CN114495545A - Vehicle control system and method - Google Patents
Vehicle control system and method Download PDFInfo
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- CN114495545A CN114495545A CN202210104043.9A CN202210104043A CN114495545A CN 114495545 A CN114495545 A CN 114495545A CN 202210104043 A CN202210104043 A CN 202210104043A CN 114495545 A CN114495545 A CN 114495545A
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- 238000007499 fusion processing Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 11
- 239000000284 extract Substances 0.000 description 4
- 238000007689 inspection Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
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- 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
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
- H04N21/23—Processing of content or additional data; Elementary server operations; Server middleware
- H04N21/234—Processing of video elementary streams, e.g. splicing of video streams or manipulating encoded video stream scene graphs
- H04N21/23424—Processing of video elementary streams, e.g. splicing of video streams or manipulating encoded video stream scene graphs involving splicing one content stream with another content stream, e.g. for inserting or substituting an advertisement
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
The invention provides a vehicle control system and a vehicle control method, wherein the system comprises a plurality of acquisition modules, a vehicle control module and a cloud server, wherein the acquisition modules are used for acquiring a first video stream in a corresponding acquisition range from a top-down view angle and acquiring street lamp position information of a street lamp in which the acquisition modules are located; the vehicle control module is used for acquiring vehicle position information and vehicle characteristic information of a vehicle to be controlled; the cloud server is used for generating a second video stream of a preset observation range of the vehicle to be controlled according to the first video stream and the street lamp position information sent by the plurality of acquisition modules, and the vehicle position information and the vehicle characteristic information sent by the vehicle control module; the vehicle control module is further used for controlling the vehicle to be controlled based on the second video stream. Therefore, the vehicle is controlled according to the first video streams and the street lamp position information corresponding to the street lamps, the vehicle position information and the vehicle characteristic information of the vehicle, and the driving safety and the traveling efficiency of the vehicle can be improved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle control system and a vehicle control method.
Background
Currently, in driving control of a vehicle, information on road conditions around the vehicle is acquired by an on-vehicle sensor. Because the sensors are installed on the basis of each independent vehicle and are limited by objective factors such as the position, the height and the weather condition of the vehicle, the capacity of acquiring the road condition information is limited to a certain extent, the range of acquiring the road condition information is influenced by different degrees, and finally the driving function is limited, even the driving safety is influenced.
Disclosure of Invention
In order to solve one of the above technical problems, the present invention proposes the following technical solutions.
In an embodiment of the first aspect of the present invention, a vehicle control system is provided, which includes a plurality of acquisition modules, a vehicle control module, and a cloud server, wherein each acquisition module is disposed on a corresponding street lamp, the vehicle control module is disposed on a vehicle to be controlled,
the acquisition module is used for acquiring a first video stream in a corresponding acquisition range from a top-down view angle, acquiring street lamp position information of a street lamp, and transmitting the first video stream and the street lamp position information to the cloud server;
the vehicle control module is used for acquiring vehicle position information and vehicle characteristic information of the vehicle to be controlled and transmitting the vehicle position information and the vehicle characteristic information to the cloud server;
the cloud server is used for generating a second video stream of a preset observation range of the vehicle to be controlled according to the first video stream and the street lamp position information sent by the plurality of acquisition modules, the vehicle position information and the vehicle characteristic information sent by the vehicle control module, and sending the second video stream to the vehicle control module;
the vehicle control module is further used for controlling the vehicle to be controlled based on the second video stream.
In addition, the vehicle control system according to the above-described embodiment of the invention may also have the following additional technical features.
According to one embodiment of the invention, the acquisition module comprises a camera and a street lamp positioning unit, the camera is used for acquiring the first video stream of the corresponding acquisition range at a top-down visual angle, and the street lamp positioning unit is used for acquiring street lamp position information of the street lamp.
According to an embodiment of the present invention, the first video stream carries its own acquisition time information, and the cloud server is specifically configured to: splicing the plurality of first video streams according to the plurality of street lamp position information and the plurality of acquisition time information to obtain a third video stream; selecting a vehicle to be controlled from the third video stream according to the vehicle position information and the vehicle characteristic information; and obtaining a second video stream of the preset observation range of the vehicle to be controlled from the third video stream.
According to an embodiment of the present invention, the vehicle control module is specifically configured to extract first road condition information in the second video stream, and control the vehicle to be controlled according to the first road condition information.
According to one embodiment of the invention, the vehicle control module is further configured to acquire second road condition information of a preset observation range of the vehicle to be controlled through a sensor arranged on the vehicle to be controlled.
According to an embodiment of the present invention, the vehicle control module is further configured to perform fusion processing on the second road condition information and the first road condition information to obtain third road condition information, and control the vehicle to be controlled according to the third road condition information.
An embodiment of a second aspect of the invention provides a vehicle control method, including:
acquiring a first video stream of a corresponding acquisition range of each street lamp at a top-down view angle, and acquiring street lamp position information of each street lamp;
acquiring vehicle position information and vehicle characteristic information of a vehicle to be controlled;
generating a second video stream of a preset observation range of the vehicle to be controlled according to the first video stream and the street lamp position information corresponding to the multiple street lamps, and the vehicle position information and the vehicle characteristic information of the vehicle to be controlled;
and controlling a vehicle to be controlled based on the second video stream.
In addition, the vehicle control method according to the above embodiment of the invention may further include the following additional technical features:
according to an embodiment of the present invention, the generating a second video stream of a preset observation range of a vehicle to be controlled according to a plurality of first video streams and street lamp position information corresponding to street lamps, vehicle position information of the vehicle to be controlled, and vehicle characteristic information, where the first video stream carries self acquisition time information, includes: splicing the plurality of first video streams according to the plurality of street lamp position information and the plurality of acquisition time information to obtain a third video stream; selecting a vehicle to be controlled from the third video stream according to the vehicle position information and the vehicle characteristic information; and obtaining a second video stream of the preset observation range of the vehicle to be controlled from the third video stream.
According to one embodiment of the invention, controlling a vehicle to be controlled based on the second video stream comprises: and extracting first road condition information in the second video stream, and controlling the vehicle to be controlled according to the first road condition information.
According to one embodiment of the present invention, controlling a vehicle to be controlled based on the second video stream includes: acquiring second road condition information of a preset observation range of the vehicle to be controlled through a sensor arranged on the vehicle to be controlled; and carrying out fusion processing on the second road condition information and the first road condition information to obtain third road condition information, and controlling the vehicle to be controlled according to the third road condition information.
According to the technical scheme of the embodiment of the invention, the vehicle is controlled according to the first video streams and the street lamp position information corresponding to the street lamps, the vehicle position information of the vehicle and the vehicle characteristic information, and the vehicle is not controlled by means of the acquired information of the vehicle, so that the driving safety and the traveling efficiency of the vehicle can be improved.
Drawings
Fig. 1 is a block diagram schematically illustrating a vehicle control system according to an embodiment of the present invention.
Fig. 2 is a block diagram of an acquisition module according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of video stream acquisition by a camera integrated with a street lamp cap according to an example of the present invention.
FIG. 4 is a diagram of a system communication architecture based on a 4G/5G wireless network or a wired network according to an embodiment of the present invention.
FIG. 5 is a diagram of a 4G/5G wireless network or wired network-based system communication architecture according to an example of the present invention.
Fig. 6 is a schematic diagram of three cameras of one example of the present invention capturing a first video stream along a road.
Fig. 7 is a schematic diagram of three first video streams of an example of the present invention.
Fig. 8 is a schematic diagram of three first video streams before and after splicing according to an example of the present invention.
Fig. 9 is a schematic diagram of second road condition information acquired by the vehicle to be controlled itself according to one example of the invention.
Fig. 10 is a schematic diagram of real first road condition information according to an example of the present invention.
Fig. 11 is a flowchart of a vehicle control method of the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Fig. 1 is a block diagram schematically illustrating a vehicle control system according to an embodiment of the present invention.
As shown in fig. 1, the vehicle control system includes a plurality of acquisition modules 10, a vehicle control module 20 and a cloud server 30, wherein each acquisition module 10 is disposed on a corresponding street lamp, the vehicle control module 20 is disposed on a vehicle to be controlled, and the acquisition modules 10 are configured to acquire a first video stream of a corresponding acquisition range from a top-down view angle, acquire street lamp position information of the street lamp, and transmit the first video stream and the street lamp position information to the cloud server 30; the vehicle control module 20 is configured to obtain vehicle position information and vehicle characteristic information of a vehicle to be controlled, and transmit the vehicle position information and the vehicle characteristic information to the cloud server 30; the cloud server 30 is configured to generate a second video stream of a preset observation range of a vehicle to be controlled according to the first video stream and the street lamp position information sent by the multiple acquisition modules, and the vehicle position information and the vehicle characteristic information sent by the vehicle control module, and send the second video stream to the vehicle control module 20; the vehicle control module 20 is further configured to control the vehicle to be controlled based on the second video stream.
The corresponding collection range can be understood as a road range that can be collected by the collection module 10 on one street lamp from a top-down view (a top view), and is determined according to the collection attribute and the installation position of the collection module. The preset observation range of the vehicle to be controlled may be understood as a road range of the road condition information that needs to be obtained for the vehicle to safely travel, for example, a circular range with a radius of 10 meters and a vehicle as a center, where the range may be preset by a user in advance.
In the embodiment of the present invention, a plurality of collection modules 10 are correspondingly disposed on a plurality of street lamps of a road segment, and specifically, the collection modules 10 may be disposed on lamp caps or lamp posts of the street lamps.
In the embodiment of the present invention, the video stream acquired by the acquisition module 10 is referred to as a first video stream, the video stream sent by the cloud server 30 to the vehicle control module 20 is referred to as a second video stream, and a vehicle to be controlled is referred to as a vehicle to be controlled, where the vehicle may be an autonomous vehicle, an assisted driving vehicle, or the like.
Specifically, the acquisition modules 10 on a plurality of street lamps acquire the first video streams of corresponding acquisition ranges in real time along the road from the top to the bottom, the first video stream includes road condition information within a corresponding collection range, such as road obstacles, vehicles on the road, etc., the collection module 10 further obtains street lamp position information of the street lamp where the collection module is located, for example, the longitude and latitude information of the street lamp, then the street lamp position information is bound with the street lamp number of the corresponding street lamp, and transmits the first video stream to the cloud server 30 through a high-speed wireless mobile network (4G or 5G) or a high-speed wired transmission manner, transmits the bound street lamp position information to the cloud server 30 through a wireless mobile network or a wired communication manner, each street lamp position information carries a street lamp number corresponding to a street lamp, namely, the street lamp position information carries a unique number corresponding to the street lamp. The cloud server 30 then receives the first video streams and the street lamp position information sent by the multiple acquisition modules 30, and stores the multiple first video streams and the street lamp position information for subsequent use.
When receiving a control request (the request may be sent by a user or sent by the vehicle itself), the vehicle control module 20 of the vehicle to be controlled obtains vehicle position information (for example, longitude and latitude information of the vehicle) and vehicle characteristic information (for example, information such as a vehicle type and a color of the vehicle) of the vehicle, and uploads the information to the cloud server 30 through a 4G/5G wireless network.
The cloud server 30 receives the plurality of first video streams and the plurality of street lamp position information, and after receiving the vehicle position information and the vehicle characteristic information, generates a second video stream of a preset observation range of the vehicle to be controlled according to the plurality of first video streams, the plurality of street lamp position information, the vehicle position information and the vehicle characteristic information, and sends the second video stream to the vehicle control module 20 through a 4G/5G wireless network.
After receiving the second video stream, the vehicle control module 20 controls the vehicle to be controlled based on the second video stream, for example, determines a reasonable driving state or driving route of the vehicle based on the second video stream, and adjusts the vehicle according to the driving state or driving route so that the vehicle to be controlled runs safely.
In the related art, the vehicle is controlled only through the road condition information acquired by the vehicle-mounted sensor, but in the embodiment of the invention, the acquisition module 10 integrated on the street lamp acquires the first video stream information and the street lamp position information, and the vehicle control module 20 acquires the vehicle position information and the vehicle characteristic information, so that the vehicle is controlled according to the first video stream information, the street lamp position information, the vehicle position information and the vehicle characteristic information. That is to say, the embodiment of the present invention not only controls the vehicle by means of the vehicle-mounted sensor, but also, compared with the related art, the embodiment of the present invention can avoid or reduce the situation that the capability of acquiring the road condition information is limited due to objective factors such as the position, height, or weather condition of the vehicle, and further avoid the limitation of the driving function, and can improve the driving safety.
Therefore, the vehicle control system of the embodiment of the invention controls the vehicle according to the first video streams and the street lamp position information corresponding to the street lamps, the vehicle position information of the vehicle and the vehicle characteristic information, and can improve the driving safety and the traveling efficiency of the vehicle.
In one embodiment, as shown in fig. 2, the capturing module 10 includes a camera 11 for capturing a first video stream of a corresponding capturing range at a top-down viewing angle, and a street lamp positioning unit 12 for acquiring street lamp position information of a street lamp.
Specifically, in addition to the camera 11 and the street lamp positioning unit 12, a communication unit 13 (a wireless communication unit or a wired communication unit) may be integrated on the street lamp or in the collection module 10. As shown in fig. 3, the camera 11 may be disposed on a street lamp head, the communication unit 13 is also integrated on the street lamp head, at this time, the camera 11 takes a first video stream of road conditions in a corresponding acquisition range with a viewing angle (a top view angle) of a street lamp, wherein the corresponding acquisition range is determined, and then the communication unit 13 transmits the first video stream to the cloud server 30, the street lamp positioning unit 12 may be a satellite positioning unit, the street lamp positioning unit 12 acquires longitude and latitude information of a lamp cap of the street lamp, or after acquiring the longitude and latitude information of the lamp cap through a satellite positioning module of a mobile phone, binds the longitude and latitude information with a street lamp number, and sends street lamp position information to the cloud server 30 through the communication unit 13 after binding.
That is to say, the street lamp luminaire according to the embodiment of the present invention integrates the camera 11, the street lamp positioning unit 12, and the communication unit 13 into the street lamp base, in addition to the lighting related devices.
As shown in fig. 4, a camera 11 is provided on each street lamp on a road segment, the street lamps are connected by a 220V power line, and a street lamp control box controls the street lamps by the 220V power line. Referring to fig. 3 and 4, the camera 11 captures a first video stream within a corresponding capture range shown in fig. 3, and each street lamp transmits the first video stream captured by the camera 11 to the cloud server 30 through the communication unit and the base station, so that the cloud server 30 stores the first video stream and then performs subsequent processing.
In an embodiment of the present invention, the first video stream carries its own acquisition time information, and the cloud server is specifically configured to: splicing the plurality of first video streams according to the plurality of street lamp position information and the plurality of acquisition time information to obtain a third video stream; selecting a vehicle to be controlled from the third video stream according to the vehicle position information and the vehicle characteristic information; and obtaining a second video stream of the preset observation range of the vehicle to be controlled from the third video stream.
In the embodiment of the present invention, a video stream obtained by splicing a plurality of first video streams is referred to as a third video stream.
Specifically, after the cloud server 30 receives the plurality of first video streams and the corresponding street lamp position information, a video image stitching synthesis algorithm is adopted to synthesize the plurality of first video streams into a large-size third video stream according to the acquisition time and the street lamp position information, and the third video stream is stored in the cloud server 30. After the cloud server 30 receives the vehicle position information (longitude and latitude information of the vehicle) and the vehicle characteristic information (for example, the model, color, etc. of the vehicle) sent by the vehicle control module 20, matching can be performed in the third video stream according to the vehicle position information and the vehicle characteristic information to find the vehicle to be controlled, and then the video stream in the preset observation range is obtained from the third video stream, that is, the second video stream is obtained. The second video stream may be a video stream centered on the vehicle to be controlled and having a range of the preset observation range, and the second video stream may be a part of the third video stream or may be the whole of the third video stream.
For example, when the capturing times corresponding to the first video streams overlap, the cloud server 30 may first decompose the first video streams according to frames, then combine frames at multiple positions at the same time into frame images with large sizes, and then arrange the frame images with large sizes according to the time sequence to form a third video stream. When the acquisition times corresponding to the first video streams do not coincide, the cloud server 30 may splice the first video streams according to the sequence and position of the acquisition times.
As shown in fig. 5, the cloud server 30 sends the second video stream to the vehicle control module 20 through the 4G/5G wireless network after obtaining the second video stream, and the vehicle control module 20 controls the vehicle based on the traffic information in the second video stream. Or, the cloud server 30 extracts the traffic information in the second video stream after obtaining the second video stream, and sends the traffic information to the vehicle control unit 20, so that the vehicle control unit 20 controls the vehicle based on the traffic information.
In the embodiment of the present invention, the traffic information in the second video stream is referred to as first traffic information, and the traffic information may include driving information of each vehicle (i.e., each road user) in the video stream and related information of road surface facilities, where the driving information may include, for example, a position, a direction, a speed, and the like, and the related information of the road surface facilities may include, for example, whether an inspection well cover is missing, whether an obstacle is present on a road surface, and the like.
In an embodiment of the present invention, the vehicle control module 20 is specifically configured to extract the first road condition information in the second video stream, and control the vehicle to be controlled according to the first road condition information.
Specifically, after receiving the second video stream, the vehicle control module 20 extracts first road condition information in the second video stream, such as the driving direction, speed, and whether there is damage on the road surface, whether there is a missing inspection well cover, whether there is an obstacle on the road surface, etc., of each vehicle on the road, and adjusts the driving posture or driving route of the vehicle to be controlled according to the first road condition information, so that the vehicle to be controlled can safely drive.
In another embodiment of the present invention, the vehicle control module 20 is further configured to obtain the second road condition information of the preset observation range of the vehicle to be controlled through a sensor arranged on the vehicle to be controlled. Wherein the sensor may be a camera, a microwave radar or a lidar.
Further, the vehicle control module 20 is further configured to perform fusion processing on the second road condition information and the first road condition information to obtain third road condition information, and control the vehicle to be controlled according to the third road condition information.
In the embodiment of the present invention, the traffic information acquired by the vehicle itself is referred to as second traffic information, and the traffic information acquired according to the first traffic information and the second traffic information is referred to as third traffic information.
The vehicle to be controlled comprises a vehicle control module 20 (vehicle computer), a sensor (camera, microwave radar or laser radar), a vehicle positioning unit and a communication unit.
Specifically, after receiving the second video stream, the vehicle control module 20 extracts first road condition information in the second video stream, for example, the driving direction, speed, and whether there is damage on the road surface, whether there is a defect in the manhole cover, whether there is an obstacle on the road surface, etc., of each vehicle on the road, and then adjusts the driving posture or the driving route of the vehicle to be controlled according to the first road condition information, and at the same time, the vehicle control module 20 may acquire second road condition information in a preset observation range through a vehicle-mounted sensor, and then the vehicle control module 20 performs fusion processing on the first road condition information and the second road condition information to obtain third road condition information, and then controls the vehicle according to the third road condition information.
It should be noted that, in the related art, the vehicle is controlled only by the road condition information acquired by the vehicle-mounted sensor, and the ability of acquiring the road condition information is limited, so that the vehicle is not controlled in time or properly, and the driving safety is even affected, for example: approaching the crossroad, vehicles come in the vertical direction, potential conflict can be caused, but due to the shielding of the buildings at the crossroad, the vehicle-mounted sensor cannot timely and effectively meet risks; in the foggy days, the visibility around the vehicle suddenly drops, and the road condition at a position far away cannot be detected and predicted; congestion ahead of a lane, but a vehicle-mounted sensor cannot detect the congestion reason of a specific congestion length, so that the congestion cannot be effectively avoided in time; a tall vehicle runs on the side face in front of the vehicle, and whether a moving target on the other side of the tall vehicle converges into a lane in front of the vehicle cannot be judged, so that potential collision risk is caused.
In the embodiment of the invention, the camera 11 is integrated on the street lamp, and the camera 11 collects road condition information of a 'overlooking visual angle' in a certain range under the lamp in real time, namely a real-time first video stream. And uploaded to the cloud server 30 via the high-speed 5G network. The cloud server 30 splices the plurality of first video streams according to the position and time information according to the geographic position corresponding to each street lamp, so as to form a real-time road condition video stream of an overlooking view angle in a road section. Meanwhile, the cloud server 30 may analyze the driving information (position, direction, speed, etc.) of all road users (vehicles), the data required by the vehicles, such as the related information of the road surface (whether there is damage to the road surface, whether there is a missing inspection well cover, whether there is an obstacle on the road surface, etc.), and then send the real-time road condition information within a certain range around the corresponding position of the vehicle, i.e. the preset observation range, to the vehicles on the road in real time through the extremely low-latency 5G network according to the real-time position information and the special diagnosis information of the vehicle to be controlled. The vehicle-mounted control module 20 can acquire the road condition information of the 'overlooking visual angle' within a certain range around the vehicle-mounted control module in the extremely low delay (millisecond or even nanosecond low-delay 5G communication). The vehicle control module 20 can adjust the driving state of the vehicle in time by the real-time data and the road condition information collected by the sensor, so that the shielded road condition information can be acquired, the driving safety is further improved, a reasonable route is planned, and the traveling efficiency is improved.
The vehicle control system of the embodiment of the invention is explained below by way of an example:
as shown in fig. 6, in a road segment, three first video streams shown in fig. 7 are obtained by real-time shooting along a road through cameras 11 on three street lamps in a top view, three dotted line boxes in fig. 6 represent corresponding collection ranges of the cameras, the three first video streams in fig. 7 are correspondingly collected, street lamp position information is obtained through street lamp positioning units 12 on the three street lamps, and each street lamp wirelessly communicates the corresponding first video streams and street lamp position information to a cloud server 30 through 4G/5G. As shown in fig. 8, the cloud server 30 splices the plurality of first video streams into a large-sized third video stream according to the collection time and the street lamp position information.
Under the road condition, the vehicle control module 20 obtains the second road condition information of the preset observation range around the vehicle to be controlled through the vehicle-mounted sensor as shown in fig. 9, and obtains the vehicle position information and the vehicle characteristic information through the vehicle positioning unit, and the vehicle-mounted computer has potential safety hazard during calculation due to incomplete road condition information. At this time, the vehicle control module 20 transmits the vehicle position information and the vehicle characteristic information to the cloud server 30 through the 4G/5G wireless network.
The cloud server 30 finds out the vehicle to be controlled from the third video stream according to the position and the characteristics of the vehicle, the box in fig. 9 represents the position of the vehicle to be controlled, and obtains a second video stream within a preset observation range centered on the vehicle to be controlled, and sends the second video stream to the on-board computer through the 4G/5G wireless network, the on-board computer extracts real first road condition information from the second video stream as shown in fig. 10, the vehicle in the box in fig. 10 is the vehicle to be controlled, as can be seen from fig. 9 and 10, the on-board sensor cannot completely obtain the complete road condition information of the road due to the shielding of the vehicle in front, so the on-board computer fuses the second road condition information obtained by the sensor with the real first road condition information to obtain third road condition information within the preset observation range (in this example, the third road condition information is the road condition information included in fig. 10), therefore, the vehicle can acquire the shielded road condition information, a more reasonable driving route is calculated in a fusion manner, and the safety of automatic driving is improved.
In summary, according to the embodiment of the invention, the cloud server acquires the surrounding road condition information, and the road condition information acquired by the sensor is fused, so that a more reasonable driving route is calculated by using the more wide-area and more accurate road condition information, and the safety of automatic driving and the travel efficiency are improved.
The embodiment of the invention also provides a vehicle control method corresponding to the vehicle control system.
Fig. 11 is a flowchart of a vehicle control method of the embodiment of the invention.
As shown in fig. 11, the method comprises the steps of:
and S1, acquiring the first video stream of the corresponding acquisition range of each street lamp from a top-down view angle, and acquiring street lamp position information of each street lamp.
And S2, acquiring the vehicle position information and the vehicle characteristic information of the vehicle to be controlled.
And S3, generating a second video stream of the preset observation range of the vehicle to be controlled according to the first video stream and the street lamp position information corresponding to the street lamps, and the vehicle position information and the vehicle characteristic information of the vehicle to be controlled.
And S4, controlling the vehicle to be controlled based on the second video stream.
In an embodiment of the present invention, the generating a second video stream of a preset observation range of a vehicle to be controlled according to a plurality of first video streams and street lamp position information corresponding to street lamps, vehicle position information of the vehicle to be controlled, and vehicle characteristic information, where the first video stream carries self acquisition time information, includes: splicing the plurality of first video streams according to the plurality of street lamp position information and the plurality of acquisition time information to obtain a third video stream; selecting a vehicle to be controlled from the third video stream according to the vehicle position information and the vehicle characteristic information; and obtaining a second video stream of the preset observation range of the vehicle to be controlled from the third video stream.
In one embodiment of the present invention, controlling a vehicle to be controlled based on the second video stream includes: and extracting first road condition information in the second video stream, and controlling the vehicle to be controlled according to the first road condition information.
In one embodiment of the present invention, controlling a vehicle to be controlled based on the second video stream includes: acquiring second road condition information of a preset observation range of the vehicle to be controlled through a sensor arranged on the vehicle to be controlled; and carrying out fusion processing on the second road condition information and the first road condition information to obtain third road condition information, and controlling the vehicle to be controlled according to the third road condition information.
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. The meaning of "plurality" is two or more unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A vehicle control system is characterized by comprising a plurality of acquisition modules, a vehicle control module and a cloud server, wherein each acquisition module is arranged on a corresponding street lamp, the vehicle control module is arranged on a vehicle to be controlled,
the acquisition module is used for acquiring a first video stream in a corresponding acquisition range from a top-down view angle, acquiring street lamp position information of a street lamp, and transmitting the first video stream and the street lamp position information to the cloud server;
the vehicle control module is used for acquiring vehicle position information and vehicle characteristic information of the vehicle to be controlled and transmitting the vehicle position information and the vehicle characteristic information to the cloud server;
the cloud server is used for generating a second video stream of a preset observation range of the vehicle to be controlled according to the first video stream and the street lamp position information sent by the plurality of acquisition modules, the vehicle position information and the vehicle characteristic information sent by the vehicle control module, and sending the second video stream to the vehicle control module;
the vehicle control module is further used for controlling the vehicle to be controlled based on the second video stream.
2. The vehicle control system according to claim 1, wherein the collecting module comprises a camera and a street lamp positioning unit, the camera is configured to collect the first video stream of the corresponding collecting range from a top-down view, and the street lamp positioning unit is configured to obtain street lamp position information of a street lamp.
3. The vehicle control system of claim 2, wherein the first video stream carries its own acquisition time information, and the cloud server is specifically configured to:
splicing the plurality of first video streams according to the plurality of street lamp position information and the plurality of acquisition time information to obtain a third video stream;
selecting a vehicle to be controlled from the third video stream according to the vehicle position information and the vehicle characteristic information;
and obtaining a second video stream of the preset observation range of the vehicle to be controlled from the third video stream.
4. The vehicle control system of claim 3, wherein the vehicle control module is specifically configured to extract first road condition information in the second video stream and control the vehicle to be controlled according to the first road condition information.
5. The vehicle control system of claim 4, wherein the vehicle control module is further configured to obtain the second road condition information of the preset observation range of the vehicle to be controlled through a sensor arranged on the vehicle to be controlled.
6. The vehicle control system according to claim 5, wherein the vehicle control module is further configured to perform fusion processing on the second road condition information and the first road condition information to obtain third road condition information, and control the vehicle to be controlled according to the third road condition information.
7. A vehicle control method characterized by comprising:
acquiring a first video stream of a corresponding acquisition range of each street lamp at a top-down view angle, and acquiring street lamp position information of each street lamp;
acquiring vehicle position information and vehicle characteristic information of a vehicle to be controlled;
generating a second video stream of a preset observation range of the vehicle to be controlled according to the first video stream and the street lamp position information corresponding to the multiple street lamps, and the vehicle position information and the vehicle characteristic information of the vehicle to be controlled;
and controlling a vehicle to be controlled based on the second video stream.
8. The vehicle control method according to claim 7, wherein the first video stream carries self-collection time information, and the generating of the second video stream of the preset observation range of the vehicle to be controlled according to the first video stream and street lamp position information corresponding to a plurality of street lamps, and the vehicle position information and vehicle characteristic information of the vehicle to be controlled comprises:
splicing the plurality of first video streams according to the plurality of street lamp position information and the plurality of acquisition time information to obtain a third video stream;
selecting a vehicle to be controlled from the third video stream according to the vehicle position information and the vehicle characteristic information;
and obtaining a second video stream of the preset observation range of the vehicle to be controlled from the third video stream.
9. The vehicle control method according to claim 8, wherein controlling a vehicle to be controlled based on the second video stream includes: and extracting first road condition information in the second video stream, and controlling the vehicle to be controlled according to the first road condition information.
10. The vehicle control method according to claim 9, wherein controlling a vehicle to be controlled based on the second video stream includes: acquiring second road condition information of a preset observation range of the vehicle to be controlled through a sensor arranged on the vehicle to be controlled; and carrying out fusion processing on the second road condition information and the first road condition information to obtain third road condition information, and controlling the vehicle to be controlled according to the third road condition information.
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