200's own position, speed, acceleration, heading, and the state observation information of other vehicles and pedestrians around the vehicle terminal 200 itself.
  • the above-mentioned first information collection unit 110 specifically includes a first image collection module, a first radar module and a first GPS module; wherein, the first image collection module is used to collect image information around the street lamp terminal 100, and the first radar module is used for The three-dimensional point cloud data around the street lamp terminal 100 is collected, and the first GPS module is used to collect the location information of the street lamp terminal 100 .
  • the first image acquisition module can be, for example, a monocular and/or binocular camera
  • the first radar module can include millimeter radar wave radar and/or laser radar
  • the first road information includes road structure information, vehicle/pedestrian identification, dynamic Static target recognition, the vehicle terminal 200's own position, speed, acceleration, heading, and the state observation information of other vehicles and pedestrians around the vehicle terminal 200 itself.
  • the area collected by the second information collection unit on the vehicle end 200 will have points A and B as shown in FIG. , The blind area surrounded by the lines connecting the points of point C.
  • the target body 500 may interact with The vehicle end 200 collides, causing a traffic accident, wherein the target object 500 may be a pedestrian or a cyclist such as a bicycle.
  • the first information collection unit 110 on the street lamp terminal 100 can collect the road area with itself as the center and the detection distance as the radius. Referring to FIG. 2 , when the street lamp terminal 100 is in When the left front of the obstacle, the collection area of the first information collection unit 110 completely covers the collection blind spot of the second information collection unit, and the blind spot can be completely avoided after the information collected by the second information collection unit and the first information collection unit 110 is superimposed; The driving of the end 200 is more accurate. When the street lamp terminal 100 is in other positions, since the street lamp terminal 100 is higher, the collection area of the first information collection unit 110 can still avoid some blind spots, so that the driving decision of the vehicle terminal 200 is more accurate.
  • the above-mentioned warning unit 120 is specifically an illuminating lamp, which is rotatably arranged on the street lamp end 100, and the first data processing unit can control the illuminating lamp to rotate to illuminate the target object. 500.
  • this embodiment it is possible to warn the target object 500 of the possibility of an accident by irradiating the target object 500 with the irradiating light, and prevent it from advancing. Specifically, when the speed of the vehicle end 200 is high and it is difficult to completely avoid accidents by braking, this embodiment can also prevent the target object 500 from continuing to move by irradiating the target object 500 with an illuminating lamp, thereby avoiding accidents. happened.
  • the above-mentioned illuminating lamp is preferably configured so that the color of the light is variable.
  • the color of the illuminating lamp By configuring the color of the illuminating lamp so that the color of the light is variable, for example, in the process of irradiating the target 500, by changing the color of the light, it is possible to change the color of the light. If it is perceived by the target body 500 , it can better serve as a warning to the target body 500 .
  • a lighting lamp is provided on the street lamp terminal 100, the first radar module is configured to detect a moving object, and when the moving speed of the moving object is within a preset speed range, the first data processing unit controls the lighting. The light turns on to provide illumination for the traveling body.
  • the illuminating lamp provides illumination for the moving object.
  • the above-mentioned traveling body is, for example, passers-by or cyclists walking on the sidewalk.
  • the lighting system on the street light end 100 can be kept off to save energy.
  • the first radar module detects a moving object, if the speed of the object meets the Pedestrians and walking speed or riding speed can control the lights to turn on to provide lighting for pedestrians or cyclists.
  • the illuminating lamp of this embodiment can adopt the above-mentioned illuminating lamp, that is to say, there are two light sources arranged on the street lamp end 100, one of which is the main light source, which is kept on during the peak hours of vehicle driving at night; Illumination lamp, the illumination lamp can shine on the target object 500 when needed, and play a role in warning the target object 500. It can also reduce the number of vehicles at night and when the main light source is turned off, the illumination lamp can be converted into light of a suitable color for the road. Passers-by or bicycle riders, etc. provide lighting.
  • the auxiliary system in this embodiment also includes a cloud 300, and the second communication unit sends the location information of the vehicle terminal 200 to the cloud 300; The main light source on the street lamp terminal 100 is turned on.
  • the vehicle terminal 200 can also communicate with the cloud 300 to send the location information of the vehicle to the cloud 300, and then the server of the cloud 300 sends a signal to the street lamp terminal 100 in front of the vehicle to turn on the front street lamp terminal
  • the main light source on 100 illuminates the vehicle end 200 .
  • the server of the cloud 300 sends a signal to the front street lamp terminal 100 to turn on the main light source on the front street lamp terminal 100 to illuminate the vehicle terminal 200.
  • the main light source is turned off to save energy.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Traffic Control Systems (AREA)

Abstract

一种基于智慧灯杆的自动驾驶信息辅助系统包括路灯端（100）和车辆端（200）；路灯端（100）上设有警示单元（120），路灯端（100）和车辆端（200）上分别设有信息采集单元、数据处理单元和通信单元，并分别采集路灯端（100）和车辆端（200）周边的道路信息；车辆端（200）与路灯端（100）通信，并根据路灯端（100）和车辆端（200）周边的道路信息确定行驶策略；路灯端（100）根据路灯端（100）和车辆端（200）周边的道路信息确定目标体（500），并控制警示单元（120）向目标体（500）发出警示，以提高自动驾驶的安全性。

Description

一种基于智慧灯杆的自动驾驶信息辅助系统 技术领域
本发明涉及智慧路灯技术领域，具体的，涉及一种基于智慧灯杆的自动驾驶信息辅助系统。
背景技术
自动驾驶技术依靠计算机视觉、雷达、监控装置和全球定位系统等协同合作，让机动车辆可以在不需要人类主动操作下实现自动驾驶。由于自动驾驶无需人类来驾驶机动车辆，所以理论上能够有效避免人类的驾驶失误，减少交通事故的发生，且能够提高公路的运输效率。因此，自动驾驶技术越来越受到重视。
目前，车辆的自动驾驶通常依赖于设置在车辆自身上的相机、雷达等检测装置检测道路信息，并以此制定行驶策略。然而，设定在车辆自身上的相机、雷达等检测装置的检测范围通常较为受限，具有较大的盲区。
为此，一部分自动驾驶系统在路旁的路灯上也布置有道路信息采集单元，并发送至车辆，车辆基于自身所检测到的道路信息，以及路灯所检测到的道路信息，最终决定车辆的驾驶策略。
然而，目前的路灯所检测的道路信息仅作用于车辆本身，在某些情况下仍不可避免的会存在事故发生的可能。
发明内容
为此，本发明提出一种基于智慧灯杆的自动驾驶信息辅助系统，以能够降低事故发生的可能性。
本发明的技术方案如下：
一种基于智慧灯杆的自动驾驶信息辅助系统，包括路灯端和车辆端；
所述路灯端上设有警示单元、第一信息采集单元、第一数据处理单元和第一通信单元，所述第一信息采集单元用于采集所述路灯端周边的第一道路信息；
所述车辆端上设有第二信息采集单元、第二数据处理单元和第二通信单元，所述第二信息采集单元用于采集所述车辆端周边的第二道路信息；
所述车辆端接收所述第一道路信息，所述第二数据处理单元根据所述第一道路信息和所述第二道路信息确定行驶策略；
所述路灯端接收所述第二道路信息，所述第一数据处理单元根据所述第二道路信息和所述第一道路信息控制所述警示单元向外界发出警示。
进一步的，所述第一信息采集单元至少包括第一图像采集模块、第一雷达模块和第一GPS模块；
所述第一图像采集模块用于采集所述路灯端周边的图像信息，所述第一雷达模块用于采集所述路灯端的三维点云数据，所述第一GPS模块用于采集所述路灯端的位置信息。
进一步的，所述路灯端上设有照明灯，所述照明灯可转动的设于所述路灯端上；
所述第一雷达模块被配置为检测移动的物体，且所述物体的移动速度在预设的速度范围内时，所述第一数据处理单元控制所述照明灯随所述物体转动，为所述物体提供照明。
进一步的，所述警示单元包括照射灯，所述照射灯可转动的设于路灯端上，所述第一数据处理单元根据所述第一道路信息和所述第二道路信息确定目标体，并控制所述照射灯转动至向所述目标体照射。
进一步的，所述照射灯被配置为灯光颜色可变。
进一步的，所述第二信息采集单元包括第二图像采集模块、第二雷达模块和第二GPS模块；
所述第二图像采集模块用于采集所述车辆端周边的图像信息，所述第二雷达模块用于采集所述车辆端周边的三维点云数据，所述第二GPS模块用于采集所述车辆端位置信息。
进一步的，还包括云端；所述第二通信单元向所述云端发送所述车辆端的位置信息；
所述路灯端自所述云端接收所述车辆端的位置信息，判断所述车辆端与所述路灯端的距离，且所述车辆端与所述路灯端间的距离小于或等于预设的距离阈值时，控制所述路灯端上的照明灯开启。
本发明的工作原理及有益效果为：
本发明提供的基于智慧灯杆的自动驾驶信息辅助系统，一方面，路灯上设置的第一信息采集单元所采集的、路灯端周边的第一道路信息能够发送至车辆端，车辆端通过自身第二信息采集单元所采集的第二道路信息再结合第一道路信息，最终决定驾驶策略，相比于仅通过第二道路信息决定驾驶策略，本发明的方案用于决定驾驶策略的道路信息更为完整和全面，具有更小的盲区，因为能提高车辆自动驾驶的安全性；另一方面，路灯端能够根据第二道路信息和第一道路信息确定可能会与自动驾驶车辆发生碰撞的目标体，并控制警示单元向目标体发出警示，从而能够减少发生碰撞的可能性。
附图说明
下面结合附图和具体实施方式对本发明作进一步详细的说明。
图1为本实用新型实施例提供的基于智慧灯杆的自动驾驶信息辅助系统的组织构成图；
图2为本实用新型实施例提供的车辆端行驶的一种路况图。
图中：100-路灯端；110-第一信息采集单元，120-警示单元，200-车辆端，300-云端，400-障碍物，500-目标体。
具体实施方式
下面将结合本发明实施例，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，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都涉及本发明保护的范围。
本实施例提供一种基于智慧灯杆的自动驾驶信息辅助系统，参考图1，该辅助系统包括路灯端100和车辆端200；路灯端100上设有警示单元120、第一信息采集单元110、第一数据处理单元和第一通信单元，第一信息采集单元110用于采集路灯端100周边的第一道路信息；车辆端200上设有第二信息采集单元、第二数据处理单元和第二通信单元，第二信息采集单元用于采集车辆端200周边的第二道路信息；车辆端200接收第一道路信息，第二数据处理单元根据第一道路信息和第二道路信息确定行驶策略；路灯端100接收第二道路信息，第一数据处理单元根据第二道路信息和第一道路信息确定目标体500，并控制警示单元120向目标体500发出警示。
也即是说，本实施例的辅助系统，通过在路灯端100上设置第一信息采集单元110，由该第一信息采集单元110采集路灯端100周边的第一道路信息，并将第一道路信息发送至附近的自动驾驶的车辆；而自动驾驶的车辆，一方面通过自身上的第二信息采集单元，采集车辆周边的第二道路信息，另一方面，接收上述的第一道路信息，并通过第一道路信息和第二道路信息，最终确定车辆的驾驶策略。同时，路灯端100接收第二道路信息，并根据第一道路信息和第二道路信息确定可能会影响车辆行驶的目标体500，并控制路灯端100上的警示单元120向目标发出警示。
本实施例的辅助系统，由于车辆端200是通过第一道路信息和第二道路信息最终确定车辆的行驶策略，相比于现有的自动驾驶车辆，仅通过第二道路信息确定驾驶策略，因为本实施例的车辆端200所获知的道路信息更为充分和全面，其最终所确定的行驶策略显然也就更 为合理和安全。而且，通过路灯端100上的警示单元120向目标发出警示，警示目标体500可能会发生的危险，能够进一步降低交通事故发生的可能性。
本实施例中，上述的第二信息采集单元具体包括第二图像采集模块、第二雷达模块和第二GPS模块；其中，第二图像采集模块用于采集车辆端200周边的图像信息，第二雷达模块用于采集车辆端200周边的三维点云数据，第二GPS模块用于采集车辆端200的位置信息。其中，第二图像采集模块例如可以是单目和/或双目相机，第二雷达模块可以包括毫米雷达波雷达和/或激光雷达，第二道路信息包括道路结构信息、车辆/行人识别、动静态目标识别、车辆端200自身位置、速度、加速度、航向，以及车辆端200自身周围其它车辆及行人的状态观测信息等。
上述的第一信息采集单元110具体包括第一图像采集模块、第一雷达模块和第一GPS模块；其中，第一图像采集模块用于采集路灯端100周边的图像信息，第一雷达模块用于采集路灯端100周边的三维点云数据，第一GPS模块用于采集路灯端100的位置信息。其中，第一图像采集模块例如可以是单目和/或双目相机，第一雷达模块可以包括毫米雷达波雷达和/或激光雷达，第一道路信息包括道路结构信息、车辆/行人识别、动静态目标识别、车辆端200自身位置、速度、加速度、航向，以及车辆端200自身周围其它车辆及行人的状态观测信息等。
具体的，参考图2所示，当车辆端200行驶，且在左前方具有障碍物400时，车辆端200上的第二信息采集单元所采集的区域将具有如图2中A点、B点、C点各点连线所围成的盲区。当道路上有如图2所示的，在障碍物400前方横向行驶的目标体500时，由于车辆端200自身上的第二信息采集单元难以采集到目标体500的信息，目标体500可能会与车辆端200发生碰撞，造成交通事故，其中，目标体500可能为行人或者自行车等骑手。
与之相比，本实施例的方案中，路灯端100上的第一信息采集单元110能够采集以自身为圆心，以探测距离为半径的道路区域，参考图2所示，当路灯端100处于障碍的左前方时，第一信息采集单元110的采集区域完全覆盖第二信息采集单元的采集盲区，第二信息采集单元与第一信息采集单元110采集的信息叠加后能完全避免盲区；使车辆端200的驾驶更为准确。当路灯端100处于其它位置时，由于路灯端100较高，第一信息采集单元110的采集区域仍能够避免部分盲区，使车辆端200的驾驶决策更为准确。
在上述的基础上，本实施例中，上述的警示单元120具体是照射灯，该照射灯可转动的设于路灯端100上，且第一数据处理单元能够控制该照射灯转动至照射目标体500。
也即是说，本实施例中，能够通过照射灯向目标体500的照射，以警示目标体500存在可能发生事故的可能性，阻止其前进。具体的来说，在车辆端200的速度较高，难以通过刹 车完全避免事故发生的情况下，本实施例还可通过由照射灯照射目标体500，阻止目标体500的继续行进，从而避免事故的发生。
本实施例中，上述的照射灯优选被配置为光线颜色可变，通过将照射灯的颜色配置为光线颜色可变，例如，在照射向目标体500的过程中，通过变换光线颜色，能够更好的被目标体500感知到，也就能够更好的起到警示目标体500的作用。
本实施例中，在路灯端100上设有照明灯，第一雷达模块被配置为检测移动的行进体，且行进体的移动速度在预设的速度范围内时，第一数据处理单元控制照明灯开启，为行进体提供照明。
也即是说，在第一雷达模块检测到移动的行进体时，且行进体的移动速度在预设的速度范围内时，由照明灯为该行进体提供照明。其中，上述的行进体例如为在人行道内步行的路人或自行车骑手。
通过设置该照明灯，在夜晚时，若路面没有行人，可保持路灯端100上的照明系统关闭，以节省能源，当第一雷达模块检测到移动的行进体时，若该行进体的速度符合行人和行走速度或者骑行速度，则可控制照明灯开启，为行人或自行车骑手提供照明。
其中，本实施例的照明灯可采用上述的照射灯，也即是说，在路灯端100上设置有两个光源，其一是主光源，在夜晚车辆行驶的高峰期保持开启；其二是照射灯，该照射灯可在需要时照向目标体500，起到警示目标体500的作用，还可在夜晚车辆减少，主光源关闭时，由该照射灯转换为合适颜色的光线为道路上的路人或自行车骑手等提供照明。
本实施例中的辅助系统还包括云端300，第二通信单元向云端300发送车辆端200的位置信息；云端300向车辆端200行进方向上的、与车辆端200的距离在预设范围内的路灯端100上的主光源开启。
也即是说，本实施的辅助系统，还可由车辆端200与云端300通信，向云端300发送车辆的位置信息，然后由云端300的服务器向车辆前方的路灯端100发送信号，开启前方路灯端100上的主光源，为车辆端200进行照明。
通过设置该云端300，由云端300的服务器向前方路灯端100发送信号，开启前方路灯端100上的主光源，为车辆端200进行照明，也即可在没有车辆行驶时，保持路灯端100上的主光源关闭，以节省能源。
以上仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (7)

  1. 一种基于智慧灯杆的自动驾驶信息辅助系统，其特征在于，包括路灯端(100)和车辆端(200)；
    所述路灯端(100)上设有警示单元(120)、第一信息采集单元(110)、第一数据处理单元和第一通信单元，所述第一信息采集单元(110)用于采集所述路灯端(100)周边的第一道路信息；
    所述车辆端(200)上设有第二信息采集单元、第二数据处理单元和第二通信单元，所述第二信息采集单元用于采集所述车辆端(200)周边的第二道路信息；
    所述车辆端(200)接收所述第一道路信息，所述第二数据处理单元根据所述第一道路信息和所述第二道路信息确定行驶策略；
    所述路灯端(100)接收所述第二道路信息，所述第一数据处理单元根据所述第二道路信息和所述第一道路信息确定目标体(500)，并控制所述警示单元(120)向所述目标体(500)发出警示。
  2. 根据权利要求1所述的基于智慧灯杆的自动驾驶信息辅助系统，其特征在于，所述第一信息采集单元(110)至少包括第一图像采集模块、第一雷达模块和第一GPS模块；
    所述第一图像采集模块用于采集所述路灯端(100)周边的图像信息，所述第一雷达模块用于采集所述路灯端(100)的三维点云数据，所述第一GPS模块用于采集所述路灯端(100)的位置信息。
  3. 根据权利要求2所述的基于智慧灯杆的自动驾驶信息辅助系统，其特征在于，所述路灯端(100)上设有照明灯，所述照明灯可转动的设于所述路灯端(100)上；
    所述第一雷达模块被配置为检测移动的物体，且所述物体的移动速度在预设的速度范围内时，所述第一数据处理单元控制所述照明灯随所述物体转动，为所述物体提供照明。
  4. 根据权利要求1所述的基于智慧灯杆的自动驾驶信息辅助系统，其特征在于，所述警示单元(120)包括照射灯，所述照射灯可转动的设于路灯端(100)上，所述第一数据处理单元控制所述照射灯转动至向所述目标体(500)照射。
  5. 根据权利要求4所述的基于智慧灯杆的自动驾驶信息辅助系统，其特征在于，所述照射灯被配置为灯光颜色可变。
  6. 根据权利要求2中所述的基于智慧灯杆的自动驾驶信息辅助系统，其特征在于，所述第二信息采集单元包括第二图像采集模块、第二雷达模块和第二GPS模块；
    所述第二图像采集模块用于采集所述车辆端(200)周边的图像信息，所述第二雷达模块用于采集所述车辆端(200)周边的三维点云数据，所述第二GPS模块用于采集所述车辆端(200)位置信息。
  7. 根据权利要求6中所述的基于智慧灯杆的自动驾驶信息辅助系统，其特征在于，还包括云端(300)；所述第二通信单元向所述云端(300)发送所述车辆端(200)的位置信息；
    所述云端(300)向所述车辆端(200)行进方向上的、与所述车辆端(200)的距离小于预设距离的路灯端(100)发送信号，所述第一数据处理单元接收所述信号并控制所述路灯端(100)的主光源开启。
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