CN113085846A - Vehicle-mounted vision auxiliary driving system and control method thereof - Google Patents
Vehicle-mounted vision auxiliary driving system and control method thereof Download PDFInfo
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- 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
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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Abstract
The invention provides a vehicle-mounted vision auxiliary driving system and a control method thereof, wherein the method is realized by the vehicle-mounted vision auxiliary driving system, and the vehicle-mounted vision auxiliary driving system comprises a Bluetooth electronic tag (10) arranged on a front vehicle; the Bluetooth signal receiving station comprises a Bluetooth signal receiving station (11) arranged on a rear vehicle, a camera (12) arranged on a vehicle body of the rear vehicle and a controller (13), wherein the Bluetooth signal receiving station (11) comprises a first Bluetooth antenna (111) arranged on a vehicle head, a second Bluetooth antenna (112) and a processor (110).
Description
Technical Field
The invention relates to a vehicle-mounted vision auxiliary driving system and a control method thereof.
Background
The vehicle-mounted driving control system generally includes a lane keeping assist system, an automatic parking assist system, a brake assist system, a reverse assist system, and a driving assist system. The current driving assistance system also generally includes functions such as vehicle distance recognition. The current vehicle distance recognition is generally realized by acquiring the distance of the front vehicle through a camera, ultrasonic waves and the like. However, the camera recognition mode is difficult to recognize at present when the visual condition is not good, such as heavy rain, heavy fog, dust, haze and the like. However, ultrasonic waves are also greatly affected in foggy or rainy weather, and thus, it is necessary to optimize the existing AI visual recognition system.
Disclosure of Invention
The invention provides a vehicle-mounted vision aided driving system and a control method thereof, which can effectively solve the problems.
The invention is realized by the following steps:
the invention provides a control method of a vehicle-mounted vision auxiliary driving system, which is realized by the vehicle-mounted vision auxiliary driving system, wherein the vehicle-mounted vision auxiliary driving system comprises a Bluetooth electronic tag arranged on a front vehicle; the Bluetooth signal receiving station comprises a first Bluetooth antenna, a second Bluetooth antenna and a processor, wherein the first Bluetooth antenna, the second Bluetooth antenna and the processor are arranged on the vehicle head, and the method comprises the following steps:
s1, judging the environment of the vehicle, and acquiring the distance of the front vehicle through the camera when the brightness of the environment exceeds a set value; when the brightness of the environment is lower than a set value, the distance of the front vehicle is acquired in an auxiliary mode through a Bluetooth system; wherein, the distance of obtaining the front vehicle through the bluetooth system assistance specifically includes:
s11, acquiring radio frequency information generated by the Bluetooth electronic tag of the front vehicle;
s12, analyzing the distance information of the Bluetooth electronic tag relative to the Bluetooth signal receiving station by the radio frequency information;
and S13, judging the distance of the front vehicle closest to the rear vehicle according to the distance information.
The invention further provides a vehicle-mounted vision-assisted driving system, which comprises a Bluetooth electronic tag arranged on a front vehicle; the Bluetooth signal receiving station comprises a first Bluetooth antenna, a second Bluetooth antenna and a processor, wherein the first Bluetooth antenna, the second Bluetooth antenna and the processor are arranged on the head of the vehicle; the controller is used for controlling the camera to acquire the distance of the front vehicle when the brightness of the environment exceeds a set value; the controller is further used for assisting in acquiring the distance of the front vehicle through the Bluetooth system when the brightness of the environment is lower than a set value; the first Bluetooth antenna and the second Bluetooth antenna are used for acquiring radio frequency information generated by a Bluetooth electronic tag of a front vehicle; the processor is used for analyzing the distance information of the Bluetooth electronic tag relative to the Bluetooth signal receiving station according to the radio frequency information, and the processor is further used for judging the distance between the front vehicle and the rear vehicle, which is closest to the front vehicle, according to the distance information.
The invention has the beneficial effects that: according to the vision-aided driving system and the control method thereof, the distance of the front vehicle is obtained through the radio frequency signal, and the radio frequency signal of the Bluetooth system is stable and is not easily influenced, so that the confirmation of the distance of the front vehicle under the condition that the vision condition is not good can be solved, and the driving safety is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram of a vehicle-mounted vision-assisted driving system provided by an embodiment of the invention when in use.
Fig. 2 is a frame diagram of a vehicle-mounted vision-assisted driving system according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a vehicle-mounted vision-assisted driving system provided by another embodiment of the invention when in use.
FIG. 4 shows a vehicle vision-assisted driving system for calculating a distance reduction Δ d according to an embodiment of the present invention1-iSchematic representation of (c).
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1-2, an embodiment of the present invention provides a method for controlling a vehicle-mounted vision-assisted driving system, where the method is implemented by a vehicle-mounted vision-assisted driving system, where the vehicle-mounted vision-assisted driving system includes a bluetooth electronic tag 10 disposed in a front vehicle; the bluetooth signal receiving station 11 is arranged on a rear vehicle, and the camera 12 and the controller 13 are arranged on a rear vehicle body, wherein the bluetooth signal receiving station 11 comprises a first bluetooth antenna 111 and a second bluetooth antenna 112 which are arranged on a vehicle head, and a processor 110, and the method comprises the following steps:
s1, judging the environment of the vehicle, and acquiring the distance of the front vehicle through the camera 12 when the brightness of the environment exceeds a set value; when the brightness of the environment is lower than a set value, the distance of the front vehicle is acquired in an auxiliary mode through a Bluetooth system; wherein, the distance of obtaining the front vehicle through the bluetooth system assistance specifically includes:
s11, acquiring radio frequency information generated by the Bluetooth electronic tag 10 of the front vehicle;
s12, analyzing the distance information of the bluetooth electronic tag 10 relative to the bluetooth signal receiving station 11 by the radio frequency information;
and S13, judging the distance of the front vehicle closest to the rear vehicle according to the distance information.
As a further improvement, the first bluetooth antenna 111 and the second bluetooth antenna 112 are respectively and symmetrically disposed at two sides of a head of a rear vehicle, and the bluetooth electronic tag 10 is disposed at a middle portion of a tail of a front vehicle. Referring to fig. 3, in another embodiment, the vehicle-mounted vision-assisted driving system may further include a third bluetooth antenna 113 disposed at a middle position of the head of the rear vehicle to improve the detection accuracy.
As a further improvement, the transmission distance of the bluetooth electronic tag 10 can be set according to actual requirements. The power consumption is higher when the distance is too long, the distance is shorter, and the brake identification of the front vehicle is not facilitated. Preferably, the transmission distance of the bluetooth electronic tag 10 is in a range of 10 meters to 150 meters.
In addition, in step S11, the bluetooth electronic tag 10 may send out the rf signal in real time, or be in a sleep state, and start to operate and send out the rf signal in real time when the rear bluetooth signal receiving station 11 is activated, so that additional control chips or control modules may be reduced.
In addition, the bluetooth signal receiving station 11 can switch between a standby mode and an awake mode. For example, the device may be in a standby mode when the brightness of the environment is higher than a set value; and when the brightness of the environment is lower than a set value, waking up the Bluetooth signal receiving station 11 to enter a wake-up mode and work.
As a further improvement, in step S12, the step of analyzing the distance information of the bluetooth electronic tag 10 relative to the bluetooth signal receiving station 11 by the radio frequency information includes:
s121, extracting an RSSI value from the radio frequency information;
s122, eliminating the interference of the multipath effect on the RSSI value through a K-means clustering algorithm to obtain the RSSI value after the interference is eliminated;
s123, substituting the RSSI value after the interference is eliminated into the loss model of RSSI and distance, so as to obtain the distances d from the first bluetooth antenna 111 and the second bluetooth antenna 112 to the bluetooth electronic tag 10 respectively1-nAnd d2-nWherein n is the identity information of the bluetooth electronic tag 10 of each preceding vehicle. In other words, n may be license plate information written in the future, or may be unique information of the vehicle, such as an engine code or the like, so as to facilitate the recognition of the following vehicle. The K-means clustering algorithm and the RSSI-distance loss model are prior art and are not described in detail herein.
In step S121, if the RSSI value is too small, the distance is too long or is blocked by the leading vehicle, and at this time, the filtering may be performed automatically, so as to reduce the amount of calculation.
As a further improvement, in step S13, the step of determining the distance to the nearest preceding vehicle from the following vehicle according to the distance information includes:
s131, obtaining the distances d from the first bluetooth antenna 111 and the second bluetooth antenna 112 to the bluetooth electronic tag 10 respectively1-n、d2-nAbsolute value of difference AnI.e. | d1-n、d2-n|＝An；
S132, judging the absolute value AnIf the size of the front vehicle is within the preset range, judging the front vehicle as the front vehicle, otherwise, judging the front vehicle as the non-front vehicle;
s133, obtaining an absolute value AnIs within a predetermined range, and a distance d1-n、d2-nThe minimum distance d between the preceding vehicle and the following vehicle1-i、d2-iAnd i is the identity information of the front vehicle closest to the rear vehicle.
In addition, if the vehicle is in a curve, a corresponding correction may be made based on the map information.
Please refer to the drawings1, taking the following vehicle a as an example, it can receive the rf signals of the preceding vehicle B, C, D, so the distances d from the first bluetooth antenna 111 and the second bluetooth antenna 112 to the bluetooth electronic tag 10 can be determined according to the distances d1-n、d2-nAbsolute value of difference AnWithin a predetermined range, vehicle D is distinguished from vehicle B, C; since the distance of the vehicle B is the smallest, it is determined that the rear vehicle a is the closest front vehicle B.
In step S1, the step of determining the environment in which the vehicle is located may include:
and S14, when the rear vehicle turns on the headlight or the fog light, directly judging that the brightness of the current environment is lower than a set value.
In addition, the rear vehicle may further include a brightness sensor, and the step of determining the environment in which the vehicle is located in step S1 may include:
and S14, acquiring the brightness of the current environment through the brightness sensor, and judging whether the brightness of the current environment is lower than a set value according to the brightness.
As a further improvement, the control method of the on-vehicle vision-assisted driving system further includes:
s2, continuously obtaining the distance d of the front vehicle i nearest to the rear vehicle1-i、d2-iAnd starting to time T;
s3, determining the distance decreased quantity delta d of the front vehicle i in unit time1-iAnd if the braking force exceeds the set range, judging that the front vehicle i brakes suddenly and giving an alarm. It can be understood that the distance decrease Δ d of the preceding vehicle i per unit time is judged1-iWhether the vehicle speed exceeds the set range or not can be judged, and if the vehicle speed is sudden braking, the driver is reminded to pay attention.
In step S3, further, in order to accurately acquire the distance reduction amount Δ d of the preceding vehicle i1-iFurther acquisition of the vehicle speed of the following vehicle and the amount of change in the vehicle speed is required. Referring to fig. 4, specifically, the start timing T may be obtained in real time by the vehicle-mounted system1Speed of the vehicle and a first end time T2Timely speed of the vehicle so as to obtain the running distance of the rear vehicle in unit timeFrom S1At this time, T1Time-interval L between front and rear vehicles1And T2Time-interval L between front and rear vehicles2And can be obtained by calculation of a Bluetooth system. The travel distance S of the preceding vehicle per unit time can thus be obtained2＝S1+L2-L1. At T3In time, the running distance S of the front vehicle in the second unit time can be obtained4＝S3+L3-L2. According to the formula of deceleration movement, S-V t-1/2a t2I.e. S2＝S1+L2-L1＝V1*t-1/2a1*t2And S is4＝S3+L3-L2＝V2*t-1/2a2*t2. On the premise of assuming that the front vehicle performs uniform deceleration motion, a1＝a2V can be simply calculated1-V2＝(S2-S4) T is calculated. In other words, when the difference between the front and rear speeds exceeds the set value, i.e., the distance reduction amount S2-S4＝Δd1-iWhen the brake pressure exceeds the set value, emergency braking can be judged.
In addition, in step S3, the distance reduction Δ d is proportional to the rear vehicle speed V, which is obtained by the vehicle-mounted control system.
As a further improvement, the control method of the vehicle-mounted vision-assisted driving system may further include:
and S4, alarming when the distance between the nearest front vehicle and the rear vehicle is less than a set value S, wherein the set value S is in direct proportion to the speed V of the rear vehicle, and the speed V of the rear vehicle is obtained through a vehicle-mounted control system.
In step S4, the set value S is satisfied with the rear vehicle speed V, where k is 0.4 × 10-3h～0.8*10-3h. Preferably, when the vehicle speed V of the rear vehicle is more than or equal to 80 km/h, k is 0.6 x 10-3h～0.8*10-3h; when the speed V of the rear vehicle is less than 80 km/h and k is 0.4 x 10-3h～0.6*10-3h。
Referring to fig. 1-2, the present invention further provides a vehicle vision-assisted driving system.
As a further improvement, in the vehicle-mounted vision-assisted driving system, the first bluetooth antenna 111 and the second bluetooth antenna 112 are respectively and symmetrically arranged at two sides of the head of the rear vehicle, and the bluetooth electronic tag 10 is arranged in the middle of the tail of the front vehicle; and the processor 110 is further configured to extract an RSSI value from the radio frequency information; then eliminating the interference of the multipath effect on the RSSI value through a K-means clustering algorithm to obtain the RSSI value after the interference is eliminated; finally, the RSSI value after interference elimination is substituted into the loss model of RSSI and distance, so as to obtain the distances d from the first bluetooth antenna 111 and the second bluetooth antenna 112 to the bluetooth electronic tag 10 respectively1-nAnd d2-nWherein n is the identity information of the bluetooth electronic tag 10 of each preceding vehicle.
The embodiment of the invention also provides a computer storage medium, and when the computer storage medium is executed by a processor, the control method of the vehicle-mounted vision aided driving system is realized.
In the several embodiments provided in the present invention, it should be understood that the disclosed system and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be substantially or partially implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A control method of a vehicle-mounted vision-aided driving system is characterized in that the method is realized by the vehicle-mounted vision-aided driving system, and the vehicle-mounted vision-aided driving system comprises a Bluetooth electronic tag (10) arranged on a front vehicle; the Bluetooth signal receiving station (11) is arranged on a rear vehicle, and the camera (12) and the controller (13) are arranged on a body of the rear vehicle, wherein the Bluetooth signal receiving station (11) comprises a first Bluetooth antenna (111) and a second Bluetooth antenna (112) which are arranged on a vehicle head, and a processor (110), and the method comprises the following steps:
s1, judging the environment of the vehicle, and when the brightness of the environment exceeds a set value, acquiring the distance of the front vehicle through the camera (12); when the brightness of the environment is lower than a set value, the distance of the front vehicle is acquired in an auxiliary mode through a Bluetooth system; wherein, the distance of obtaining the front vehicle through the bluetooth system assistance specifically includes:
s11, acquiring radio frequency information generated by the Bluetooth electronic tag (10) of the front vehicle;
s12, analyzing the distance information of the Bluetooth electronic tag (10) relative to the Bluetooth signal receiving station (11) by the radio frequency information;
and S13, judging the distance of the front vehicle closest to the rear vehicle according to the distance information.
2. The control method of the on-vehicle vision-assisted driving system according to claim 1, wherein in step S1, the step of determining the environment in which the vehicle is located includes:
and S14, when the rear vehicle turns on the headlight or the fog light, directly judging that the brightness of the current environment is lower than a set value.
3. The control method of the on-vehicle vision-assisted driving system according to claim 1, wherein the rear vehicle further includes a brightness sensor, and the step of determining the environment in which the vehicle is located in step S1 includes:
and S14, acquiring the brightness of the current environment through the brightness sensor, and judging whether the brightness of the current environment is lower than a set value according to the brightness.
4. The control method of the on-vehicle vision-assisted driving system according to claim 1, characterized by further comprising:
s2, continuously obtaining the distance d of the front vehicle closest to the rear vehicle1、d2And starting to time T;
and S3, judging whether the distance reduction quantity delta d of the front vehicle in unit time exceeds a set range, if so, judging that the front vehicle brakes suddenly, and giving an alarm.
5. The control method of the on-vehicle vision-assisted driving system according to claim 1, characterized by further comprising:
and S4, alarming when the distance between the nearest front vehicle and the rear vehicle is less than a set value S, wherein the set value S is in direct proportion to the speed V of the rear vehicle, and the speed V of the rear vehicle is obtained through a vehicle-mounted control system.
6. The vehicle vision of claim 5In the control method of the driving assist system, in step S4, the set value S is satisfied with the rear vehicle speed V, and S ═ k × V where k is 0.4 × 10-3h～0.8*10-3h。
7. The method of claim 6, wherein the rear vehicle speed V is greater than or equal to 80 km/h, and k is 0.6 x 10-3h～0.8*10-3h; the speed V of the rear vehicle is less than 80 km/h, and k is 0.4 x 10-3h～0.6*10-3h。
8. The control method of the vehicle-mounted vision-aided driving system according to claim 6, characterized in that in step S3, the distance reduction Δ d is proportional to a rear vehicle speed V, and the rear vehicle speed V is obtained by the vehicle-mounted control system.
9. The vehicle-mounted vision-assisted driving system is characterized by comprising a Bluetooth electronic tag (10) arranged on a front vehicle; the Bluetooth signal receiving station comprises a Bluetooth signal receiving station (11) arranged on a rear vehicle, a camera (12) arranged on the body of the rear vehicle and a controller (13), wherein the Bluetooth signal receiving station (11) comprises a first Bluetooth antenna (111) arranged on the vehicle head, a second Bluetooth antenna (112) and a processor (110); the controller (13) is used for controlling the camera (12) to acquire the distance of the front vehicle when the brightness of the environment exceeds a set value; the controller (13) is further used for assisting in acquiring the distance of the front vehicle through a Bluetooth system when the brightness of the environment is lower than a set value; the first Bluetooth antenna (111) and the second Bluetooth antenna (112) are used for acquiring radio frequency information generated by a Bluetooth electronic tag (10) of a front vehicle; the processor (110) is used for analyzing distance information of the Bluetooth electronic tag (10) relative to the Bluetooth signal receiving station (11) according to the radio frequency information, and the processor (110) is further used for judging the distance between a front vehicle and a rear vehicle according to the distance information.
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