CN106347374A - Device and method for collecting and fusing vehicle environment information - Google Patents
Device and method for collecting and fusing vehicle environment information Download PDFInfo
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- CN106347374A CN106347374A CN201610859660.4A CN201610859660A CN106347374A CN 106347374 A CN106347374 A CN 106347374A CN 201610859660 A CN201610859660 A CN 201610859660A CN 106347374 A CN106347374 A CN 106347374A
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- 238000012545 processing Methods 0.000 abstract description 14
- 230000004044 response Effects 0.000 abstract description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- Mathematical Physics (AREA)
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Abstract
The invention provides a device for collecting and fusing vehicle environment information. The device for collecting and fusing the vehicle environment information comprises first processors, a second processor and at least one set of sensor, wherein each set of sensor is connected with one first processor, and the first processors are all connected with the second processor; the sensors are used for acquiring parameters of a vehicle and an ambient environment; the first processors are used for acquiring environment information data through calculation according to the environment parameters; the second processor is used for acquiring current environment information of the vehicle and the ambient environment through fusion according to standard environment information data. The invention further provides a method for collecting and fusing the vehicle environment information. According to the device and the method, time required by the vehicle for analyzing and processing the ambient environment information can be shortened, and the response speed of the vehicle to the ambient environment is increased.
Description
Technical Field
The invention relates to the field of unmanned driving, in particular to a vehicle environment acquisition and fusion device and method.
Background
Currently, with the development of science and technology, unmanned vehicles have gradually come into the field of vision of people. The unmanned automobile needs to collect surrounding and vehicle self environmental information in the running process, and generates corresponding control signals in a targeted manner so as to control the running of the vehicle. The existing unmanned automobile transmits information received by a sensor to a unified central processing unit for fusion analysis, and the processing mode can cause the central processing unit to bear excessive work tasks, so that long time is consumed for analyzing and processing surrounding annular information, and the response speed of the automobile to the surrounding environment is influenced.
Disclosure of Invention
The invention mainly aims to provide a vehicle environment acquisition and fusion device and a method, aiming at reducing the time of analyzing and processing the surrounding environment information by a vehicle and improving the response speed of the vehicle to the surrounding environment.
In order to achieve the above object, the present invention provides a vehicle environment acquisition and fusion device, which includes a first processor, a second processor and at least one set of sensors, wherein each set of sensors is connected to one first processor, and the first processors are connected to the second processor; wherein,
the sensor is used for acquiring parameters of the vehicle and the surrounding environment;
the first processor is used for calculating and obtaining standard environment information data according to the environment parameters;
and the second processor is used for obtaining the current environmental information of the vehicle and the surroundings according to the standard environmental information data fusion.
Preferably, the vehicle environment collection and fusion device further comprises:
the navigation module is used for generating running control information according to the vehicle and the current surrounding environment information;
and the driving module is used for controlling the vehicle to run according to the running control information.
Preferably, the method further comprises the following steps:
the receiving module is used for receiving an automatic driving instruction;
and the control module is used for controlling the vehicle to enter an automatic driving mode according to the automatic driving instruction.
Preferably, still be equipped with the early warning module on the second treater, the early warning module includes:
a first judgment unit for judging whether the vehicle is in an automatic driving mode;
a second judging unit, configured to judge whether the second processor receives the standard environmental information data from the first processor when the vehicle is in an automatic driving mode;
and the early warning control unit is used for sending out a warning signal when the second processor does not receive the standard environment information data.
Preferably, the early warning control unit is further configured to control the vehicle to stop or exit the automatic driving mode after the warning signal is sent out.
In addition, in order to achieve the above object, the present invention further provides a vehicle environment collection and fusion method, including the steps of:
acquiring parameters of the vehicle and surrounding environment;
calculating and obtaining standard environment information data by using a first processor according to the environment parameters;
and fusing the current environmental information of the vehicle and the surroundings by using a second processor according to the standard environmental information data.
Preferably, the method further comprises the following steps after obtaining the current environmental information of the vehicle and the surroundings by fusing the standard environmental information data by using the second processor:
generating running control information according to the current environmental information of the vehicle and the surrounding;
and controlling the vehicle to run according to the running control information.
Preferably, the method further comprises the following steps before acquiring the vehicle parameters and the surrounding environment parameters:
receiving an automatic driving instruction;
and controlling the vehicle to enter an automatic driving mode according to the automatic driving instruction.
Preferably, before obtaining the current environmental information of the vehicle and the surroundings according to the standard environmental information data fusion, the method further includes:
judging whether the vehicle is in an automatic driving mode or not;
when the vehicle is in an automatic driving mode, judging whether the second processor receives the standard environment information data;
and if the second processor does not receive the standard environment information data, sending out an alarm signal.
Preferably, the method further comprises the following steps after the warning signal is sent out: and controlling the vehicle to stop or exit the automatic driving mode.
The technical scheme of the embodiment of the invention comprises a first processor, a second processor and at least one group of sensors, wherein each group of sensors is connected with one first processor, and the first processors are connected with the second processor; the sensor is used for acquiring parameters of the vehicle and the surrounding environment; the first processor is used for calculating and obtaining standard environment information data according to the environment parameters; and the second processor is used for obtaining the current environmental information of the vehicle and the surroundings according to the standard environmental information data fusion. The technical scheme of the embodiment of the invention can reduce the time of analyzing and processing the surrounding environment information by the vehicle and improve the response speed of the vehicle to the surrounding environment.
Drawings
FIG. 1 is a functional block diagram of a first embodiment of a vehicle environment collection and fusion apparatus according to the present invention;
FIG. 2 is a functional block diagram of a second embodiment of the vehicle environment collection and fusion apparatus according to the present invention;
FIG. 3 is a detailed functional block diagram of the early warning module according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a first embodiment of a vehicle environment collection and fusion method according to the present invention;
FIG. 5 is a flowchart illustrating a second embodiment of the vehicle environment collection and fusion method of the present invention;
fig. 6 is a flowchart illustrating a vehicle environment collection and fusion method according to a third embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a vehicle environment acquisition and fusion device, as shown in fig. 1, the vehicle environment acquisition and fusion device comprises a first processor 20, a second processor 30 and at least one group of sensors 10, wherein each group of sensors 10 is connected with one first processor 20, and the first processors 20 are connected with the second processor 30.
It should be understood that in the solution of the present embodiment, the sensors 10 may be known sensors 10, and in particular, various sensors 10 used in an unmanned vehicle, in the present embodiment, four sensors 10 are taken as an example, specifically, one first processor 20 is provided for each group of sensors 10, and the first processor 20 is dedicated to processing data collected by the corresponding sensor 10. All first processors 20 are connected to the second processor 30. In this embodiment, the first processor 20 and the second processor 30 are preferably microprocessors or single-chip microcomputers.
The sensor 10 is used for acquiring the vehicle and the surrounding environment parameters.
The sensor 10 in this embodiment is a known sensor 10 used in unmanned vehicles, and is specifically used to acquire environmental parameters of the vehicle itself and the surroundings. For example, the sensors 10 for acquiring the parameters of the vehicle itself include at least a speed sensor for acquiring the current vehicle speed; a pressure sensor for acquiring a tire pressure; a temperature sensor for acquiring the temperature in the vehicle, and the like. The sensor 10 for acquiring the environmental parameters around the vehicle at least comprises various radar devices arranged around the vehicle, such as a doppler radar, an infrared radar, a collision avoidance radar, and the like; an image sensor for confirming the current lane and road condition, etc. As an improvement, a position sensor or a positioning device, such as a beidou positioning device or a GPS positioning device, should be further included to obtain a real-time position.
The first processor 20 is configured to obtain standard environment information data according to the environment parameter calculation.
After the corresponding vehicle running information, each group of sensors 10 transmits the obtained raw data of the environmental parameters to the first processor 20, and specifically, each first processor 20 may be connected with each group of sensors 10 corresponding thereto in a wired or wireless communication manner. Each of the first processors 20 is configured to process the signals collected by the sensors 10 to obtain corresponding standard environmental information data, for example, calculate and obtain a distance between the host vehicle and the leading vehicle according to echo signals of a doppler radar.
And the second processor 30 is configured to obtain the current environmental information of the vehicle and the surroundings according to the standard environmental information data fusion.
It should be understood that the second processor 30 in this embodiment is used to fuse the standard environment information data calculated by the first processor 20, so as to obtain the detailed environment information of the vehicle itself and the surroundings. Specifically, the second processor 30 performs fusion analysis on the calculation results of the plurality of first processors 20 to obtain the overall environmental data.
In this embodiment, the first processor 20 analyzes the data collected by the sensor 10 to obtain the standard environmental information data, and then the second processor 30 performs fusion analysis on the standard environmental information data to obtain the overall environmental data of the vehicle itself and the surroundings. The technical scheme of the embodiment can effectively reduce the load and the calculated amount of the first processor 20 and the second processor 30, reasonably distribute the calculating capacity, and effectively improve the data processing speed, thereby reducing the time of analyzing and processing the surrounding environment information by the vehicle and improving the response speed of the vehicle to the surrounding environment.
As shown in fig. 2, in a second embodiment of the above first embodiment of the device according to the present invention, the vehicle environment collection and fusion device further includes:
a navigation module 40 for generating driving control information according to the current environmental information of the vehicle and the surroundings;
and the driving module 50 is used for controlling the vehicle to run according to the running control information.
It should be understood that, according to the technical solution of the present embodiment, after the current environmental information of the vehicle itself and the surroundings is acquired, the driving control information is further generated according to the information, and the vehicle is controlled to drive, so that the control of the unmanned vehicle is realized. Due to the technical scheme of the embodiment, the time of analyzing and processing the surrounding environment information by the vehicle can be reduced, so that the corresponding can be more quickly made for the surrounding environment, and the safety of the vehicle in the unmanned process during running is improved.
In a third embodiment of the above embodiments of the apparatus according to the present invention, the vehicle environment collection and fusion apparatus further includes:
the receiving module is used for receiving an automatic driving instruction;
and the control module is used for controlling the vehicle to enter an automatic driving mode according to the automatic driving instruction.
It should be appreciated that the vehicle should have both an autonomous driving mode and a manual driving mode, and the vehicle will enter the autonomous driving mode only after receiving an autonomous driving command. In practical use, the two modes can be switched according to the requirements of users.
Referring to fig. 3, in a fourth embodiment of the above-mentioned embodiments of the apparatus according to the present invention, an early warning module 31 is further disposed on the second processor 30, where the early warning module 31 includes:
a first determination unit 32 for determining whether the vehicle is in an automatic driving mode.
A second determination unit 33, configured to determine whether the second processor 30 receives the standard environmental information data from the first processor 20 when the vehicle is in the automatic driving mode.
And an early warning control unit 34, configured to send out a warning signal when the second processor 30 does not receive the standard environment information data.
In this embodiment, an early warning module 31 is further provided for a fault that may exist in the automatic driving process. When the vehicle is in the automatic driving mode, if the second processor 30 fails to receive the signal from the first processor 20, it may be that some sensors 10 are out of order, or that circuit transmission is in problem, and in order to ensure safety, in this embodiment, when the second sensor 10 fails to receive the standard environmental information data of the first processor 20, an alarm signal is sent out. Specifically, the warning signal may be set to be sent when the standard environmental information data sent by any one of the first processors 20 is received, or may be set to be sent only when some critical parameters essential to the driving process cannot be received. For example, the distance between the front and rear vehicles is essential information data in the driving process, and the temperature parameter for controlling the air conditioner is not essential information data, obviously, when the distance between the front and rear vehicles cannot be judged by the automatic driving vehicle, the driving safety cannot be ensured, at this moment, the driver must be reminded to pay attention to the emergency, and the temperature of the air conditioner in the vehicle can be manually adjusted by the driver or the vehicle interior member as required. It can be understood that the warning signal may be various, such as a voice signal, a ring signal, or other sound signals, and a vibration device may be disposed on the seat to warn of an accident.
Further, in a fifth embodiment of the apparatus according to the present invention, the early warning control unit is further configured to control the vehicle to stop or exit from the automatic driving mode after the warning signal is sent out.
In order to further improve safety, in the present embodiment, the vehicle is controlled to stop or exit the automatic driving mode after the warning signal is issued. It should be understood that, in a place such as a highway where direct parking is inconvenient, the vehicle should be controlled to exit from the automatic driving mode after the warning signal is sent out, and the vehicle should be controlled to stop in a place where parking is convenient, which should be determined by combining actual road conditions and habits of users.
The invention further provides a vehicle environment acquisition and fusion method, and referring to fig. 4, in an embodiment, the vehicle environment acquisition and fusion method includes the steps of:
and S10, acquiring the vehicle and the surrounding environment parameters.
In the present embodiment, the vehicle itself and the ambient parameters are acquired by the sensor 10. The sensor 10 in this embodiment is a known sensor 10 used in unmanned vehicles, and is specifically used to acquire environmental parameters of the vehicle itself and the surroundings. For example, the sensors 10 for acquiring the parameters of the vehicle itself include at least a speed sensor for acquiring the current vehicle speed; a pressure sensor for acquiring a tire pressure; a temperature sensor for acquiring the temperature in the vehicle, and the like. The sensors for acquiring the parameters of the surrounding environment of the vehicle at least comprise various radar devices arranged around the vehicle, such as a Doppler radar, an infrared radar, an anti-collision radar and the like; an image sensor for confirming the current lane and road condition, etc. As an improvement, a position sensor or a positioning device, such as a beidou positioning device or a GPS positioning device, should be further included to obtain a real-time position.
And S20, calculating and obtaining standard environment information data by the first processor 20 according to the environment parameters.
After the corresponding vehicle running information, each group of sensors 10 transmits the obtained raw data of the environmental parameters to the first processor 20, and specifically, each first processor 20 may be connected with each group of sensors 10 corresponding thereto in a wired or wireless communication manner. Each of the first processors 20 is configured to process the signals collected by the sensors 10 to obtain corresponding standard environmental information data, for example, calculate and obtain a distance between the host vehicle and the leading vehicle according to echo signals of a doppler radar.
And S30, fusing the standard environmental information data by using the second processor 30 to obtain the current environmental information of the vehicle and the surroundings.
It should be understood that the second processor 30 in this embodiment is used to fuse the standard environment information data calculated by the first processor 20, so as to obtain the detailed environment information of the vehicle itself and the surroundings. Specifically, the second processor 30 performs fusion analysis on the calculation results of the plurality of first processors 20 to obtain the overall environmental data.
In this embodiment, the first processor 20 analyzes the data collected by the sensor 10 to obtain the standard environmental information data, and then the second processor 30 performs fusion analysis on the standard environmental information data to obtain the overall environmental data of the vehicle itself and the surroundings. The technical scheme of the embodiment can effectively reduce the load and the calculated amount of the first processor 20 and the second processor 30, reasonably distribute the calculating capacity, and effectively improve the data processing speed, thereby reducing the time of analyzing and processing the surrounding environment information by the vehicle and improving the response speed of the vehicle to the surrounding environment.
As shown in fig. 5, in the second embodiment of the above first embodiment based on the method of the present invention, after obtaining the current environmental information of the vehicle itself and the surroundings by fusing with the second processor 30 according to the standard environmental information data, the method further includes the following steps:
s40, generating running control information according to the current environment information of the vehicle and the surrounding;
and S50, controlling the vehicle to run according to the running control information.
It should be understood that, according to the technical solution of the present embodiment, after the current environmental information of the vehicle itself and the surroundings is acquired, the driving control information is further generated according to the information, and the vehicle is controlled to drive, so that the control of the unmanned vehicle is realized. Due to the technical scheme of the embodiment, the time of analyzing and processing the surrounding environment information by the vehicle can be reduced, so that the corresponding can be more quickly made for the surrounding environment, and the safety of the vehicle in the unmanned process during running is improved.
Referring to fig. 6, in a third embodiment of the above embodiments of the method according to the present invention, before the step of obtaining the vehicle parameters and the surrounding environment parameters, the method further includes the following steps:
s01, receiving an automatic driving instruction;
and S02, controlling the vehicle to enter an automatic driving mode according to the automatic driving instruction.
In a fourth embodiment of the foregoing embodiments based on the method of the present invention, before obtaining the current environmental information of the vehicle itself and the surroundings according to the standard environmental information data fusion, the method further includes:
it is determined whether the vehicle is in an autonomous driving mode.
When the vehicle is in the automatic driving mode, it is determined whether the second processor 30 receives the standard environmental information data.
If the second processor 30 does not receive the standard environment information data, an alarm signal is sent out.
In the embodiment, a warning module is further arranged aiming at possible faults in the automatic driving process. When the vehicle is in the automatic driving mode, if the second processor 30 fails to receive the signal from the first processor 20, it may be that some sensors 10 are out of order, or that circuit transmission is in problem, and in order to ensure safety, in this embodiment, when the second sensor 10 fails to receive the standard environmental information data of the first processor 20, an alarm signal is sent out. Specifically, the warning signal may be set to be sent when the standard environmental information data sent by any one of the first processors 20 is received, or may be set to be sent only when some critical parameters essential to the driving process cannot be received. For example, the distance between the front and rear vehicles is essential information data in the driving process, and the temperature parameter for controlling the air conditioner is not essential information data, obviously, when the distance between the front and rear vehicles cannot be judged by the automatic driving vehicle, the driving safety cannot be ensured, at this moment, the driver must be reminded to pay attention to the emergency, and the temperature of the air conditioner in the vehicle can be manually adjusted by the driver or the vehicle interior member as required. It can be understood that the warning signal may be various, such as a voice signal, a ring signal, or other sound signals, and a vibration device may be disposed on the seat to warn of an accident.
In a fifth embodiment of the foregoing embodiments based on the method of the present invention, the step of sending the warning signal further includes: and controlling the vehicle to stop or exit the automatic driving mode.
In order to further improve safety, in the present embodiment, the vehicle is controlled to stop or exit the automatic driving mode after the warning signal is issued. It should be understood that, in a place such as a highway where direct parking is inconvenient, the vehicle should be controlled to exit from the automatic driving mode after the warning signal is sent out, and the vehicle should be controlled to stop in a place where parking is convenient, which should be determined by combining actual road conditions and habits of users.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The vehicle environment acquisition and fusion device is characterized by comprising a first processor, a second processor and at least one group of sensors, wherein each group of sensors is connected with one first processor, and the first processors are connected with the second processor; wherein,
the sensor is used for acquiring parameters of the vehicle and the surrounding environment;
the first processor is used for calculating and obtaining standard environment information data according to the environment parameters;
and the second processor is used for obtaining the current environmental information of the vehicle and the surroundings according to the standard environmental information data fusion.
2. The vehicle environment collection fusion device of claim 1, further comprising:
the navigation module is used for generating running control information according to the vehicle and the current surrounding environment information;
and the driving module is used for controlling the vehicle to run according to the running control information.
3. The vehicle environment collection fusion device of claim 1, further comprising:
the receiving module is used for receiving an automatic driving instruction;
and the control module is used for controlling the vehicle to enter an automatic driving mode according to the automatic driving instruction.
4. The vehicle environment acquisition and fusion device of claim 3, wherein the second processor is further provided with an early warning module, and the early warning module comprises:
a first judgment unit for judging whether the vehicle is in an automatic driving mode;
a second judging unit, configured to judge whether the second processor receives the standard environmental information data from the first processor when the vehicle is in an automatic driving mode;
and the early warning control unit is used for sending out a warning signal when the second processor does not receive the standard environment information data.
5. The vehicle environment collection and fusion device of claim 4, wherein the early warning control unit is further configured to control the vehicle to stop or exit the autonomous driving mode after the warning signal is sent.
6. A vehicle environment acquisition and fusion method is characterized by comprising the following steps:
acquiring parameters of the vehicle and surrounding environment;
calculating and obtaining standard environment information data by using a first processor according to the environment parameters;
and fusing the current environmental information of the vehicle and the surroundings by using a second processor according to the standard environmental information data.
7. The vehicle environment collection and fusion method according to claim 6, further comprising the following steps after obtaining the current environment information of the vehicle and the surroundings by fusion of the standard environment information data by the second processor:
generating running control information according to the current environmental information of the vehicle and the surrounding;
and controlling the vehicle to run according to the running control information.
8. The vehicle environment acquisition fusion method of claim 6, further comprising, before said obtaining the vehicle's own and ambient parameters, the steps of:
receiving an automatic driving instruction;
and controlling the vehicle to enter an automatic driving mode according to the automatic driving instruction.
9. The vehicle environment collection and fusion method according to claim 8, wherein before obtaining the current environment information of the vehicle and the surroundings according to the standard environment information data fusion, the method further comprises:
judging whether the vehicle is in an automatic driving mode or not;
when the vehicle is in an automatic driving mode, judging whether the second processor receives the standard environment information data;
and if the second processor does not receive the standard environment information data, sending out an alarm signal.
10. The vehicle environment collection fusion method of claim 9, further comprising, after said emitting the alert signal, the steps of: and controlling the vehicle to stop or exit the automatic driving mode.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610859660.4A CN106347374A (en) | 2016-09-28 | 2016-09-28 | Device and method for collecting and fusing vehicle environment information |
| PCT/CN2017/071860 WO2018058868A1 (en) | 2016-09-28 | 2017-01-20 | Vehicle environment collection and fusion device, and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610859660.4A CN106347374A (en) | 2016-09-28 | 2016-09-28 | Device and method for collecting and fusing vehicle environment information |
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| CN106828506A (en) * | 2017-02-22 | 2017-06-13 | 张军 | A kind of automatic DAS (Driver Assistant System) based on context-aware |
| CN108170126A (en) * | 2017-12-27 | 2018-06-15 | 湖北汽车工业学院 | Control system and automobile |
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| CN109552320A (en) * | 2017-09-26 | 2019-04-02 | 株式会社万都 | Vehicle control system, vehicle external electric sub-control unit, control method for vehicle and recording medium |
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| CN110785719A (en) * | 2017-06-06 | 2020-02-11 | 智加科技公司 | Method and system for instant object tagging via cross temporal verification in autonomous vehicles |
| CN110874098A (en) * | 2019-10-16 | 2020-03-10 | 深圳一清创新科技有限公司 | Control module, intelligent vehicle control method and control system thereof |
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