CN109795416A - Vehicle pavement identifies blind area automated driving system - Google Patents
Vehicle pavement identifies blind area automated driving system Download PDFInfo
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- CN109795416A CN109795416A CN201910202558.0A CN201910202558A CN109795416A CN 109795416 A CN109795416 A CN 109795416A CN 201910202558 A CN201910202558 A CN 201910202558A CN 109795416 A CN109795416 A CN 109795416A
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- vehicle
- graticule
- blind area
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Abstract
A kind of vehicle pavement provided by the invention identifies blind area automated driving system, including video camera, in-vehicle processor and display screen；The video camera and the display screen are electrically connected with the in-vehicle processor respectively；The video camera is installed on vehicle, to shoot the carriageway image of vehicle front, and by the transmission of video images taken to in-vehicle processor；Video image of the in-vehicle processor to analyze video camera shooting, if road marking line missing or imperfect in video image, the in-vehicle processor then finds object of reference in video image, and fits simulation graticule based on the object of reference, to fill the road marking line；Video image of the display screen to show video camera shooting, and simulation graticule is shown in video image, to assist vehicle to carry out straight line.Vehicle pavement provided by the invention identifies blind area automated driving system, convenient for auxiliary driver determine vehicle whether run-off-road.
Description
Technical field
The present invention relates to automotive safety field of auxiliary, and in particular to a kind of vehicle pavement mark blind area automated driving system.
Background technique
The lane of vehicle keeps auxiliary system, using the camera for being mounted on vehicle, identifies the lane that vehicle is travelling,
The information about the lane travelled is provided to driver.When vehicle driving, especially vehicle uses constant speed on expressway
Cruise mode when driving, driver by lane keep auxiliary system, vehicle whether run-off-road, convenient for vehicle keep linear rows
It sails, prevents automotive run-off-road.
Since existing lane keeps auxiliary system substantially to utilize the image obtained by the camera being arranged in vehicle
It identifies lane identification traveling lane, therefore can't see the unsharp section in lane or lane itself being blocked by nearby vehicle,
Lane keep auxiliary system be difficult to or can not identify lane, at this time driver can not determine vehicle whether run-off-road.
Summary of the invention
For the defects in the prior art, vehicle pavement provided by the invention identifies blind area automated driving system, convenient for auxiliary
Help driver determine vehicle whether run-off-road.
A kind of vehicle pavement provided by the invention identifies blind area automated driving system, including video camera, in-vehicle processor and
Display screen；The video camera and the display screen are electrically connected with the in-vehicle processor respectively；The video camera is mounted on vehicle
On, to shoot the carriageway image of vehicle front, and by the transmission of video images taken to in-vehicle processor；The vehicle-mounted place
Video image of the reason device to analyze video camera shooting, if road marking line missing or imperfect, the vehicle in video image
Borne processor then finds object of reference in video image, and fits simulation graticule based on the object of reference, to fill the road
Line line；Video image of the display screen to show video camera shooting, and simulation graticule is shown in video image, it uses
To assist vehicle to carry out straight line
Optionally, the video camera includes at least four fish-eye cameras；Four fish-eye cameras are separately mounted to vehicle
Quadrangle.
Optionally, the video camera includes the rearview camera for being mounted on the tailstock；The rearview camera is to shoot vehicle
The carriageway image at rear, and by the transmission of video images taken to in-vehicle processor, in order to which in-vehicle processor is from rear
Object of reference is found in the figure of lane.
Optionally, the priority of the in-vehicle processor selection object of reference is the road marking line-that lane both sides disconnect
Pavement step-isolation strip step-sidewalk guardrail-isolation strip guardrail-road surface sewer fence-road surface manhole-roadside electric wire
Bar-roadside trunk.
Optionally, the confidence level for the simulation graticule that the in-vehicle processor fits, which is based on above-mentioned sequence, successively to be reduced.
Optionally, the in-vehicle processor is in simulation graticule central filler hatching；The confidence level of fitting result is higher, institute
It is more intensive to state hatching.
Optionally, when the object of reference is road marking line separated in lane, what the in-vehicle processor fitted
Simulation graticule is filled in the place of road marking line disconnection.
Optionally, the background color in the color and video image of the simulation graticule that the in-vehicle processor fits is not
Together, so that simulation graticule can obviously be observed from background.
As shown from the above technical solution, a kind of beneficial effects of the present invention: vehicle pavement mark blind area provided by the invention
Automated driving system, including video camera, in-vehicle processor and display screen；The video camera and the display screen respectively with the vehicle
Borne processor electrical connection；The video camera is installed on vehicle, and shooting the carriageway image of vehicle front, and will be taken
Transmission of video images is to in-vehicle processor；Video image of the in-vehicle processor to analyze video camera shooting, if video figure
The road marking line missing or imperfect as in, the in-vehicle processor then find object of reference in video image, and being based on should
Object of reference fits simulation graticule, to fill the road marking line；View of the display screen to show video camera shooting
Frequency image, and simulation graticule is shown in video image, to assist vehicle to carry out straight line.Vehicle pavement mark provided by the invention
Know blind area automated driving system, convenient for auxiliary driver determine vehicle whether run-off-road.
Second aspect, a kind of automobile provided by the invention, including vehicle pavement described in any of the above embodiments mark blind area is certainly
Dynamic control loop.Since vehicle pavement mark blind area automated driving system has above-mentioned beneficial effect, the automobile with the system
Also there should be corresponding beneficial effect.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described.In all the appended drawings, similar element
Or part is generally identified by similar appended drawing reference.In attached drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is structural block diagram of the invention；
Fig. 2 is vehicle front when there is the road marking line disconnected, the video image that display screen is shown；
Fig. 3 is the video image that display screen is shown when object of reference is found in rear of vehicle；
When Fig. 4 is with well lid object of reference, video image that display screen is shown.
Appended drawing reference:
101- video camera, 102- in-vehicle processor, 103- display screen.
Specific embodiment
It is described in detail below in conjunction with embodiment of the attached drawing to technical solution of the present invention.Following embodiment is only used for
Clearly illustrate technical solution of the present invention, therefore be only used as example, and cannot be used as a limitation and limit protection model of the invention
It encloses.
Please refer to Fig. 1 and 2, a kind of vehicle pavement mark blind area automated driving system provided in this embodiment, including camera shooting
Machine 101, in-vehicle processor 102 and display screen 103；The video camera and the display screen are electrically connected with the in-vehicle processor respectively
It connects；The video camera is installed on vehicle, to shoot the carriageway image of vehicle front, and the transmission of video images that will be taken
To in-vehicle processor；Video image of the in-vehicle processor to analyze video camera shooting, if road markings in video image
Line missing or imperfect, the in-vehicle processor then finds object of reference in video image, and is fitted based on the object of reference
Graticule is simulated, to fill the road marking line；The display screen is being regarded to show the video image of video camera shooting
Simulation graticule is shown in frequency image, to assist vehicle to carry out straight line.
It can't see the road marking line on lane, road marking line missing or road when video camera is blocked by nearby vehicle
When line line is imperfect, the in-vehicle processor then finds object of reference in video image, and is fitted based on the object of reference
Simulate graticule.The simulation mark that driver observes the video image of video camera shooting by display screen and in-vehicle processor fits
Line, and according to simulation graticule judge vehicle whether run-off-road.The priority of the in-vehicle processor selection object of reference is vehicle
Road marking line-pavement step-isolation strip step-sidewalk guardrail-isolation strip guardrail-road surface sewer that road both sides disconnect
Fence-road surface manhole-roadside electric pole-roadside trunk.And the confidence level base for simulating graticule that the in-vehicle processor fits
It is successively reduced in above-mentioned sequence.If the object of reference is road marking line separated in lane, the in-vehicle processor is quasi-
The simulation graticule closed out is filled in the place of road marking line disconnection.If the object of reference is non-rice habitats tag line, the institute
The geometric center for one in front and one in back two identical objects of reference that in-vehicle processor is found in video image positioned at lane the same side is stated,
Then geometric center line forms straight line as simulation graticule.Referring to Fig. 4, when being well lid referring for example to object, the vehicle-mounted place
Reason device finds two well lids positioned at lane the same side in video image, and to the geometric center line of well lid, forms straight line
As simulation graticule.The simulation graticule of the other side parallel with the simulation graticule is simulated in the lane other side simultaneously.The vehicle
The color for the simulation graticule that borne processor fits is different from the background color in video image, specifically, being based on pavement of road
Color (bituminous pavement, cement pavement etc.) and situations such as weather condition (fine day, snows at the rainy day), the color of pavement of road
It can have differences.Obviously observed that in-vehicle processor needs the face to simulation graticule from background to enable to simulate graticule
Color carries out corresponding adjustment, so that the color of simulation graticule can be clearly distinguishable from road surface color.Further, referring also to video figure
The color of existing roadmarking, the color for simulating graticule will also be different from the color of roadmarking, avoid driver by mould as in
Quasi- graticule is firmly believed as the practical graticule of road, and vehicle is caused to deviate practical lane, and the hidden danger to cause the accident under special circumstances.
Confidence of the in-vehicle processor indicating simulation graticule by way of simulating graticule central filler hatching
The height of degree；The confidence level of execution degree based on object of reference, the simulation graticule fitted is higher, and the hatching is more intensive.?
The height of the confidence level of simulation graticule can be indicated by the gray scale or transparency of lines.Such as the confidence level of simulation graticule is got over
The transparency transparency of height, the simulation graticule is lower, and hatching closeness, gray scale, the difference of transparency can make mould
The difference of color concentration is presented in quasi- graticule in video image, thus is easy obviously to be observed in the simulation graticule same
When, driver intuitively can determine to current simulation graticule whether provide enough by simulating the color concentration difference of graticule
Reliable steering direction auxiliary.
As further improvement to above-mentioned technical proposal, the video camera includes at least four fish-eye cameras；Four
The fish-eye camera is separately mounted to the quadrangle of vehicle.The case where convenient for observation vehicle's surroundings.
Referring to Fig. 3, as further improvement to above-mentioned technical proposal, another embodiment of the present invention provides a kind of vapour
Vehicle road surface identification blind area automated driving system, the video camera include the rearview camera for being mounted on the tailstock；The rear-camera
Carriageway image of the head to shoot rear of vehicle, and by the transmission of video images taken to in-vehicle processor, in order to vehicle-mounted
Processor finds object of reference from the figure of rear lane.When failing to search out suitable object of reference in the video image of vehicle front
When, the in-vehicle processor finds object of reference from the figure of rear lane, and fits simulation graticule based on the object of reference, and should
Simulation graticule extends to the front of vehicle along the direction of vehicle driving, convenient for driver determine vehicle whether run-off-road.At this point,
The rectilinear form that graticule is parallel to each other in video image in two is simulated to occur.
Another embodiment of the present invention provides a kind of automobile, including vehicle pavement described in any of the above embodiments mark blind area from
Dynamic control loop.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.
Claims (9)
1. a kind of vehicle pavement identifies blind area automated driving system, it is characterised in that: including video camera, in-vehicle processor and display
Screen；The video camera and the display screen are electrically connected with the in-vehicle processor respectively；
The video camera is installed on vehicle, and is passed to shoot the carriageway image of vehicle front, and by the video image taken
It is defeated by in-vehicle processor；
The in-vehicle processor to analyze video camera shooting video image, if in video image road marking line missing or
Imperfect, the in-vehicle processor then finds object of reference in video image, and fits simulation graticule based on the object of reference, uses
To fill the road marking line；
Video image of the display screen to show video camera shooting, and simulation graticule is shown in video image, to auxiliary
Vehicle is helped to carry out straight line.
2. vehicle pavement according to claim 1 identifies blind area automated driving system, it is characterised in that: the video camera is extremely
It less include four fish-eye cameras；Four fish-eye cameras are separately mounted to the quadrangle of vehicle.
3. vehicle pavement according to claim 1 identifies blind area automated driving system, it is characterised in that: the video camera packet
Include the rearview camera for being mounted on the tailstock；Carriageway image of the rearview camera to shoot rear of vehicle, and will take
Transmission of video images to in-vehicle processor, in order to which in-vehicle processor finds object of reference from the figure of rear lane.
4. vehicle pavement according to claim 1 identifies blind area automated driving system, it is characterised in that: the on-board processing
The priority of device selection object of reference is road marking line-pavement step-isolation strip step-pavement that lane both sides disconnect
Guardrail-isolation strip guardrail-road surface sewer fence-road surface manhole-roadside electric pole-roadside trunk.
5. vehicle pavement according to claim 4 identifies blind area automated driving system, it is characterised in that: the on-board processing
The confidence level for the simulation graticule that device fits successively is reduced based on the sequence of power 4.
6. vehicle pavement according to claim 5 identifies blind area automated driving system, it is characterised in that: the on-board processing
Device is in simulation graticule central filler hatching；The confidence level of fitting result is higher, and the hatching is more intensive.
7. vehicle pavement according to claim 4 identifies blind area automated driving system, it is characterised in that: the object of reference is
In lane when separated road marking line, the simulation graticule that the in-vehicle processor fits is filled in road marking line disconnection
Place.
8. vehicle pavement according to claim 1 identifies blind area automated driving system, it is characterised in that: the on-board processing
The color for the simulation graticule that device fits is different from the background color in video image, so that simulation graticule can be bright from background
It is aobvious to observe.
9. a kind of automobile, it is characterised in that: automatic including the mark of vehicle pavement described in any item of claim 1-8 blind area
Control loop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910202558.0A CN109795416A (en) | 2019-03-18 | 2019-03-18 | Vehicle pavement identifies blind area automated driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910202558.0A CN109795416A (en) | 2019-03-18 | 2019-03-18 | Vehicle pavement identifies blind area automated driving system |
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| Publication Number | Publication Date |
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| CN109795416A true CN109795416A (en) | 2019-05-24 |
Family
ID=66562964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910202558.0A Pending CN109795416A (en) | 2019-03-18 | 2019-03-18 | Vehicle pavement identifies blind area automated driving system |
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| CN112537302A (en) * | 2020-11-30 | 2021-03-23 | 南通路远科技信息有限公司 | Driverless traffic vehicle lane keeping method and device and traffic vehicle |
| CN112537301A (en) * | 2020-11-30 | 2021-03-23 | 南通路远科技信息有限公司 | Driving reference object selection method and device for intelligent driving traffic carrier |
| CN116215564A (en) * | 2023-05-10 | 2023-06-06 | 禾多科技（北京）有限公司 | Man-machine interaction intelligent driving system |
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Application publication date: 20190524 |