CN101033978B - Assistant navigation of intelligent vehicle and automatically concurrently assisted driving system - Google Patents
Assistant navigation of intelligent vehicle and automatically concurrently assisted driving system Download PDFInfo
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- CN101033978B CN101033978B CN200710026633XA CN200710026633A CN101033978B CN 101033978 B CN101033978 B CN 101033978B CN 200710026633X A CN200710026633X A CN 200710026633XA CN 200710026633 A CN200710026633 A CN 200710026633A CN 101033978 B CN101033978 B CN 101033978B
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Abstract
This invention relates to a kind of aptitude automobile assistance guidance and automatism double with assistance driving system. On the foundation of GPS position finder and vision position finder, with a bran-new way to realize automobile absolute positioning, automobile relative positioning, electronic map update and self-command, automobile drive trace plan and automobile automatism double with assistance drive. The invention not only can realize automobile assistance guidance in given or unknown environment, also can realize safe automatic drive or assistance steer. Whereas vehicle outerdriver could made choice of a series of automatic drive mission, this invention indirectly supply a kind of active form guard against theft technology, so on occasions of automobile lost, owner could long-distance drive car back.
Description
Technical field
The present invention relates to the motor vehicle navigation technology, relate in particular to a kind of intelligent automobile assisting navigation and the DAS (Driver Assistant System) of holding concurrently automatically.
Background technology
Automobile is the indispensable vehicles in people's routine work life.Along with popularizing of private car, automobile has become one of important consumer goods of common people, so the consumption market of automobile is huge.At present, there is weak point in automobile product in following three fields: one, navigation, two, drive, three, antitheft.Specify as follows:
Car navigation device based on satellite-signal is popularized in the world, but can only provide with respect to the fixedly absolute fix of electronic chart.This kind equipment mainly comprises: intrinsic electronic chart, and the input of route information, the absolute fix of (non real-time) automobile, simulation tracing is selected the path, and assisting navigation prompting in real time and automobile present position show.The distinct disadvantage of this kind equipment is: one, do not possess the self-control map function, two, do not possess the function of autonomous driving vehicle, three, do not possess the positioning function of relative ground and ground thing, four, positioning error and travel speed be directly proportional.
Automobile needs careful the driving, and any mistake all may cause injures and deaths.This statement of facts automobile need possess the function of automatic driver assistance, its objective is the consumer goods that allow automobile become to be perfectly safe, and has only the automobile of minority brand to begin to release more original automatic driving function at present.
Automobile is a luxury goods, so automobile burglar becomes automobile consumer's a big worry.At present, the means of automobile burglar mainly are passive types, promptly stop the robber to enter automobile.Obviously, this is not highly effective method, so active anti-theft technique begins to become new research emphasis.
Summary of the invention
At the shortcoming of prior art, the purpose of this invention is to provide a kind of intelligent automobile assisting navigation and the DAS (Driver Assistant System) of holding concurrently automatically, both realized the assisting navigation of automobile in known or circumstances not known, can realize safe and reliable automatic driving or driver assistance again.To achieve these goals, technical scheme of the present invention is: a kind of intelligent automobile assisting navigation and the DAS (Driver Assistant System) of holding concurrently automatically, and it comprises:
The vision direction finder is used for the lock image target and calculates their relative position and relative orientation;
The GPS direction finder is used for the measured automobiles absolute position of ball warp latitude reference point relatively;
Real-time automobile relative positioning device is used to the position and the direction that read the output of vision direction finder and calculate the relative fixed ground target of automobile and the position displacement on the relative ground of automobile and direction displacement;
Real-time automobile absolute fix device is used to first absolute position of reading the output of GPS direction finder and conversing automobile, and reads the position displacement on the relative ground of automobile and second absolute position that direction displacement union goes out automobile;
Electronic chart upgrades and home-made contrivance, is used to read the output of real-time automobile absolute fix device and calculates the feasible path question blank;
Automobile present position display device is used to calibrate the current location of automobile on electronic chart;
The route message input device is used for route or complicated driving task description that the driver imports simple point-to-point;
Dynamic programming device in route path is used for determining in real time that according to the automobile current location all meet the path of specifying constraint;
Simulation tracing is selected path device, is used for demonstrating automobile and carries out the selected path of tracking virtually on electronic chart;
Assisting navigation dynamic reminding device, the prompting information relevant in vehicle travel with route;
The task of travelling input media is used for the driver and imports the task of travelling;
Driving trace dynamic programming device, the output that is used to read real-time automobile relative positioning device, and cook up traval trace according to selected current driving task and current destination;
Automatically double in real time auxiliary driving device, when the driver selects any one to travel task automatically, the travel direction and the travel speed of control or aid prompting automobile;
The job step of described real-time automobile absolute fix device is: (1) reads the direct absolute position of GPS direction finder output, and provides time point to each direct absolute position; (2) read the displacement output of real-time automobile relative positioning, and provide their time point; (3) between the time point of per two direct absolute positions, go out indirect absolute position on each displacement time point with the algorithm computation of integration.
In such scheme:
Described vision direction finder comprises picture pick-up device, the computing machine that is connected with this picture pick-up device, described picture pick-up device comprises one group of binocular colour TV camera, the output of each binocular colour TV camera is a pair of serial coloured image, and described computing machine is done following processing to the coloured image of video camera output:
(1) with artificial neural network colored kind is carried out learning and memory, with the bee-line method picture point is classified then;
(2) calculate all images marginal point with image border point detection algorithm;
(3) according to the imaging simultaneously and can in left image or right image, overlapping feature distinguish road surface characteristic point and non-road surface characteristic point in left and right cameras of road surface characteristic point by single conversion;
(4) the target color in the similar coloured image point set composograph that links, with local adjacent area marginal point is assembled boundary chain, wherein, boundary chain with a fixed structure is set to the profile target in the image, at last, target color and profile target are classified into target on road surface target and the road according to the attribute of its feature;
(5) at per two width of cloth consecutive images, the target color similar shape, that size is close, the displacement of colored phase Sihe is adjacent matches on time shaft;
(6) at per two width of cloth consecutive images, the profile target that bar structure is similar, size is close and displacement is adjacent is matched on time shaft;
(7) space, road surface that the target color that belongs to the road surface and profile target are projected to automobile by single conversion obtains the position and the direction of the relative vision direction finder of road surface target, utilizes the trace information of feature target to calculate the position displacement and the direction displacement of the relative vision direction finder of road surface target then;
(8) target on the road is matched on to left and right sides image at each, on each time point, utilize the known parameters of binocular camera to calculate the position and the direction of the relative vision direction finder of target on the road, last on two adjacent time points, the position displacement and the direction displacement that utilize the trace information of target on the road to calculate the relative vision direction finder of target on the outlet.
The job step of described real-time automobile relative positioning device is: (1) reads all tracked target direction of vision direction finder output and their displacement; (2) calculate the relative orientation of relative each target of automobile and its displacement by inverse transformation; (3) utilize of the displacement of all terrain object, estimate the position displacement and the direction displacement on the relative ground of automobile with least square method with respect to the vision direction finder.
If possess pre-input electronic chart, described electronic chart upgrades with home-made contrivance makes necessary renewal by rights and calculates the feasible path question blank the electronic chart that prestores, otherwise gradual ground generates electronic chart automatically and calculates the feasible path question blank, calculates the feasible path question blank and comprises the steps:
(1) the connection relation network at all highway sections and all crossings in the formation electronic chart, this network is represented with two-dimentional square matrix; (2) systematically search for all feasible paths, and represent with three-dimensional matrice from arbitrary crossing i to arbitrary crossing j; (3) calculate parameter, and represent with four-matrix from arbitrary crossing i to each paths of arbitrary crossing j.
Described route path dynamic programming device upgrades the ask path query table of exporting with home-made contrivance according to electronic chart, path planning as follows: (1) determines highway section, automobile place according to present absolute position of automobile and electronic chart, determines the vehicle front crossing simultaneously; (2), determine the crossing, rear when automobile arrives this simultaneously according to the highway section at the next INTRM intermediate point of automobile or terminal point definite this place on electronic chart; (3) from the feasible path question blank, select a optimal path from crossing i to crossing j.
Described driving trace dynamic programming device is realized following planning department/one or combination:
(1) trace trajectory planning: read the grid that kerb line is arranged from the road surface matrix, come the central point of level and smooth these grids then with the polynomial algebra equation of certain exponent number, to this polynomial algebra equation joining day constraint, and obtain the function of time of similar x=x (t) and y=y (t), directly obtain the speed of a motor vehicle function of time and the corner function of time of trace track at last according to the differential of the function of time;
(2) follow the tracks of the preceding vehicle trajectory planning: read the grid that target on the road is arranged from the road surface matrix, the central point of these grids is called impact point on the road, select impact point on the road on automobile dead ahead and the certain width passage then, then calculate the central point of tracking target and calculate and keep and the required displacement of the certain safe distance of tracking target the last speed of a motor vehicle function of time and the corner function of time of following the tracks of the preceding vehicle track of directly calculating according to time-constrain according to these impact points;
(3) overtake other vehicles or keep away the barrier trajectory planning: read all blank grids from the road surface matrix, determine the blank grid of all continuous adjacent in every row of two-dimentional road surface matrix then and calculate their mid point, these points are called as track crux point, afterwards in every adjacent two row of two-dimentional road surface matrix, track crux point during track crux point in one row and another be listed as links to each other and obtains all feasible overtaking other vehicles or keep away and hinder the path, next according to selecting the barrier path of overtaking other vehicles or keep away about the information of kerb line in the matrix of road surface, polynomial algebra equation with certain exponent number comes level and smooth this selected overtaking other vehicles or keep away to hinder the path, subsequently to this constraint polynomial algebra equation joining day, directly overtaken other vehicles according to the differential of the function of time at last or kept away the speed of a motor vehicle function of time and the corner function of time of barrier track;
(4) the parking stall trajectory planning that berths: the space of reading the parking stall line that berths from the road surface matrix, there is the rectangle of certain size to come these spaces of approximate description with one then, this rectangle is represented the automobile parking orientation, then adopt reverse law of planning to determine from the path in the middle orientation, orientation to of berthing, connect the present orientation of automobile with the polynomial algebra equation of certain exponent number afterwards and obtain the path that is connected the present orientation of automobile and berths the orientation with this orientation, centre, at last according to the differential of the function of time directly obtain the berthing speed of a motor vehicle function of time and the corner function of time of parking stall track;
(5) starting or parking trajectory planning: according to the place ahead point of fixity or the selected straight line path of the line mid point that stops ahead, so retrain to determine the function of time of similar x=x (t) and y=y (t), directly started at last or the speed of a motor vehicle function of time and the corner function of time of parking track according to the differential of the function of time according to required time.
The described auxiliary driving device of holding concurrently automatically in real time comprises automatic speed of a motor vehicle control and speed of a motor vehicle aid prompting part, and turns to control automatically and turn to the aid prompting part.
Described automatic speed of a motor vehicle control and speed of a motor vehicle aid prompting partly comprise throttle folding electronic control equipment, vehicle speed measurement feedback unit and speed of a motor vehicle aid prompting unit, and point out to the driver in the mode of language or sound signal according to the speed of a motor vehicle margin of error speed of a motor vehicle aid prompting unit.
Described turn to automatically control and turn to aid prompting partly to comprise bearing circle deceleration of electrons equipment, outer corner measurement feedback unit and corner aid prompting unit, point out to the driver in the mode of language or sound signal according to the angular errors amount corner aid prompting unit.
Compared with prior art, on the basis of GPS direction finder and vision direction finder, realize the double automatically driver assistance of automobile absolute fix, automobile relative positioning, electronic chart renewal and self-control, traval trace planning and automobile in brand-new mode, the assisting navigation of automobile in known or circumstances not known can be realized, safe and reliable automatic driving or driver assistance can be realized again.Outer driver can select a series of tasks of travelling automatically in view of car, and this invention provides a kind of active anti-theft technique indirectly, and promptly under the automobile loss situation, the car owner can remotely drive a car and make it to return.
Description of drawings
The present invention is described in further detail below in conjunction with accompanying drawing.
Fig. 1 is a total structure block diagram of the present invention.
Fig. 2 is the principle of work block diagram of vision direction finder among the present invention.
Fig. 3 is the composition frame chart of driving trace dynamic programming device among the present invention.
Fig. 4 is automatically speed of a motor vehicle control and a speed of a motor vehicle aid prompting part and turn to automatically and control and turn to aid prompting part composition frame chart among the present invention.
Embodiment
See also Fig. 1, the intelligent automobile assisting navigation of the present invention and the DAS (Driver Assistant System) of holding concurrently automatically comprise:
Vision direction finder 1, it is lock image target and calculate the relative position and the relative orientation of they and vision direction finder 1 by rights;
GPS (Global Positioning System (GPS)) direction finder 2, it both can select low precision product at a slow speed for use, also can adopt the quick product of high gear, was used for the measured automobiles absolute position of ball warp latitude reference point relatively;
Real-time automobile relative positioning device 3, the position and the direction that are used to read the output of vision direction finder 1 and calculate the relative fixed ground target of automobile by rights, fixed ground target comprises: the colour on the road surface, profile on the road surface, road sign, or buildings or the like, it calculates the position displacement and the direction displacement on the relative ground of automobile by rights simultaneously;
Real-time automobile absolute fix device 4, it reads the output of GPS direction finder 2 and first absolute position that suitable mode converses automobile on the one hand, on the other hand, it reads the position displacement and the direction displacement on the relative ground of automobile simultaneously and calculates second absolute position of automobile by suitable mode, first absolute position is defined as discrete direct absolute position, second absolute position is defined as continuous indirect absolute position, and any absolute position all is as reference coordinates with electronic chart;
Electronic chart upgrades and home-made contrivance 5, it reads the output of real-time automobile absolute fix, if native system possesses pre-input electronic chart, the function of this module is that the electronic chart that prestores is made necessary renewal by rights and calculated the feasible path question blank, otherwise the function of this module is gradual ground and generates electronic chart by rights automatically and calculate the feasible path question blank;
Automobile present position display device 6, it is to calibrate the current location of automobile on electronic chart on the LCD by rights, it also can demonstrate the object of reference in the vision relative positioning instrument 1 with suitable mode simultaneously;
Route message input device 7.It makes things convenient for the driver to import the route or the complicated driving task description of input of simple point-to-point in a suitable manner;
Route path dynamic programming device 8, it determines in real time and by rights that according to the automobile current location all meet the path of specifying constraint, specifies constraint to comprise access locations, time and distance or the like in electronic chart, the way;
Simulation tracing is selected path device 9, and it is demonstrated automobile by rights and carries out the selected path of tracking virtually on electronic chart;
Assisting navigation dynamic reminding device 10, it points out the automobile current location by rights in vehicle travel, the path of the current execution of automobile, and the information relevant with route;
The task of travelling input media 11, the task of travelling comprises starting engine, assisting navigation, from the motion tracking road sign, from the motion tracking preceding vehicle, berth parking stall, automatic overtaking system and automatic stopping or the like automatically, this device make things convenient for by rights in the car driver or car outward the driver import the current driving task;
Driving trace dynamic programming device 12, it reads the output of real-time automobile relative positioning device 3, and according to selected current driving task and current destination, cooks up traval trace by rights;
Automatically double in real time auxiliary driving device 13, when driver outside driver in the car or the car selects any one to travel task automatically, this installs the travel direction and the travel speed of control by rights or aid prompting automobile, thereby realizes selected travelling automatically or the auxiliary task of travelling;
See also Fig. 1 and Fig. 2, the vision direction finder 1 among the present invention comprises picture pick-up device 14, computing machine 15 and is loaded in vision software 16 in the computing machine 15.Its picture pick-up device 14 is made of one group of binocular colour TV camera.Each binocular colour TV camera is calibration in advance good (being that inside and outside parameter is known) all, and the output of each binocular colour TV camera is a pair of serial coloured image.Vision software 16 is made up of following computing module:
Based on the image segmentation 17 of colour, it adopts artificial neural network that colored kind is carried out learning and memory, with the bee-line method picture point is classified then;
Based on the image segmentation 18 of profile, it adopts some detection algorithm in image border to calculate all images marginal point;
Feature cuts apart 19 on road surface and the road, in binocular vision, and road surface characteristic point (promptly colored point and marginal point) imaging simultaneously in left and right cameras, they can be overlapping in left image or right image by single conversion.Non-road surface characteristic point (promptly colored point and marginal point) does not then satisfy the constraint of this geometric transformation, utilizes this condition, and feature is distinguished on road surface characteristic and the road;
The feature target is chosen and is classified 20, at first it is the target color in the similar coloured image point set composograph that links, used condition is: one, similar, two, (be click-through cross other can arrive another point with point) links, secondly it assembles boundary chain to marginal point with local adjacent area, the boundary chain that wherein has a fixed structure is set to the profile target in the image, and last feature target (being target color and profile target) is classified into target on road surface target and the road according to the attribute of its feature;
Colored target tracking 21, it is at per two width of cloth consecutive images, and similar shape, size is close, and the adjacent target color of colored phase Sihe displacement matches on time shaft;
Contour target tracking 22, it is at per two width of cloth consecutive images, and bar structure is similar, and the close profile target adjacent with displacement of size matched on time shaft;
Calculate road surface displacement of targets 23, at first its feature target (being target color and profile target) that belongs to the road surface thus obtain the position and the direction of the relative vision direction finder 1 of road surface target by the space, road surface that single conversion projects to automobile, utilize the trace information of feature target to calculate the position displacement and the direction displacement of the relative vision direction finder 1 of road surface target then;
Calculate displacement of targets 24 on the road, at first it matches at each target on the road on to left and right sides image, the constraint of pairing comprises the size of target on the structure of target on polar curve (epipolar line), the road or colour and road of binocular vision, secondly on each time point, utilize the known parameters of binocular camera to calculate the position and the direction of the relative vision direction finder 1 of target on the road, last on two adjacent time points, the position displacement and the direction displacement that utilize the trace information of target on the road to calculate the relative vision direction finder 1 of target on the outlet;
See also Fig. 1, the GPS product that the GPS direction finder 2 among the present invention adopts market to provide, it can be the low speed product, also can be the high speed product.It can be common GPS, also can be high-precision DGPS.
See also Fig. 1, real-time automobile relative positioning device 3 among the present invention reads all the tracked target direction (being direction and position) and their displacement of vision direction finder 1 output, calculate the relative orientation of relative each target of automobile and its displacement by inverse transformation then, utilize of the displacement of all terrain object at last, estimate the position displacement and the direction displacement on the relative ground of automobile with least square method with respect to vision direction finder 1.
See also Fig. 1, real-time automobile absolute fix device 4 among the present invention reads the direct absolute position of GPS direction finder 2 outputs and provides time point gives each direct absolute position, it reads the displacement output of real-time automobile relative positioning device 3 and provides their time point then, last between the time point of per two direct absolute positions, go out indirect absolute position on each displacement time point with the algorithm computation of integration.
See also Fig. 1, the electronic chart among the present invention upgrades with home-made contrivance 5 realizes two computings.If automobile possesses the known electronic map, it adds the highway section that new highway section or recovery are removed on the one hand, such as, certain section driving path of automobile record or be removed in the past not on the known electronic map.On the other hand, it removes the existing highway section in the electronic chart temporarily, such as, the driver sets certain bar highway section and is closed, and perhaps automobile occurs being forced to refund owing to target on the road and selects other highway section.In this case, the sealing highway section is removed temporarily.If automobile does not possess certain regional electronic chart, this module adds line the highway section crossed in homemade electronic chart then gradually automatically, and the data structure of electronic chart comprises crossing (being traffic intersection) and highway section (promptly being connected two crossings).It calculates the feasible path question blank at last, and the step of calculating the feasible path question blank is as follows:
1, the connection relation network at all highway sections and all crossings in the formation electronic chart.This network represents with two-dimentional square matrix, such as, C (i, j)=k represents that highway section k connects crossing i mutually with crossing j;
2, systematically search for all feasible paths, and represent with three-dimensional matrice from arbitrary crossing i to arbitrary crossing j, such as, R (i, j, n)=k, p, q, s} represent can be from crossing i by highway section k along path n, and highway section p, highway section q and highway section s arrive crossing j;
3, the parameter of calculating from arbitrary crossing i to each paths of arbitrary crossing j, and represent with four-matrix, such as, P (i, j, n, m)=value that d represents along path n from crossing i to arrive the path parameter m that crossing j walked is d, path parameter m comprises the time, distance, the middle crossing sum or the like that passes through.
See also Fig. 1, automobile present position display device 6 among the present invention reads the output of real-time automobile absolute fix device 4, describing on electronic chart and the present absolute position at automobile to demarcate the automobile graphical symbol on the flat-panel screens then, it writes down this absolute position and shows the absolute position that all are recorded with the form of continuity point at last.
See also Fig. 1, travel information input media 7 among the present invention is made up of hand-written touch screen and key-to-disk, and on the one hand, it can read starting point, INTRM intermediate point and the terminal point of driver's input, on the other hand, it can provide starting point, INTRM intermediate point and terminal point to select to the driver.
See also Fig. 1, travel routes dynamic programming device 8 among the present invention reads starting point, INTRM intermediate point and the terminal point that travel information input media 7 provides, it reads the present absolute position of automobile that real-time automobile absolute fix device 4 provides simultaneously, upgrade the ask path query table of exporting with home-made contrivance 5 according to electronic chart then, it plans that in real time the step of travel routes is as follows:
1, determines highway section, automobile place according to present absolute position of automobile and electronic chart, determine vehicle front crossing (for example, crossing i) simultaneously;
2, according to next INTRM intermediate point of automobile or terminal point, on electronic chart, determine the highway section at this place, determine the crossing, rear (for example, crossing j) when automobile arrives this simultaneously;
3, from the feasible path question blank, select a optimal path from crossing i to crossing j, optimal conditions can be time, distance or the like;
See also Fig. 1, the selected path device 9 of the simulation tracing among the present invention reads the selected path and the electronic chart of 8 outputs of travel routes dynamic programming device, then directly on electronic chart the display automobile figure along the dynamic demonstration of selected path movement.
See also Fig. 1, assisting navigation dynamic reminding device 10 among the present invention reads the selected path, automobile present position and the electronic chart of travel routes dynamic programming device 8 outputs, directly marks the position of automobile and the information of prompting junction ahead or INTRM intermediate point then on electronic chart in real time.
See also Fig. 1, the task of travelling input media 11 among the present invention reads the selected path, automobile present position and the electronic chart of travel routes dynamic programming device 8 outputs, it marks the position of automobile in real time on electronic chart then, secondly it shows a series of tasks of optionally travelling by touch screen, these tasks comprise: starting engine, assisting navigation, from the motion tracking road sign, from the motion tracking preceding vehicle, berth parking stall, automatic overtaking system, automatic stopping and close engine or the like, last task of travelling of driver's picking automatically.
See also Fig. 1 and Fig. 3, the driving trace dynamic programming device 12 among the present invention realizes that following planning comprises the trace trajectory planning, follows the tracks of the preceding vehicle trajectory planning, overtakes other vehicles or keep away barrier trajectory planning, the parking stall trajectory planning that berths, starting or parking trajectory planning or the like.The output of driving trace dynamic programming device 12 is the speed of a motor vehicle function of time and the corner functions of time during the automobile ideal is travelled.Driving trace dynamic programming device 12 at first reads target on the road surface of real-time automobile relative positioning device 3 outputs and the road, electronic chart upgrades and the task of travelling and the selected path of the electronic chart of home-made contrivance 5 outputs and task input media 11 outputs of travelling, on vehicle axis system, generate space, a width of cloth two-dimensional discrete road surface then in real time, this space, road surface can be represented with two-dimensional matrix, and be defined as the road surface matrix.According to target on road surface and the road, it is provided with the value of this two dimension road surface matrix in real time, for example simultaneously, M (i, j)=0 (i j) goes up without any target (being blank grid) the expression grid, M (i, j)=1 (i has target on the road on j) to the expression grid, M (i, j)=2 (i has kerb line on j) to the expression grid, M (i, j)=3 (i has stop line, M (i on j) to the expression grid, j)=4 represent grid (i, j) the parking stall line that berths on, M (i, j)=5 expression grid (i, other road sign is arranged j), and M (i, j)=-1 the expression grid (i, j) content on is uncertain.At last, according to the selected task of travelling, it cooks up traval trace, and is specific as follows:
Trace trajectory planning 25: at first read the grid that kerb line is arranged from the road surface matrix, it comes the central point (promptly obtaining similar y=f (x) function) of level and smooth these grids with the polynomial algebra equation of certain exponent number then, secondly it is to this polynomial algebra equation joining day constraint, and obtain the function of time of similar x=x (t) and y=y (t), directly obtain the speed of a motor vehicle function of time and the corner function of time of trace track at last according to the differential of the function of time;
Follow the tracks of preceding vehicle trajectory planning 26: at first read the grid that target on the road is arranged from the road surface matrix, the central point of these grids is called impact point on the road, and it selects impact point on the road on automobile dead ahead and the certain width passage then.Then, calculate the central point of tracking target according to these impact points, it is directly calculated and keeps and the required displacement of the certain safe distance of tracking target afterwards, for example, the tracking target central point be (x, y) and the safe distance of setting be d, then calculate the automobile displacement formula and be:
With
Directly calculate the speed of a motor vehicle function of time and the corner function of time of following the tracks of the preceding vehicle track according to time-constrain (i.e. Xuan Ding Δ t) at last;
Overtake other vehicles or keep away and hinder trajectory planning 27: it at first reads all blank grids from the road surface matrix, determine the blank grid of all continuous adjacent in every row of two-dimentional road surface matrix then, and calculate their mid point, these points are called as track crux point, afterwards in every adjacent two row of two-dimentional road surface matrix, track crux point in one row is linked to each other with track crux point during another is listed as, the constraint condition of this connection is: a track crux point in the row can arrive track crux point in the next column by blank grid, so far the gained result is that all feasible overtaking other vehicles or keep away hinder the path, next according in the matrix of road surface about the information of kerb line, it selects the barrier path of overtaking other vehicles or keep away (promptly overtake other vehicles or keep away the barrier path and can not run off kerb line), next it hinders path (promptly obtaining similar y=f (x) function) with next level and smooth this selected the overtaking other vehicles or keep away of the polynomial algebra equation of certain exponent number again, it is to this polynomial algebra equation joining day constraint subsequently, and obtain the function of time of similar x=x (t) and y=y (t), directly overtaken other vehicles according to the differential of the function of time at last or kept away the speed of a motor vehicle function of time and the corner function of time of barrier track;
Parking stall trajectory planning 28 berths: it at first reads the space of the parking stall line that berths from the road surface matrix, it has the rectangle of certain size to come these spaces of approximate description with one then, this rectangle is represented the automobile parking orientation, then it adopts reverse law of planning (supposing that promptly automobile rolls away from from the orientation of berthing) to determine the path of orientation in the middle of the orientation to of berthing (promptly automobile rolls arbitrary orientation that the back arrives away from the hypothesis), it connects the present orientation of automobile and this orientation, centre with the polynomial algebra equation of certain exponent number afterwards, so far the gained result is the path that connects the present orientation of automobile and the orientation of berthing, after adding the certain hour constraint, the gained result is the function of time of similar x=x (t) and y=y (t), at last according to the differential of the function of time directly obtain the berthing speed of a motor vehicle function of time and the corner function of time of parking stall track;
Starting or parking trajectory planning 29: it is according to the place ahead point of fixity or the selected straight line path of the line mid point that stops ahead (promptly read from the road surface matrix and stop ahead the line space and calculate the central point in these spaces), it retrains (for example according to required time then, the speed of a motor vehicle that arrives the straight line terminal is zero or is certain expectation value) determine that the function of time of similar x=x (t) and y=y (t), last differential according to the function of time are directly started or the speed of a motor vehicle function of time and the corner function of time of parking track;
Other trajectory planning 30: it can use the part or all of method in above-mentioned to remove to plan other track.
See also Fig. 1 and Fig. 4, the auxiliary driving device 13 of holding concurrently automatically in real time among the present invention is controlled and speed of a motor vehicle aid prompting part 31 by the automatic speed of a motor vehicle, and turns to control automatically and turn to aid prompting part 36 to form.
Automatically speed of a motor vehicle control and speed of a motor vehicle aid prompting part 31 are made up of speed of a motor vehicle automatic control algorithm unit 32, (automobile) throttle folding electronic control equipment 33, vehicle speed measurement feedback unit 34 and speed of a motor vehicle aid prompting unit 35.Speed of a motor vehicle automatic control algorithm unit 32 proportional quantities by speed of a motor vehicle error, integration amount and micro component form with linear combination.33 of (automobile) throttle folding electronic control equipment are provided by automobile self.Vehicle speed measurement feedback unit 34 can be provided by automobile self, if automobile itself does not provide speed of a motor vehicle feedback, then adds image processing software by microcam and forms.Microcam is installed in the appropriate location, and its effect is a coloured image of gathering the car speed instrument.The image processing software of microcam then utilizes the pointer of specific colored detection speed instrument, and reads automobile speed according to the position of pointer.The effect of speed of a motor vehicle aid prompting unit 35 is to point out to the driver in the mode of language or sound signal according to the speed of a motor vehicle margin of error, and signal language comprises: the speed of a motor vehicle is too fast, and the speed of a motor vehicle is slow excessively, danger, careful or the like.
Automatically turn to control and turn to aid prompting part 36 by corner automatic control algorithm unit 7, (automobile) bearing circle deceleration of electrons equipment 38, outer corner measurement feedback unit 39 and corner aid prompting 40 are formed.Corner automatic control algorithm unit 37 is by the proportional quantities of angular errors, and integration amount and micro component form with linear combination.38 of (automobile) bearing circle deceleration of electrons equipment are provided by automobile self.Outer corner measurement feedback unit 39 can be provided by automobile self.If automobile itself does not provide the corner feedback, 39 of outer corner measurement feedback units add image processing software by microcam and form.Microcam is installed in the appropriate location, and its effect is a coloured image of gathering vehicle steering.The image processing software of microcam then utilizes the corner of particular edge feature detection bearing circle, and draws the automobile corner according to transformation of scale.The effect of corner aid prompting unit 40 is to point out to the driver in the mode of language or sound signal according to the angular errors amount, and signal language comprises: corner is excessive, and corner is very few, danger, careful=or the like.
Claims (9)
1. the intelligent automobile assisting navigation and the DAS (Driver Assistant System) of holding concurrently automatically, it comprises:
The vision direction finder is used for the lock image target and calculates their relative position and relative orientation;
The GPS direction finder is used for the measured automobiles absolute position of ball warp latitude reference point relatively;
Real-time automobile relative positioning device is used to the position and the direction that read the output of vision direction finder and calculate the relative fixed ground target of automobile and the position displacement on the relative ground of automobile and direction displacement;
Real-time automobile absolute fix device is used to first absolute position of reading the output of GPS direction finder and conversing automobile, and reads the position displacement on the relative ground of automobile and second absolute position that direction displacement union goes out automobile;
Electronic chart upgrades and home-made contrivance, is used to read the output of real-time automobile absolute fix device and calculates the feasible path question blank;
Automobile present position display device is used to calibrate the current location of automobile on electronic chart;
The route message input device is used for route or complicated driving task description that the driver imports simple point-to-point;
Dynamic programming device in route path is used for determining in real time that according to the automobile current location all meet the path of specifying constraint;
Simulation tracing is selected path device, is used for demonstrating automobile and carries out the selected path of tracking virtually on electronic chart;
Assisting navigation dynamic reminding device, the prompting information relevant in vehicle travel with route;
The task of travelling input media is used for the driver and imports the task of travelling;
Driving trace dynamic programming device, the output that is used to read real-time automobile relative positioning device, and cook up traval trace according to selected current driving task and current destination;
Automatically double in real time auxiliary driving device, when the driver selects any one to travel task automatically, the travel direction and the travel speed of control or aid prompting automobile;
It is characterized in that: the job step of described real-time automobile absolute fix device is: (1) reads the direct absolute position of GPS direction finder output, and provides time point to each direct absolute position; (2) read the displacement output of real-time automobile relative positioning device, and provide their time point; (3) between the time point of per two direct absolute positions, go out indirect absolute position on each displacement time point with the algorithm computation of integration.
2. the intelligent automobile assisting navigation as claimed in claim 1 and the DAS (Driver Assistant System) of holding concurrently automatically, it is characterized in that, described vision direction finder comprises picture pick-up device, the computing machine that is connected with this picture pick-up device, described picture pick-up device comprises one group of binocular colour TV camera, the output of each binocular colour TV camera is a pair of serial coloured image, and described computing machine is done following processing to the coloured image of video camera output:
(1) adopts artificial neural network that colored kind is carried out learning and memory, with the bee-line method picture point is classified then;
(2) adopt some detection algorithm in image border to calculate all images marginal point;
(3) according to the imaging simultaneously and can in left image or right image, overlapping feature distinguish road surface characteristic point and non-road surface characteristic point in left and right cameras of road surface characteristic point by single conversion;
(4) the target color in the similar coloured image point set composograph that links, with local adjacent area marginal point is assembled boundary chain, wherein, boundary chain with a fixed structure is set to the profile target in the image, at last, target color and profile target are classified into target on road surface target and the road according to the attribute of its feature;
(5) at per two width of cloth consecutive images, the target color similar shape, that size is close, the displacement of colored phase Sihe is adjacent matches on time shaft;
(6) at per two width of cloth consecutive images, the profile target that bar structure is similar, size is close and displacement is adjacent is matched on time shaft;
(7) space, road surface that the target color that belongs to the road surface and profile target are projected to automobile by single conversion obtains the position and the direction of the relative vision direction finder of road surface target, utilizes the trace information of feature target to calculate the position displacement and the direction displacement of the relative vision direction finder of road surface target then;
(8) target on the road is matched on to left and right sides image at each, on each time point, utilize the known parameters of binocular camera to calculate the position and the direction of the relative vision direction finder of target on the road, last on two adjacent time points, the position displacement and the direction displacement that utilize the trace information of target on the road to calculate the relative vision direction finder of target on the outlet.
3. the intelligent automobile assisting navigation as claimed in claim 1 and the DAS (Driver Assistant System) of holding concurrently automatically, it is characterized in that the job step of described real-time automobile relative positioning device is: (1) reads all tracked target direction of vision direction finder output and their displacement; (2) calculate the relative orientation of relative each target of automobile and its displacement by inverse transformation; (3) utilize of the displacement of all terrain object, estimate the position displacement and the direction displacement on the relative ground of automobile with least square method with respect to the vision direction finder.
4. the intelligent automobile assisting navigation as claimed in claim 1 and the DAS (Driver Assistant System) of holding concurrently automatically, it is characterized in that, if possess pre-input electronic chart, described electronic chart upgrades with home-made contrivance makes necessary renewal by rights and calculates the feasible path question blank the electronic chart that prestores, otherwise gradual ground generates electronic chart automatically and calculates the feasible path question blank, calculates the feasible path question blank and comprises the steps:
(1) the connection relation network at all highway sections and all crossings in the formation electronic chart, this network is represented with two-dimentional square matrix;
(2) systematically search for all feasible paths, and represent with three-dimensional matrice from arbitrary crossing i to arbitrary crossing j;
(3) calculate parameter, and represent with four-matrix from arbitrary crossing i to each paths of arbitrary crossing j.
5. the intelligent automobile assisting navigation as claimed in claim 1 and the DAS (Driver Assistant System) of holding concurrently automatically is characterized in that described route path dynamic programming device upgrades the ask path query table of exporting with home-made contrivance, path planning as follows according to electronic chart:
(1) determines highway section, automobile place according to present absolute position of automobile and electronic chart, determine the vehicle front crossing simultaneously;
(2), determine the crossing, rear when automobile arrives this simultaneously according to the highway section at the next INTRM intermediate point of automobile or terminal point definite this place on electronic chart;
(3) from the feasible path question blank, select a optimal path from crossing i to crossing j.
6. the intelligent automobile assisting navigation as claimed in claim 1 and the DAS (Driver Assistant System) of holding concurrently automatically is characterized in that described driving trace dynamic programming device is realized one of following planning or combination:
(1) trace trajectory planning: read the grid that kerb line is arranged from the road surface matrix, come the central point of level and smooth these grids then with the polynomial algebra equation of certain exponent number, to this polynomial algebra equation joining day constraint, and obtain the function of time of x=x (t) and y=y (t), directly obtain the speed of a motor vehicle function of time and the corner function of time of trace track at last according to the differential of the function of time;
(2) follow the tracks of the preceding vehicle trajectory planning: read the grid that target on the road is arranged from the road surface matrix, the central point of these grids is called impact point on the road, select impact point on the road on automobile dead ahead and the certain width passage then, then calculate the central point of tracking target and calculate and keep and the required displacement of the certain safe distance of tracking target the last speed of a motor vehicle function of time and the corner function of time of following the tracks of the preceding vehicle track of directly calculating according to time-constrain according to these impact points;
(3) overtake other vehicles or keep away the barrier trajectory planning: read all blank grids from the road surface matrix, determine the blank grid of all continuous adjacent in every row of two-dimentional road surface matrix then and calculate their mid point, these points are called as track crux point, afterwards in every adjacent two row of two-dimentional road surface matrix, track crux point during track crux point in one row and another be listed as links to each other and obtains all feasible overtaking other vehicles or keep away and hinder the path, next according to selecting the barrier path of overtaking other vehicles or keep away about the information of kerb line in the matrix of road surface, polynomial algebra equation with certain exponent number comes level and smooth this selected overtaking other vehicles or keep away to hinder the path, subsequently to this constraint polynomial algebra equation joining day, directly overtaken other vehicles according to the differential of the function of time at last or kept away the speed of a motor vehicle function of time and the corner function of time of barrier track;
(4) the parking stall trajectory planning that berths: the space of reading the parking stall line that berths from the road surface matrix, there is the rectangle of certain size to come these spaces of approximate description with one then, this rectangle is represented the automobile parking orientation, then adopt reverse law of planning to determine from the path in the middle orientation, orientation to of berthing, connect the present orientation of automobile with the polynomial algebra equation of certain exponent number afterwards and obtain the path that is connected the present orientation of automobile and berths the orientation with this orientation, centre, at last according to the differential of the function of time directly obtain the berthing speed of a motor vehicle function of time and the corner function of time of parking stall track;
(5) starting or parking trajectory planning: according to the place ahead point of fixity or the selected straight line path of the line mid point that stops ahead, so retrain to determine the function of time of x=x (t) and y=y (t), directly started at last or the speed of a motor vehicle function of time and the corner function of time of parking track according to the differential of the function of time according to required time.
7. the intelligent automobile assisting navigation as claimed in claim 1 and the DAS (Driver Assistant System) of holding concurrently automatically, it is characterized in that, the described auxiliary driving device of holding concurrently automatically in real time comprises automatic speed of a motor vehicle control and speed of a motor vehicle aid prompting part, and turns to control automatically and turn to the aid prompting part.
8. the intelligent automobile assisting navigation as claimed in claim 7 and the DAS (Driver Assistant System) of holding concurrently automatically, it is characterized in that, described automatic speed of a motor vehicle control and speed of a motor vehicle aid prompting partly comprise throttle folding electronic control equipment, vehicle speed measurement feedback unit and speed of a motor vehicle aid prompting unit, and point out to the driver in the mode of voice signal according to the speed of a motor vehicle margin of error speed of a motor vehicle aid prompting unit.
9. the intelligent automobile assisting navigation as claimed in claim 7 and the DAS (Driver Assistant System) of holding concurrently automatically, it is characterized in that, described turn to automatically control and turn to aid prompting partly to comprise bearing circle deceleration of electrons equipment, outer corner measurement feedback unit and corner aid prompting unit, point out to the driver in the mode of voice signal according to the angular errors amount corner aid prompting unit.
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