CN114407928A - Vehicle avoidance control method and vehicle avoidance control device - Google Patents
Vehicle avoidance control method and vehicle avoidance control deviceDownload PDFInfo
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- CN114407928A CN114407928ACN202210079423.1ACN202210079423ACN114407928ACN 114407928 ACN114407928 ACN 114407928ACN 202210079423 ACN202210079423 ACN 202210079423ACN 114407928 ACN114407928 ACN 114407928A
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- 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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
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Abstract
Description
Technical Field
The application belongs to the technical field of automatic vehicle driving, and particularly relates to a vehicle avoidance control method and a vehicle avoidance control device.
Background
With the rapid increase of the quantity of automobiles in China, more and more automobiles are on roads, particularly in narrow and congested urban areas and parking lots, collision and scratch situations are easy to occur when automobiles meet and park, and at the moment, the automobile owners start to rely on visual images and sounds to assist driving. The traditional 360-degree look-around system is characterized in that four camera sensors which are arranged at the front, the rear, the left and the right of a vehicle are matched with each other in a mutual cooperation mode, video synthesis processing is carried out by using an algorithm, and dead angles still exist around a vehicle body in the method.
Accordingly, a technical solution is desired to overcome or at least alleviate at least one of the above-mentioned drawbacks of the prior art.
Disclosure of Invention
The present application is directed to a vehicle avoidance control method to solve at least one of the above problems.
In a first aspect of the present application, a vehicle avoidance control method is provided, which includes:
acquiring a panoramic image around the vehicle;
obtaining distance information of obstacles around the vehicle;
and generating an avoidance measure according to the panoramic image around the vehicle and the distance information of the obstacles around the vehicle.
Optionally, the acquiring the panoramic image around the vehicle includes:
respectively acquiring image information transmitted by each wide-angle camera device;
and seamlessly splicing the image information to form the panoramic image around the vehicle.
Optionally, the vehicle includes 4 wide-angle cameras, namely a front camera, a rear camera, a left camera, and a right camera, where the front camera and the rear camera form a first pair of cameras, and the left camera and the right camera form a second pair of cameras;
the acquiring of the panoramic image around the vehicle includes:
acquiring image information transmitted by 4 wide-angle cameras;
and seamlessly splicing the image information to form the panoramic image around the vehicle.
Optionally, the seamlessly stitching the respective image information to form the panoramic image around the vehicle includes:
registering images acquired by the first pair of cameras to form a first registered image;
registering images acquired by the second pair of cameras to form a second registered image;
carrying out coordinate and angle transformation on the first registration image so as to form a first image to be spliced;
carrying out coordinate and angle transformation on the second registration image so as to form a second image to be spliced;
and carrying out splicing fitting on the first image to be spliced and the second image to be spliced so as to form a panoramic image around the vehicle.
Optionally, the generating an avoidance measure according to the panoramic image around the vehicle and the distance information of the obstacles around the vehicle includes:
acquiring a preset threshold value of an obstacle;
judging whether the acquired distance information of the obstacles around the vehicle is smaller than a preset threshold value, if so, judging whether the acquired distance information of the obstacles around the vehicle is smaller than the preset threshold value
And generating alarm information.
Optionally, the generating of the avoidance measure according to the panoramic image around the vehicle and the distance information of the obstacles around the vehicle further includes:
judging whether the acquired distance information of the obstacles around the vehicle is smaller than a preset threshold value, if so, judging whether the acquired distance information of the obstacles around the vehicle is smaller than the preset threshold value
And generating rearview mirror control information and transmitting the rearview mirror control information to a door controller for controlling the unfolding and folding of the external rearview mirror.
Optionally, the generating of the avoidance measure according to the panoramic image around the vehicle and the distance information of the obstacles around the vehicle further includes:
judging whether the acquired distance information of the obstacles around the vehicle is smaller than a preset threshold value, if so, judging whether the acquired distance information of the obstacles around the vehicle is smaller than the preset threshold value
Generating control inquiry voice information;
acquiring voice information answered by a user according to the control inquiry voice information;
recognizing semantic information or character information in the voice information;
and selecting a corresponding driving mode according to the voice information or the character information, wherein the driving mode comprises manual driving and automatic driving.
Optionally, the vehicle avoidance control method further includes:
when the driving mode is automatic driving, obtaining the position information of the vehicle to be driven;
generating vehicle driving strategy information according to the panoramic image around the vehicle and the distance information of the obstacles around the vehicle, wherein the vehicle driving strategy information comprises steering column control information, vehicle door control information and automatic driving control information;
and controlling the vehicle to move to the position to be driven by the vehicle according to the vehicle driving strategy information.
Optionally, the vehicle avoidance control method further includes:
when the driving mode is manual driving, generating at least one of the following information according to the obstacle distance information around the vehicle:
voice reminding information, radar early warning information and 360-degree panoramic image information.
The application also provides a vehicle avoidance control device, the vehicle avoidance control device includes:
the system comprises a vehicle periphery panoramic image acquisition module, a vehicle periphery panoramic image acquisition module and a panoramic image processing module, wherein the vehicle periphery panoramic image acquisition module is used for acquiring a vehicle periphery panoramic image;
the obstacle distance acquisition module is used for acquiring obstacle distance information around the vehicle;
and the avoidance measure generating module is used for generating avoidance measures according to the panoramic image around the vehicle and the distance information of the obstacles around the vehicle.
The present application further provides a vehicle, comprising:
a vehicle body;
the vehicle comprises a vehicle body, a plurality of wide-angle camera devices, a plurality of image acquisition devices and a plurality of image processing devices, wherein each wide-angle camera device is arranged on the vehicle body and is used for shooting image information outside the vehicle body;
the radar detection system is used for acquiring distance information of obstacles around the vehicle;
and the master controller is respectively connected with the wide-angle camera devices and the radar detection system and is used for acquiring image information shot by each wide-angle camera device and acquiring distance information of obstacles around the vehicle transmitted by the radar detection system and generating vehicle running strategy information to generate avoidance measures by adopting the vehicle avoidance control method.
Optionally, the vehicle further comprises:
a steering column control system disposed on the vehicle body;
a door control system disposed on the vehicle body;
an autopilot module disposed on the vehicle body;
the general controller is respectively connected with the vehicle door control system, the automatic driving module and the steering column control system, and the general controller is used for generating vehicle driving strategy information according to the panoramic images around the vehicle and the obstacle distance information around the vehicle when the driving mode is automatic driving, wherein the vehicle driving strategy information comprises the steering column control information, the vehicle door control information and the automatic driving control information, and controls one or more of the steering column control system, the vehicle door control system and the automatic driving module to work according to the vehicle driving strategy information, so that the vehicle can be automatically avoided.
The application has at least the following beneficial technical effects:
according to the vehicle avoidance control method, the panoramic image around the vehicle and the distance information of the obstacles around the vehicle are obtained, and avoidance measures are generated according to the panoramic image and the distance information of the obstacles, so that early warning and vehicle avoidance control can be performed on a driver, and the driving safety is improved.
Drawings
Fig. 1 is a schematic flow chart of a vehicle avoidance control method according to an embodiment of the present application.
Fig. 2 is a system configuration diagram of a vehicle avoidance control apparatus according to an embodiment of the present application.
Fig. 3 is an exemplary block diagram of an electronic device capable of implementing a vehicle avoidance control method provided according to an embodiment of the present application.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
It should be noted that the terms "first" and "second" in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Fig. 1 is a schematic flow chart of a vehicle avoidance control method according to an embodiment of the present application;
fig. 2 is a system configuration diagram of a vehicle avoidance control apparatus according to an embodiment of the present application.
The vehicle avoidance control method shown in fig. 1 includes:
step 1: acquiring a panoramic image around the vehicle;
step 2: obtaining distance information of obstacles around the vehicle;
and step 3: and generating an avoidance measure according to the environment condition around the vehicle and the distance information of the obstacles around the vehicle.
According to the vehicle avoidance control method, the panoramic image around the vehicle and the distance information of the obstacles around the vehicle are obtained, and avoidance measures are generated according to the panoramic image and the distance information of the obstacles, so that early warning and vehicle avoidance control can be performed on a driver, and the driving safety is improved.
In the present embodiment, acquiring the panoramic image around the vehicle includes:
respectively acquiring image information transmitted by each wide-angle camera device;
and seamlessly splicing the image information to form the panoramic image around the vehicle.
In this embodiment, the vehicle includes 4 wide-angle cameras, which are a front camera, a rear camera, a left camera, and a right camera, respectively, where the front camera and the rear camera form a first pair of cameras, and the left camera and the right camera form a second pair of cameras;
acquiring a panoramic image around a vehicle includes:
acquiring image information transmitted by 4 wide-angle cameras;
and seamlessly splicing the image information to form the panoramic image around the vehicle.
In the present embodiment, seamlessly stitching the pieces of image information to form the panoramic image around the vehicle includes:
registering images acquired by the first pair of cameras to form a first registered image;
registering images acquired by the second pair of cameras to form a second registered image;
carrying out coordinate and angle transformation on the first registration image so as to form a first image to be spliced;
carrying out coordinate and angle transformation on the second registration image so as to form a second image to be spliced;
and carrying out splicing fitting on the first image to be spliced and the second image to be spliced so as to form a panoramic image around the vehicle.
Specifically, in this implementation, 4 wide-angle cameras are distributed around the vehicle, and after the images are collected, the images need to be seamlessly spliced, so that the driver can clearly see the surrounding conditions of the vehicle.
Specifically, 4 paths of top view images are extracted, 2 paths of top view images (one path is a first pair of camera devices, and the other path is a second pair of camera devices) which are opposite to each other are subjected to feature extraction, registration is carried out, coordinate transformation and angle adjustment are carried out on the 2 paths of top view images after registration, and finally top view images of two parts of images (a first image to be stitched and a second image to be stitched) are stitched and fitted, so that 360-degree around view image stitching is realized. The method transfers the deviation of the image seam to two opposite top views, replaces the serious distortion phenomenon of the seam by the distortion of the two top views, and eliminates the seam blind area of the panoramic image.
The image stitching principle is as follows:
(1) firstly, preprocessing an image, enhancing image key information including contrast processing, noise processing, edge processing, change processing and the like
(2) Digitally changing the image, and extracting image features including brightness, edge, texture, color, etc
(3) Image registration, comparing image features, matching feature points of multiple images to obtain space coordinate transformation parameters, and obtaining space image registration
(4) Calculating the unit matrix to obtain the image registration points, and calculating the unit matrix
(5) And (4) image fitting, namely fitting the plurality of images again, removing gaps and creating a new image.
By adopting the mode, the sensitivity of front-end perception antenna reaction can be improved, and the autonomy of the edge area is realized. And realizing seamless coverage of images aiming at different avoidance scenes of the vehicle. The image transmission quality around the vehicle is ensured by transmitting the image to the controller through the LVDS bus, so that the surrounding environment of the vehicle is detected and judged in real time, early warning and vehicle avoidance control are carried out on a driver, and the driving safety is improved.
In this embodiment, generating an avoidance measure according to the panoramic image around the vehicle and the distance information of the obstacles around the vehicle includes:
acquiring a preset threshold value of an obstacle;
judging whether the acquired distance information of the obstacles around the vehicle is smaller than a preset threshold value, if so, judging whether the acquired distance information of the obstacles around the vehicle is smaller than the preset threshold value
And generating alarm information.
In one embodiment, generating the avoidance measure according to the panoramic image around the vehicle and the obstacle distance information around the vehicle further comprises:
acquiring a panoramic image around the vehicle;
obtaining a trained barrier distinguishing model;
extracting image characteristics of a vehicle panoramic image;
inputting the image characteristics into a trained obstacle distinguishing model so as to obtain labels output by the obstacle distinguishing model, wherein the labels at least comprise dangerous labels, and if the labels are dangerous labels, the labels are output by the obstacle distinguishing model
And generating alarm information.
It is to be understood that the above determination may be performed by the panoramic image around the vehicle and the obstacle distance information around the vehicle at the same time, or may be performed by using either one of them alone.
In one embodiment, the alarm information is sent to the host computer, and the sound prompt and early warning are carried out on the driver.
The host computer alarm information is sent to the voice processing module, the voice processing module receives the distance signal and sends voice prompt to prompt a driver how to operate, and meanwhile, the host computer control unit displays image information around the vehicle and gives visual prompt to the driver.
In this embodiment, generating an avoidance measure according to the panoramic image around the vehicle and the distance information of the obstacle around the vehicle further includes:
judging whether the acquired distance information of the obstacles around the vehicle is smaller than a preset threshold value, if so, judging whether the acquired distance information of the obstacles around the vehicle is smaller than the preset threshold value
And generating rearview mirror control information and transmitting the rearview mirror control information to a door controller for controlling the unfolding and folding of the external rearview mirror.
Particularly, after the door controller receives rearview mirror control information, the functions of downward turning and folding of the rearview mirror are automatically adjusted, so that the rear mirror is prevented from being scratched when meeting a vehicle, and the collision risk is reduced.
In this embodiment, generating an avoidance measure according to the panoramic image around the vehicle and the distance information of the obstacle around the vehicle further includes:
judging whether the acquired distance information of the obstacles around the vehicle is smaller than a preset threshold value, if so, judging whether the acquired distance information of the obstacles around the vehicle is smaller than the preset threshold value
Generating control inquiry voice information;
acquiring voice information answered by a user according to the control inquiry voice information;
recognizing semantic information or character information in the voice information;
and selecting a corresponding driving mode according to the voice information or the character information, wherein the driving mode comprises manual driving and automatic driving.
For example, when it is judged that the preset predetermined threshold value is less, control inquiry voice information is generated, for example, do you ok, ask if automated driving is required?
After the user answers according to the voice, the voice information is acquired, the voice information is recognized, for example, semantic recognition can be performed, characters can also be directly extracted, whether a driving mode is selected or not is judged through a preset character library, and for example, when the character information is recognized to be yes, automatic driving is selected.
In this way, the driving mode can be selected according to the requirements of the user, for example, in some cases, the light may be dim, or other special cases exist, so that the user wants to enter the automatic driving mode, and the user may forget to manually switch to the automatic driving mode due to confusion or other situations, and at this time, the user can conveniently switch through voice prompt.
In this embodiment, the vehicle avoidance control method further includes:
when the driving mode is automatic driving, obtaining the position information of the vehicle to be driven;
generating vehicle driving strategy information according to the panoramic image around the vehicle and the distance information of the obstacles around the vehicle, wherein the vehicle driving strategy information comprises steering column control information, vehicle door control information and automatic driving control information;
and controlling the vehicle to move to the position to be driven by the vehicle according to the vehicle driving strategy information.
Particularly, when the vehicle dodges, gather the distance signal through image and radar after, when the distance is less than the settlement threshold value, the radar sends out sound early warning prompt signal, central processing unit sends the execution command for each controller, pronunciation send the warning, door controller control outside rear-view mirror expandes and folds, if the user selects automatic driving, the vehicle gets into the autopilot mode, control engine speed and speed of a motor vehicle realize that the vehicle dodges, if the user drives, accessible pronunciation are reminded, radar early warning, 360 panorama images realize that the vehicle dodges.
More specifically, the steering column controls the left and right rotation of the steering wheel upon receiving the command.
And after receiving the instruction, the vehicle door controller controls the external rearview mirror to unfold and fold.
The automatic driving controller receives the radar and the camera signals and also receives instructions from the central processing unit, and takes over the operation of a driver after logical judgment, so that the automatic driving controller is in an automatic driving mode, the ECU controller for avoiding the vehicle controls the rotating speed of an engine and a vehicle speed signal when the ECU controller is in the automatic driving or semi-automatic driving mode, and the vehicle speed is slowly avoided when the vehicle is avoided.
After logical judgment, the automatic driving controller can also enter manual driving without taking over the operation of a driver, and the driver can avoid vehicles through image, voice reminding and radar signal early warning.
In this embodiment, the vehicle avoidance control method further includes:
when the driving mode is manual driving, at least one of the following information is generated according to the distance information of the obstacles around the vehicle:
voice reminding information, radar early warning information and 360-degree panoramic image information.
Referring to fig. 2, the present application further provides a vehicle avoidance control device, where the vehicle avoidance control device includes a vehicle surrounding panoramicimage acquisition module 101, an obstacledistance acquisition module 102, and an avoidancemeasure generation module 103, where the vehicle surrounding panoramicimage acquisition module 101 is configured to acquire a vehicle surrounding panoramic image; the obstacledistance obtaining module 102 is used for obtaining the distance information of obstacles around the vehicle; the avoidancemeasure generating module 103 is configured to generate an avoidance measure according to the panoramic image around the vehicle and the distance information of the obstacles around the vehicle.
It should be noted that the foregoing explanation of the method embodiment is also applicable to the system of this embodiment, and is not repeated here.
The present application further provides a vehicle, comprising: the system comprises a vehicle body, a plurality of wide-angle camera devices, a radar detection system and a master controller, wherein each wide-angle camera device is arranged on the vehicle body and is used for shooting image information outside the vehicle body; the radar detection system is used for acquiring distance information of obstacles around the vehicle; the master controller is respectively connected with the wide-angle camera devices and the radar detection system and is used for acquiring image information shot by each wide-angle camera device and acquiring distance information of obstacles around the vehicle transmitted by the radar detection system, and generating vehicle running strategy information by adopting the vehicle avoidance control method to generate avoidance measures.
In this embodiment, the vehicle further includes a steering column control system, a door control system, and an autopilot module, the steering column control system being disposed on the vehicle body; the vehicle door control system is arranged on the vehicle body; the automatic driving module is arranged on the vehicle body; the main controller is respectively connected with the vehicle door control system, the automatic driving module and the steering column control system, and is used for generating vehicle driving strategy information according to a panoramic image around the vehicle and distance information of obstacles around the vehicle when the driving mode is automatic driving, wherein the vehicle driving strategy information comprises the steering column control information, the vehicle door control information and the automatic driving control information, and controls one or more of the steering column control system, the vehicle door control system and the automatic driving module to work according to the vehicle driving strategy information, so that the vehicle can automatically avoid.
The application also provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the vehicle avoidance control method. It will be appreciated that the electronic device may be the general controller described above.
The application also provides a computer readable storage medium, which stores a computer program, and the computer program can realize the vehicle avoidance control method when being executed by a processor.
Fig. 3 is an exemplary block diagram of an electronic device capable of implementing a vehicle avoidance control method provided according to an embodiment of the present application.
As shown in fig. 3, the electronic device includes aninput device 501, aninput interface 502, acentral processor 503, amemory 504, anoutput interface 505, and anoutput device 506. Theinput interface 502, thecentral processing unit 503, thememory 504 and theoutput interface 505 are connected to each other through abus 507, and theinput device 501 and theoutput device 506 are connected to thebus 507 through theinput interface 502 and theoutput interface 505, respectively, and further connected to other components of the electronic device. Specifically, theinput device 504 receives input information from the outside and transmits the input information to thecentral processor 503 through theinput interface 502; thecentral processor 503 processes input information based on computer-executable instructions stored in thememory 504 to generate output information, temporarily or permanently stores the output information in thememory 504, and then transmits the output information to theoutput device 506 through theoutput interface 505; theoutput device 506 outputs the output information to the outside of the electronic device for use by the user.
That is, the electronic device shown in fig. 3 may also be implemented to include: a memory storing computer-executable instructions; and one or more processors which, when executing computer executable instructions, may implement the vehicle avoidance control method described in connection with fig. 1.
In one embodiment, the electronic device shown in fig. 3 may be implemented to include: amemory 504 configured to store executable program code; one ormore processors 503 configured to execute the executable program code stored in thememory 504 to perform the vehicle avoidance control method in the above-described embodiments.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media include both non-transitory and non-transitory, removable and non-removable media that implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Furthermore, it will be obvious that the term "comprising" does not exclude other elements or steps. A plurality of units, modules or devices recited in the device claims may also be implemented by one unit or overall device by software or hardware.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks identified in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The Processor in this embodiment may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the apparatus/terminal device by running or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
In this embodiment, the module/unit integrated with the apparatus/terminal device may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow in the method according to the embodiments of the present invention may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain content that is appropriately increased or decreased as required by legislation and patent practice in the jurisdiction. Although the present application has been described with reference to the preferred embodiments, it is not intended to limit the present application, and those skilled in the art can make variations and modifications without departing from the spirit and scope of the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Finally, it should be pointed out that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (12)
1. A vehicle avoidance control method is characterized by comprising the following steps:
acquiring a panoramic image around the vehicle;
obtaining distance information of obstacles around the vehicle;
and generating an avoidance measure according to the panoramic image around the vehicle and the distance information of the obstacles around the vehicle.
2. The vehicle avoidance control method according to claim 1, wherein the acquiring of the panoramic image around the vehicle includes:
respectively acquiring image information transmitted by each wide-angle camera device;
and seamlessly splicing the image information to form the panoramic image around the vehicle.
3. The vehicle avoidance control method according to claim 2, wherein the vehicle includes 4 wide-angle cameras, namely a front camera, a rear camera, a left camera and a right camera, wherein the front camera and the rear camera form a first pair of cameras, and the left camera and the right camera form a second pair of cameras;
the acquiring of the panoramic image around the vehicle includes:
acquiring image information transmitted by 4 wide-angle cameras;
and seamlessly splicing the image information to form the panoramic image around the vehicle.
4. The vehicle avoidance control method according to claim 3, wherein the seamlessly stitching the respective image information to form the panoramic image around the vehicle includes:
registering images acquired by the first pair of cameras to form a first registered image;
registering images acquired by the second pair of cameras to form a second registered image;
carrying out coordinate and angle transformation on the first registration image so as to form a first image to be spliced;
carrying out coordinate and angle transformation on the second registration image so as to form a second image to be spliced;
and carrying out splicing fitting on the first image to be spliced and the second image to be spliced so as to form a panoramic image around the vehicle.
5. The vehicle avoidance control method according to claim 4, wherein the generating of the avoidance measure based on the panoramic image around the vehicle and the information on the distance of the obstacle around the vehicle includes:
acquiring a preset threshold value of an obstacle;
judging whether the acquired distance information of the obstacles around the vehicle is smaller than a preset threshold value, if so, judging whether the acquired distance information of the obstacles around the vehicle is smaller than the preset threshold value
And generating alarm information.
6. The vehicle avoidance control method according to claim 5, wherein the generating of the avoidance measure based on the panoramic image around the vehicle and the information on the distance of the obstacle around the vehicle further comprises:
judging whether the acquired distance information of the obstacles around the vehicle is smaller than a preset threshold value, if so, judging whether the acquired distance information of the obstacles around the vehicle is smaller than the preset threshold value
And generating rearview mirror control information and transmitting the rearview mirror control information to a door controller for controlling the unfolding and folding of the external rearview mirror.
7. The vehicle avoidance control method according to claim 6, wherein the generating of the avoidance measure based on the panoramic image around the vehicle and the information on the distance of the obstacle around the vehicle further comprises:
judging whether the acquired distance information of the obstacles around the vehicle is smaller than a preset threshold value, if so, judging whether the acquired distance information of the obstacles around the vehicle is smaller than the preset threshold value
Generating control inquiry voice information;
acquiring voice information answered by a user according to the control inquiry voice information;
recognizing semantic information or character information in the voice information;
and selecting a corresponding driving mode according to the voice information or the character information, wherein the driving mode comprises manual driving and automatic driving.
8. The vehicle avoidance control method according to claim 7, characterized by further comprising:
when the driving mode is automatic driving, obtaining the position information of the vehicle to be driven;
generating vehicle driving strategy information according to the panoramic image around the vehicle and the distance information of the obstacles around the vehicle, wherein the vehicle driving strategy information comprises steering column control information, vehicle door control information and automatic driving control information;
and controlling the vehicle to move to the position to be driven by the vehicle according to the vehicle driving strategy information.
9. The vehicle avoidance control method according to claim 7, characterized by further comprising:
when the driving mode is manual driving, generating at least one of the following information according to the obstacle distance information around the vehicle:
voice reminding information, radar early warning information and 360-degree panoramic image information.
10. A vehicle avoidance control device characterized by comprising:
the system comprises a vehicle periphery panoramic image acquisition module, a vehicle periphery panoramic image acquisition module and a panoramic image processing module, wherein the vehicle periphery panoramic image acquisition module is used for acquiring a vehicle periphery panoramic image;
the obstacle distance acquisition module is used for acquiring obstacle distance information around the vehicle;
and the avoidance measure generating module is used for generating avoidance measures according to the panoramic image around the vehicle and the distance information of the obstacles around the vehicle.
11. A vehicle, characterized in that the vehicle comprises:
a vehicle body;
the vehicle comprises a vehicle body, a plurality of wide-angle camera devices, a plurality of image acquisition devices and a plurality of image processing devices, wherein each wide-angle camera device is arranged on the vehicle body and is used for shooting image information outside the vehicle body;
the radar detection system is used for acquiring distance information of obstacles around the vehicle;
the system comprises a master controller, wherein the master controller is respectively connected with the wide-angle camera devices and the radar detection system and is used for acquiring image information shot by each wide-angle camera device and acquiring distance information of obstacles around a vehicle transmitted by the radar detection system and generating vehicle driving strategy information to generate avoidance measures by adopting the vehicle avoidance control method according to claims 1 to 8.
12. The vehicle of claim 11, characterized in that the vehicle further comprises:
a steering column control system disposed on the vehicle body;
a door control system disposed on the vehicle body;
an autopilot module disposed on the vehicle body;
the general controller is respectively connected with the vehicle door control system, the automatic driving module and the steering column control system, and the general controller is used for generating vehicle driving strategy information according to the panoramic images around the vehicle and the obstacle distance information around the vehicle when the driving mode is automatic driving, wherein the vehicle driving strategy information comprises the steering column control information, the vehicle door control information and the automatic driving control information, and controls one or more of the steering column control system, the vehicle door control system and the automatic driving module to work according to the vehicle driving strategy information, so that the vehicle can be automatically avoided.
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| CN202210079423.1ACN114407928A (en) | 2022-01-24 | 2022-01-24 | Vehicle avoidance control method and vehicle avoidance control device |
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| CN202210079423.1ACN114407928A (en) | 2022-01-24 | 2022-01-24 | Vehicle avoidance control method and vehicle avoidance control device |
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