CN109606358A - Image collecting device and its acquisition method applied to intelligent driving automobile - Google Patents
Image collecting device and its acquisition method applied to intelligent driving automobile Download PDFInfo
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- CN109606358A CN109606358A CN201811518903.3A CN201811518903A CN109606358A CN 109606358 A CN109606358 A CN 109606358A CN 201811518903 A CN201811518903 A CN 201811518903A CN 109606358 A CN109606358 A CN 109606358A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000013136 deep learning model Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 9
- 238000012549 training Methods 0.000 claims description 4
- 239000002699 waste material Substances 0.000 abstract description 7
- 238000012545 processing Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- 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
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of image collecting devices and its acquisition method applied to intelligent driving automobile, wherein described image acquisition device includes: image acquisition units, acquires image data；Trigger unit is connected with the control system of vehicle, and the trigger unit carries out Image Acquisition, and the frequency of the instruction control described image acquisition unit acquisition image according to the control system according to the instruction triggers described image acquisition unit of the control system.It can not only realize that stablizing for image data acquires, and it can be adjusted according to the dynamic that the instruction of control system carries out picture-taken frequency, the more preferable demand met under special or complicated automatic Pilot scene to image, while also avoiding the data of control system and calculating power waste.
Description
Technical field
The present invention relates to technical field of automotive electronics more particularly to a kind of image collectors applied to intelligent driving automobile
It sets and its acquisition method.
Background technique
Current autonomous driving vehicle technology rapidly develops, and image recognition technology be its important environment sensing channel it
One.In the automatic Pilot scheme for typically relying on vision, carrying out Image Acquisition is a step the most basic and crucial.It is current logical
Image acquisition scheme is to carry out Image Acquisition using fixed frequency, and acquired image is all sent to processing
Device is handled, this meets most usage scenario to a certain extent, and but having cannot be well according to actual use
Demand carries out the shortcomings that data acquisition:
1, data are caused when system does not need mass data and calculate power waste；
2, when system needs the more image data of high frequency, if automobile is in urgent lane change or complicated traffic environment
When, enough image datas cannot be provided as desired.
Summary of the invention
It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of image collecting devices applied to intelligent driving automobile, can not only
It realizes the acquisition of stablizing of image data, and can be adjusted according to the dynamic that the instruction of control system carries out picture-taken frequency,
The more preferable demand met under special or complicated automatic Pilot scene to image, at the same also avoid control system data and
Calculate power waste.
To achieve the above object with some other purposes, the present invention adopts the following technical scheme:
A kind of image collecting device applied to intelligent driving automobile, comprising:
Image acquisition units acquire image data；
Trigger unit is connected with the control system of vehicle, and the trigger unit is according to the instruction of the control system
It triggers described image acquisition unit and carries out Image Acquisition, and described image acquisition unit is controlled according to the instruction of the control system
Acquire the frequency of image.
Preferably, in the image collecting device applied to intelligent driving automobile, described image acquisition unit is
It can trigger formula camera.
Preferably, in the image collecting device applied to intelligent driving automobile, it is arranged on the trigger unit
There are power interface and communication interface；
The power interface is connect with described image acquisition unit, to provide power supply for described image acquisition unit, and to
Described image acquisition unit sends trigger signal；
The communication interface is connect with the control system, to obtain described instruction by the control system.
Preferably, in the image collecting device applied to intelligent driving automobile, on described image acquisition unit
It is provided with output interface, the control system obtains the image that described image acquisition unit is shot by the output interface.
Preferably, in the image collecting device applied to intelligent driving automobile, the control system obtains in real time
The travel speed of the vehicle is taken, and generates the frequency of control described image acquisition unit acquisition image according to the travel speed
Instruction.
Preferably, in the image collecting device applied to intelligent driving automobile, the control system obtains in real time
The traveling-position of the vehicle is taken, and generates the frequency of control described image acquisition unit acquisition image according to the traveling-position
Instruction.
Preferably, in the image collecting device applied to intelligent driving automobile, the control system will be by institute
The image for stating image acquisition units acquisition inputs preset deep learning model, and according to being obtained by the deep learning model
As a result the instruction of the frequency of control described image acquisition unit acquisition image is generated；
Wherein, the deep learning model includes other various vehicles, pedestrian or objects by vehicle front under driving conditions
The sample image data training of the image of body obtains.
A method of applied to the Image Acquisition of intelligent driving automobile, include the following steps:
S1, vehicle control system generate picture-taken frequency control instruction；
S2, the vehicle image acquisition units according to the control instruction obtain image.
The present invention is include at least the following beneficial effects:
In image collecting device applied to intelligent driving automobile of the invention, determined by the control system of vehicle itself
The quantity of the image data in vehicle travel process is needed, and generates instruction and is sent to trigger unit, so that described be applied to intelligence
The trigger unit for the image collecting device that can be driven a car can acquire the frequency of image according to instruction control image acquisition units,
The purpose that picture-taken frequency is adjusted according to the concrete condition dynamic of vehicle driving is realized, avoids and uses in the prior art
Unified frequency carries out the data of image acquisition and processing and calculates power waste, it is also possible that automatic Pilot is in special or complicated driving
More images are obtained under environment, preferably to instruct automatic Pilot, further improve the safety and intelligence of automatic Pilot
Property.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is the circuit theory schematic diagram of the image collecting device provided by the invention applied to intelligent driving automobile.
Specific embodiment
It elaborates with reference to the accompanying drawing to the present invention, to enable those of ordinary skill in the art refering to energy after this specification
It is enough to implement accordingly.
As shown in Figure 1, a kind of image collecting device applied to intelligent driving automobile, comprising: image acquisition units are adopted
Collect image data.
Trigger unit is connected with the control system of vehicle, and the trigger unit is according to the instruction of the control system
It triggers described image acquisition unit and carries out Image Acquisition, and described image acquisition unit is controlled according to the instruction of the control system
Acquire the frequency of image.
In the above scheme, determine to need the image data in vehicle travel process by the control system of vehicle itself
Quantity, and generate instruction and be sent to trigger unit, so that the triggering of the image collecting device applied to intelligent driving automobile
Unit can realize picture-taken frequency according to vehicle row according to the frequency of instruction control image acquisition units acquisition image
The purpose for the concrete condition dynamic adjustment sailed, such as: when being driven under the seldom environment of flat traffic, it is possible to reduce image
The frequency of acquisition avoids and carries out the data of image acquisition and processing using unified frequency in the prior art and calculate power waste, and
On the road of relatively congestion when driving, it is also possible that automatic Pilot is special or complicated drive in fairground, country lanes etc.
It sails and obtains more images under environment, preferably to instruct automatic Pilot, further improve the safety and intelligence of automatic Pilot
It can property.
In one preferred embodiment, described image acquisition unit is that can trigger formula camera.
In the above scheme, can trigger formula camera can carry out image according to given frequency under the triggering of trigger unit
Acquisition, and cost is relatively low, and certainly, image acquisition units may be set to be infrared camera, common camera or infrared photography
The equipment that machine etc. arbitrarily can carry out Image Acquisition under trigger unit triggering.
In one preferred embodiment, power interface and communication interface are provided on the trigger unit.
The power interface is connect with described image acquisition unit, to provide power supply for described image acquisition unit, and to
Described image acquisition unit sends trigger signal.
The communication interface is connect with the control system, to obtain described instruction by the control system.
In the above scheme, by the way that power interface and communication interface are arranged on trigger unit, facilitate the trigger unit
It is connected with image acquisition units and control system, wherein power interface is connected with image acquisition units by harness, so that touching
Bill member can provide power supply for image acquisition units, to guarantee normal starting, work and the closing of image acquisition units, pass through
Trigger unit can also be obtained the finger of the frequency of image by power interface by the control described image acquisition unit that control system obtains
Order is sent to image acquisition units, so that image acquisition units carry out image triggering according to the instruction, to realize Image Acquisition
The dynamic of frequency adjusts；Communication interface and control system are by the connection of harness, so that the control image that control system generates is adopted
The instruction of collection unit photographs frequency is sent to trigger unit by communication interface.
In one preferred embodiment, output interface is provided on described image acquisition unit, the control system passes through described
Output interface obtains the image of described image acquisition unit shooting.
In the above scheme, by the setting of output interface in image acquisition units, so that control system is connect by output
Mouth is connected with image acquisition units, and obtains image data by image acquisition units, to control after to image real time transfer
The automatic Pilot of vehicle.
In one preferred embodiment, the control system obtains the travel speed of the vehicle in real time, and according to the traveling
Speed generates the instruction of the frequency of control described image acquisition unit acquisition image.
In the above scheme, vehicle speed in automatic Pilot state be influence one of vehicle safety it is important because
Element, thus control system generates the frequency of image acquisition units acquisition image by the travel speed of the vehicle obtained in real time
Instruction has great importance for the driving safety of vehicle.Specifically, can by control system set speed threshold value,
When speed reaches the threshold value, control system generates the instruction that control described image acquisition unit obtains image with upper frequency,
In order to make more complete and accurate judgement to traveling ahead condition under the faster driving situation of speed, in order to drive
The timely adjustment of mode improves driving safety；And when speed is not up to the threshold value, control system can control Image Acquisition list
Member saves calculation power with lower frequency acquisition image to reduce control system to the treating capacity of image data.Certainly, wherein
The threshold value of speed can be set it is multiple so that speed carries out difference setting in different threshold intervals, to the acquisition frequency of image,
With the frequency of more accurate control Image Acquisition.
In one preferred embodiment, the control system obtains the traveling-position of the vehicle in real time, and according to the traveling
Position generates the instruction of the frequency of control described image acquisition unit acquisition image.
In the above scheme, the environment that vehicle is travelled in automatic Pilot state be influence one of vehicle driving it is important because
Element, for example, vehicle driving is in environment such as fairground, school, hospital and stations, due to belonging to the biggish place of the density of population,
Then need to improve the frequency of image acquisition, in order to the timely adjustment of drive manner when emergency case, vehicle driving is in national highway, height
The speeds such as fast highway faster on the broad road when, it is less since there is no pedestrian or pedestrian, then can suitably reduce Image Acquisition
Unit obtains the frequency of image, to reduce the calculation power of control system processing image, avoids the wasting of resources.Specifically, automatic Pilot
GPS positioning device is provided on vehicle, control system easily can determine vehicle by the GPS positioning device that vehicle itself is installed
Traveling-position certainly, can also be in control system in order to the generation that control system is instructed according to the position of vehicle
It is arranged and the speed of vehicle and traveling-position is combined into the foundation generated as instruction, can further guarantees Image Acquisition
The reasonability of the adjustment of frequency.
In one preferred embodiment, the image obtained by described image acquisition unit is inputted preset depth by the control system
Learning model is spent, and control described image acquisition unit acquisition image is generated according to the result obtained by the deep learning model
Frequency instruction.
Wherein, the deep learning model includes other various vehicles, pedestrian or objects by vehicle front under driving conditions
The sample image data training of the image of body obtains.
In the above scheme, in automatic Pilot, front is likely to the pedestrian for occurring walking or has steering, lane change vehicle
Or the vehicle for trend of overtaking other vehicles, thus by the default of deep learning model, enable to control system will be by image acquisition units
In the image input deep learning model of acquisition, risk is driven with the presence or absence of potential with judgement front, so that control system root
The instruction that control image acquisition units obtain the frequency of image is generated according to the judging result obtained by deep learning model, to deposit
The frequency for obtaining image is improved when driving risk, so that control system makes the adjustment of drive manner in time, is further protected
The safety of automatic Pilot is demonstrate,proved；Wherein deep learning model by vehicle front under driving conditions include other various vehicles,
The sample image data training of the image of row people or object obtains, so that forming one for various the case where encountering under steam
Intersection, in favor of obtaining more accurate judging result by deep learning model, such as: by the way that image is inputted deep learning model
In, by the face orientation direction for the pedestrian that vehicle front occurs, direction of travel etc. judges whether there is the wind close to the vehicle
Danger；It is judged whether there is by the headstock direction of the vehicle of vehicle front appearance, state of car light etc. and overtakes other vehicles, brakes, turns to or become
Trend such as road etc..In addition, certain period can be set in control system, the input of one or several sheets image is obtained in each period
The judgement that driving condition is carried out into deep learning model, can also be by speed, the application of traveling-position and deep learning model
It is combined as the foundation that instruction generates, can further guarantee the reasonability of the adjustment of picture-taken frequency.
A method of applied to the Image Acquisition of intelligent driving automobile, include the following steps:
S1, vehicle control system generate picture-taken frequency control instruction.
S2, the vehicle image acquisition units according to the control instruction obtain image.
In the above scheme, the control instruction that picture-taken frequency is generated by vehicle control system, so that the figure of vehicle
Acquisition as acquisition unit according to the picture-taken frequency progress image in control instruction has been abandoned traditional intelligence driving vehicle and has been adopted
The drawbacks of carrying out Image Acquisition with fixed frequency allows vehicle to carry out flexible image according to the concrete scene of traveling and adopts
Collection, improves the safety of intelligent driving, also avoids the waste that control system calculates power.
The image acquisition units involved in the present invention arrived, with the following functions:
(1) image can be acquired immediately when receiving the trigger signal from trigger unit by harness；
(2) image data can be transferred to control system after being transferred to control system by harness；
(3) after the frequency shift of trigger unit triggering, the trigger signal after capable of being changed according to frequency carries out image and adopts
Collection and transmission, to realize the dynamic adjustment of the frequency of Image Acquisition.
Harness involved in it, with the following functions:
(1) it is powered by the driving of trigger unit to image acquisition units；
(2) image acquisition units are triggered by the driving of trigger unit carries out Image Acquisition；
(3) by it includes data line transmit the image of image acquisition units acquisition to trigger unit and control system.
Present invention specifies an image collecting devices applied to intelligent driving automobile with dynamic adjustable frequency, and
And it is capable of providing the timestamp of accurate Image Acquisition, the image of optimal number is provided for the visual pattern demand of automatic Pilot
Data.Compared with prior art, because there is the image data of adjustable frequency to export for it, there is significant advantage:
(1) when system needs the image data of lower frequency, can reduce picture-taken frequency, avoid image data and
Calculate the waste of power；
(2) it when system needs the image data of higher frequency, can be improved picture-taken frequency, avoid image data not
Foot has an adverse effect to whole system.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and the legend herein shown with description.
Claims (8)
1. a kind of image collecting device applied to intelligent driving automobile, wherein include:
Image acquisition units acquire image data；
Trigger unit is connected with the control system of vehicle, and the trigger unit is according to the instruction triggers of the control system
Described image acquisition unit carries out Image Acquisition, and controls the acquisition of described image acquisition unit according to the instruction of the control system
The frequency of image.
2. being applied to the image collecting device of intelligent driving automobile as described in claim 1, wherein described image acquisition unit
To can trigger formula camera.
3. being applied to the image collecting device of intelligent driving automobile as described in claim 1, wherein set on the trigger unit
It is equipped with power interface and communication interface；
The power interface is connect with described image acquisition unit, to provide power supply for described image acquisition unit, and to described
Image acquisition units send trigger signal；
The communication interface is connect with the control system, to obtain described instruction by the control system.
4. being applied to the image collecting device of intelligent driving automobile as described in claim 1, wherein described image acquisition unit
On be provided with output interface, the control system passes through the image that the output interface obtains the shooting of described image acquisition unit.
5. being applied to the image collecting device of intelligent driving automobile as described in claim 1, wherein the control system is real-time
The travel speed of the vehicle is obtained, and generates the frequency of control described image acquisition unit acquisition image according to the travel speed
The instruction of rate.
6. being applied to the image collecting device of intelligent driving automobile as described in claim 1, wherein the control system is real-time
The traveling-position of the vehicle is obtained, and generates the frequency of control described image acquisition unit acquisition image according to the traveling-position
The instruction of rate.
7. being applied to the image collecting device of intelligent driving automobile as described in claim 1, wherein the control system will be by
The image that described image acquisition unit obtains inputs preset deep learning model, and obtains according to by the deep learning model
Result generate control described image acquisition unit acquisition image frequency instruction；
Wherein, the deep learning model includes other various vehicles, row people or object by vehicle front under driving conditions
The sample image data training of image obtains.
8. a kind of method applied to the Image Acquisition of intelligent driving automobile as described in claim 1, wherein including walking as follows
It is rapid:
S1, vehicle control system generate picture-taken frequency control instruction；
S2, the vehicle image acquisition units according to the control instruction obtain image.
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| CN201811518903.3A CN109606358A (en) | 2018-12-12 | 2018-12-12 | Image collecting device and its acquisition method applied to intelligent driving automobile |
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| CN110493521A (en) * | 2019-08-22 | 2019-11-22 | 爱驰汽车有限公司 | Automatic Pilot camera control method, device, electronic equipment, storage medium |
| CN112185144A (en) * | 2019-07-01 | 2021-01-05 | 大陆泰密克汽车***（上海）有限公司 | Traffic early warning method and system |
| CN112596417A (en) * | 2020-11-06 | 2021-04-02 | 禾多科技（北京）有限公司 | Automatic driving operation domain controller and control system |
| CN112833887A (en) * | 2019-11-22 | 2021-05-25 | 泰为股份有限公司 | Navigation system with lane estimation mechanism and method of operation thereof |
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| CN115240450A (en) * | 2022-07-13 | 2022-10-25 | 购旺工业(赣州)有限公司 | Intelligent traffic data acquisition equipment and method |
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| CN115204753B (en) * | 2022-09-14 | 2022-12-02 | 深圳市深信信息技术有限公司 | Intelligent farm trade place behavior monitoring method and system and readable storage medium |
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Application publication date: 20190412 |