CN115320625B - Identification and judgment method for optimizing rainy day scene of intelligent driving system - Google Patents
Identification and judgment method for optimizing rainy day scene of intelligent driving system Download PDFInfo
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- CN115320625B CN115320625B CN202211012187.8A CN202211012187A CN115320625B CN 115320625 B CN115320625 B CN 115320625B CN 202211012187 A CN202211012187 A CN 202211012187A CN 115320625 B CN115320625 B CN 115320625B
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 15
- 238000005259 measurement Methods 0.000 claims description 9
- 239000003344 environmental pollutant Substances 0.000 claims description 6
- 231100000719 pollutant Toxicity 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 239000011521 glass Substances 0.000 description 3
- 239000000356 contaminant Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/04—Wipers or the like, e.g. scrapers
- B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
- B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
- B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
- B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention belongs to the technical field of automobile electronics, and particularly relates to an identification and judgment method for optimizing a rainy day scene of an intelligent driving system; the intelligent driving system control unit periodically inputs the state data of the rain sensor data and the windscreen wiper when the ACC, ICA, TJA functions are started, and combines the sensing result of the camera to identify and judge whether a rainy scene is or not, and the system responds differently according to different identification and judgment results; according to the invention, the missing report rate of the rainy day scene recognition is reduced by fusing the data of the rainfall sensor and the windscreen wiper.
Description
Technical Field
The invention belongs to the technical field of automobile electronics, and particularly relates to an identification and judgment method for optimizing a rainy day scene of an intelligent driving system.
Background
The intelligent driving system mainly comprises an active safety and driving function auxiliary technology, wherein the active safety and driving function auxiliary technology is used for providing a more relaxed driving mode for a driver through transverse, longitudinal or transverse and longitudinal combined control of an automobile so as to reduce fatigue of the driver. Currently, the intelligent driving assistance functions configured by the marketed vehicle type mainly include an adaptive cruise function (Adaptive Cruise Control, ACC), an integrated cruise assistance function (INTEGRATED CRUISE ASSIST, ICA), a traffic congestion assistance function (Traffic Jam Assist, TJA), and the like.
The ACC system detects the exact position of a target vehicle in front through sensors (radar, camera, lidar) mounted in front of the vehicle while the wheel speed sensor collects a vehicle speed signal during the running of the vehicle. When the distance between the vehicle and the front vehicle is too small or a new target vehicle is detected, the ACC control unit can make the wheels brake properly through coordination action with the braking system and the engine control system, and reduce the output power of the engine so as to keep the safety distance between the vehicle and the front vehicle all the time. And after the front road obstacle is detected to be clear, accelerating and recovering to the set vehicle speed for cruising. ICA, TJA upgrade on the basis of ACC function, discern the lane line on the road ahead through the camera to detect the horizontal position of host vehicle in the current lane in real time, carry out horizontal control to the vehicle through the electronic power assisted steering system, assist the driver to control the host vehicle in the current lane.
When the intelligent driving system senses environmental information through the camera as a sensor, under weather conditions such as rainy days, snowy days, foggy days, dust and the like, the accuracy of target identification under the working conditions is reduced due to the identification principle, and at the moment, the system should timely identify external weather conditions and prompt a driver to take over the vehicle. At present, the image data based on the camera is low in scene recognition precision in rainy days, the failure report rate is relatively high, and a driver cannot be timely prompted to take over the vehicle.
Disclosure of Invention
In order to overcome the problems, the invention provides a recognition judging method for optimizing a rainy day scene of an intelligent driving system, which reduces the missing report rate of the rainy day scene recognition by fusing the data of a rainfall sensor and a windscreen wiper.
In order to achieve the above purpose, the invention adopts the following technical scheme:
A recognition and judgment method for optimizing a rainy day scene of an intelligent driving system comprises the following contents:
firstly, installing a camera and a rain sensor on a front windshield of a vehicle;
step two, when any one of the intelligent driving system sub-functions in ACC, ICA, TJA is started, judging whether the previous 20 frames of sensing recognition results of the current moment t of the camera are rainy days, and reading the detection value of the rainfall sensor according to the recognition results to perform the next step of judgment;
step three, if the sensing result of the camera identifies that the current weather is a rainy day scene, reading the detection data of a rainfall sensor 3s before the current time t, and calculating a measurement average value X in 3 s; when X is larger than a threshold value a, whether the state of the windscreen wiper is opened is further judged, and when the windscreen wiper is opened, a driver is prompted that the current weather is a rainy day, and the vehicle needs to be taken over; when the windscreen wiper is detected to be unopened or X is smaller than a threshold value a, prompting that pollutants are possibly present in the field angle area of the camera, and requesting to clean in time;
step four, if the current weather is recognized as a non-rainy scene by the sensing result of the camera, reading the detection data of a rainfall sensor 3s before the current moment t, and calculating a measurement average value Y in 3 s; when Y is smaller than the threshold value b, keeping the intelligent driving function of the vehicle to run normally; otherwise, comparing Y with a threshold a;
Step five, when Y is larger than the threshold value a, further judging whether the state of the windscreen wiper is opened, and when the windscreen wiper is opened, prompting a driver that the current weather is rainy days and that the vehicle needs to be taken over; when the windscreen wiper is detected to be unopened or Y is smaller than the threshold value a, prompting that pollutants are possibly present in the field angle area of the camera, and requesting to clean in time.
In the first step, the camera and the rain sensor are arranged right above the front windshield glass of the vehicle.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1) Compared with the recognition based on image data, the recognition accuracy of a rainy day scene is higher and the missing report rate is reduced by fusing the data of the rainfall sensor and the windscreen wiper;
2) And prompting the driver according to the identification result, so that the driver can respond to the external environment change in time, and the driving safety is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings to be used in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are orientation or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.
Example 1
As shown in FIG. 1, in the method for identifying and judging the rainy day scene of the intelligent driving system, the camera and the rainfall sensor are arranged right above the front windshield glass of the vehicle, and the wiper combination switch is positioned right below the steering wheel of the vehicle. When ACC, ICA, TJA functions are started, the required data are extracted according to the sensors, and the rainy day scene identification and judgment method is as follows:
When any one of the intelligent driving system sub-functions in ACC, ICA, TJA is started, the intelligent driving system control unit periodically inputs the rainfall sensor data and the state data of the windscreen wiper, and combines the sensing result of the camera to identify and judge whether the scene is a rainy day scene or not, and the system responds differently according to different identification and judgment results.
Firstly, judging whether the previous 20 frames of the current time t are rainy days according to the data of the camera, and reading the detection value of the rainfall sensor according to the identification result to perform the next judgment.
If the sensing result of the camera identifies that the current weather is a rainy scene, the detection data of a rainfall sensor 3s before the current time t is read, and the measurement average value X of the detection data is calculated. When X is larger than a certain threshold value a (calibratable), whether the state of the windscreen wiper is opened is further judged, and when the windscreen wiper is opened, a driver is prompted that the current weather is rainy days and the vehicle needs to be taken over; when the windscreen wiper is detected to be unopened or X is smaller than a given threshold value a, prompting a driver that pollutants possibly exist in the field angle area of the camera, and requesting to clean in time.
If the sensing result of the camera identifies that the current weather is a non-rainy scene, the detection data of a rainfall sensor 3s before the current time t is read, and the measurement average value Y of the detection data is calculated. When Y is smaller than a certain threshold value b (which can be calibrated), the intelligent driving function of the vehicle is kept to run normally; otherwise, Y needs to be compared with the threshold a to further judge whether the driver is prompted to take over the vehicle or that the driver is prompted that there may be contaminants in the camera field angle region.
Example 2
The invention realizes the identification and judgment of the rainy scene based on the front-view camera, the rainfall sensor and the windscreen wiper data. The front View camera is arranged right above a front windshield Of the vehicle, and the Field Of View (FOV) Of the camera needs to be ensured to maximally cover a front View area; the rainfall sensor is arranged in the black area of the front windshield glass, so that the measurement performance of the sensor is ensured, and the coordination of the sensor arrangement and the appearance of the vehicle is also considered; the wiper combined switch is positioned at the right lower part of the steering wheel of the vehicle and is consistent with the arrangement position of the vehicle type on the market so as to be convenient for a driver to operate, and therefore, independent figure description is not made.
As shown in FIG. 1, when any one of the transverse control function, the longitudinal control function or the transverse and longitudinal control functions of the intelligent driving system is started simultaneously, the intelligent driving system performs preliminary judgment on the current weather scene through the sensing data of the camera. When the sensing and identifying result of the camera is a rainy day scene, the intelligent driving system control unit reads the rainfall sensor data and the state data of the windscreen wiper, further analyzes whether the rainy day scene is identified and judged, and responds differently according to different identifying and judging results.
Firstly, based on the data of a front-view camera of an intelligent driving system, the front 20 frame data at the current moment t is perceived, and the data information of a rainfall sensor is read according to the identification result so as to further judge.
If 20 continuous frames of camera sensing data identify that the current weather is a rainy day scene, the detection data of a rainfall sensor 3s before the current time t are read, and the measurement average value X of the detection data is calculated. When X is larger than a certain threshold value a (calibratable), whether the state of the windscreen wiper is opened is further judged, and when the windscreen wiper is opened, a driver is prompted that the current weather is rainy days and the vehicle needs to be taken over; when the windscreen wiper is detected to be unopened or X is smaller than a given threshold value a, prompting a driver that pollutants possibly exist in the field angle area of the camera, and requesting to clean in time.
If the continuous 20 frames of camera sensing data identify that the current weather is a non-rainy scene, the rainfall sensor detection data of 3s before the current time t is read, and the measurement average value Y of the rainfall sensor detection data is calculated. When Y is smaller than a certain threshold value b (which can be calibrated), the intelligent driving function of the vehicle is kept to run normally; otherwise, Y needs to be compared with the threshold a to further judge whether the driver is prompted to take over the vehicle or that the driver is prompted that there may be contaminants in the camera field angle region.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the scope of the present invention is not limited to the specific details of the above embodiments, and within the scope of the technical spirit of the present invention, any person skilled in the art may apply equivalent substitutions or alterations to the technical solution of the present invention and the inventive concept thereof within the scope of the technical spirit of the present invention, and these simple modifications are all within the scope of the present invention.
In addition, the specific features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described further.
Moreover, any combination of the various embodiments of the invention can be made without departing from the spirit of the invention, which should also be considered as disclosed herein.
Claims (2)
1. The identification and judgment method for optimizing the rainy day scene of the intelligent driving system is characterized by comprising the following steps of:
firstly, installing a camera and a rain sensor on a front windshield of a vehicle;
step two, when any one of the intelligent driving system sub-functions of the adaptive cruise function ACC, the integrated cruise auxiliary function ICA and the traffic jam auxiliary function TJA is started, judging whether the front 20 frames of the current moment t of the camera sense the identification result to be a rainy day scene or not, and reading the detection value of the rainfall sensor according to the identification result to carry out the next judgment;
step three, if the sensing result of the camera identifies that the current weather is a rainy day scene, reading the detection data of a rainfall sensor 3s before the current time t, and calculating a measurement average value X in 3 s; when X is larger than a threshold value a, whether the state of the windscreen wiper is opened is further judged, and when the windscreen wiper is opened, a driver is prompted that the current weather is a rainy day, and the vehicle needs to be taken over; when the windscreen wiper is detected to be unopened or X is smaller than a threshold value a, prompting that pollutants are possibly present in the field angle area of the camera, and requesting to clean in time;
step four, if the current weather is recognized as a non-rainy scene by the sensing result of the camera, reading the detection data of a rainfall sensor 3s before the current moment t, and calculating a measurement average value Y in 3 s; when Y is smaller than the threshold value b, keeping the intelligent driving function of the vehicle to run normally; otherwise, comparing Y with a threshold a;
Step five, when Y is larger than the threshold value a, further judging whether the state of the windscreen wiper is opened, and when the windscreen wiper is opened, prompting a driver that the current weather is rainy days and that the vehicle needs to be taken over; when the windscreen wiper is detected to be unopened or Y is smaller than the threshold value a, prompting that pollutants are possibly present in the field angle area of the camera, and requesting to clean in time.
2. The method for identifying and judging the rainy day scene of the optimized intelligent driving system according to claim 1, wherein the camera and the rain sensor are arranged right above the front windshield of the vehicle in the first step.
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| CN202211012187.8A CN115320625B (en) | 2022-08-23 | 2022-08-23 | Identification and judgment method for optimizing rainy day scene of intelligent driving system |
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| CN202211012187.8A CN115320625B (en) | 2022-08-23 | 2022-08-23 | Identification and judgment method for optimizing rainy day scene of intelligent driving system |
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| CN116215424B (en) * | 2023-05-09 | 2023-07-25 | 江铃汽车股份有限公司 | Night rain and fog weather safe driving control method, system and storage medium |
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