CN107776572A - Vehicle assistant drive method and system - Google Patents
Vehicle assistant drive method and system Download PDFInfo
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- CN107776572A CN107776572A CN201610798053.1A CN201610798053A CN107776572A CN 107776572 A CN107776572 A CN 107776572A CN 201610798053 A CN201610798053 A CN 201610798053A CN 107776572 A CN107776572 A CN 107776572A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
-
- 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
-
- 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
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Abstract
The application is related to vehicle assistant drive method and system.This application provides a kind of vehicle DAS (Driver Assistant System), including：Light source detection unit, for detecting light source image；Contour detecting unit, for detecting vehicle's contour；And control unit, for judging the light source whether in the vehicle based on the image and profile that detect.Control unit also includes：Computation subunit, the brightness of each pixel for calculating the light source image；List member is obtained, for based on the luminance acquisition source region calculated；Subelement is mapped, for the source region and the vehicle's contour to be mapped into the same coordinate system system；And determination subelement, for the center based on the source region whether in the vehicle's contour, judge the light source whether on the vehicle.
Description
Technical field
Invention relates generally to vehicular field, more particularly, to vehicle assistant drive method and system.
Background technology
Generally left side and/or right side are big equipped with extra afterbody higher than the position of common taillight in its rear for engineering truck or truck
Lamp, so that field lighting or reversing use during construction.Such extra afterbody headlight is very bright, thus for night,
For the vehicle travelled under the relatively low environment of the visibility such as tunnel, dense fog and sleet, after the truck equipped with extra afterbody headlight
The vehicle driver for follow truck to travel is not clearly visible road ahead situation, and vehicle driver by side's traveling
It can not judge to overtake other vehicles whether safely, because the extra afterbody headlight looks very much like the lamp of opposite car.Therefore, in visibility
Under relatively low environment, vehicle is breakneck in the truck behind equipped with extra afterbody headlight.
The content of the invention
According to the one side of the application, there is provided a kind of vehicle DAS (Driver Assistant System), including：Light source detection unit, use
In detection light source image；Contour detecting unit, for detecting vehicle's contour；And control unit, for based on the figure detected
Picture and profile judge whether the light source is light source on the vehicle.
According to the another aspect of the application, there is provided a kind of vehicle assistant drive method, including：Receive light source image；Connect
Receive vehicle's contour；Based on received light source image and vehicle's contour, judge whether the light source is light on the vehicle
Source.
According to the another aspect of the application, there is provided a kind of vehicle DAS (Driver Assistant System), including：Receiving unit, it is used for
Perform following operate：Receive light source image；Receive vehicle's contour；And control unit, for based on received light source figure
Picture and vehicle's contour, judge whether the light source is light source on the vehicle.
Brief description of the drawings
The present invention may be better understood from the description to the embodiment of the present invention below in conjunction with the accompanying drawings, its
In, similar label indicates identical or functionally similar element：
Fig. 1 is the rough schematic view for the automobile for including the vehicle DAS (Driver Assistant System) according to the embodiment of the present application.
Fig. 2 a and Fig. 2 b are the exemplary fields when vehicle DAS (Driver Assistant System) of automobile works according to embodiments herein
Scape.
Fig. 3 shows the flow chart of the vehicle assistant drive method according to embodiments herein.
Fig. 4 shows the knot of the message processing device for the vehicle DAS (Driver Assistant System) that can be realized in embodiments herein
Structure schematic diagram.
Embodiment
The feature and exemplary embodiment of various aspects of the invention is described more fully below.In following detailed description
In, it is proposed that many details, to provide complete understanding of the present invention.But to those skilled in the art
It will be apparent that the present invention can be implemented in the case of some details in not needing these details.Below to implementing
The description of example is used for the purpose of by showing that the example of the present invention is better understood to provide to the present invention.The present invention never limits
In any concrete configuration set forth below and algorithm, but cover under the premise of without departing from the spirit of the present invention element,
Any modification, replacement and the improvement of part and algorithm.In the the accompanying drawings and the following description, known structure and skill is not shown
Art, to avoid that unnecessary obscure is caused to the present invention.
Fig. 1 is the rough schematic view of automobile 100, can be used for vapour according to the vehicle DAS (Driver Assistant System) of the embodiment of the present application
In car 100.Although with automobile as an example, still the application is not limited to apply in the car, but other can also be applied to
Motor vehicles, such as various vehicles using internal combustion engine, motor etc. as actuating unit.As shown in figure 1, automobile 100 includes
Vehicle DAS (Driver Assistant System) 110, navigation system 120, they can be connected to each other, such as be connected respectively to the control of automobile 100
Device LAN (CAN) bus.For brevity, the part such as known power and manipulation device, transmission system is not in automobile 100
Figure 1 illustrates.
Vehicle DAS (Driver Assistant System) 110 can for example include electronic control unit (ECU).ECU can pass through processor (example
Such as, microprocessor), controller (for example, microcontroller), PLD is (for example, field programmable gate array
(FPGA)) realized with application specific integrated circuit (ASIC) etc..In one embodiment, ECU also includes one or more storages
Device, for example, random access memory (RAM), read-only storage (ROM), erasable programmable memory (EPROM), electrically erasable can
Programmable memory (EEPROM) etc..Memory can be used for data storage, instruction, software, code etc., these instruction be performed with
Perform action described herein.
According to a kind of embodiment, vehicle DAS (Driver Assistant System) 110 can include light source detection unit 112, contour detecting list
Member 114 and control unit 116.According to another embodiment, vehicle DAS (Driver Assistant System) 110 (can not show including receiving unit
Go out) and control unit 116.The operation of these units can be hereinafter described in detail.
Light source detection unit 112 and contour detecting unit 114 are, for example, onboard sensor, such as can include the following
In it is one or more：One or more cameras, one or more ultrasonic sensors, one or more radar installations, one
Individual or multiple laser aids etc..Camera may be mounted at the front, rear or other positions of vehicle, and can include general
Camera, infrared photography are first-class.General camera can capture (for example, being worked with 60 ° or so of field of view angle) vehicle in real time
Inside and outside situation is simultaneously presented to driver and/or passenger.In addition, by analyzing the picture that camera captures, can obtain
Take the information such as traffic lights instruction, intersection situation, other travel condition of vehicle.Infrared camera can be in night vision
In the case of accurate catch object.Ultrasonic sensor may be mounted at the surrounding of vehicle, and it utilizes the spies such as ultrasonic wave high directivity
Point, outer distance of the object away from vehicle of car can be accurately measured.Radar installations may be mounted at the front of vehicle, rear or other
Position.Radar installations utilizes the characteristic of electromagnetic wave, can accurately measure outer distance of the object away from vehicle of car, and generally to gold
It is higher to belong to object susceptibility.Laser aid may be mounted at the front, rear or other positions of vehicle.Laser aid can detect
To accurate object edge, shape information, so as to carry out accurate object identification and tracking.
Vehicle DAS (Driver Assistant System) 110 is connected to navigation system 120 and unshowned transmission system.Vehicle assistant drive system
11O unite for example with one or more in following functions：Car light controls；Loudspeaker control；Track is kept；Automatic parking；Such as
The motion control of reversing, brake, acceleration, deceleration, steering etc；Adaptive learning algorithms (ACC) etc..
Navigation system 120 is connected to vehicle DAS (Driver Assistant System) 110 and unshowned transmission system.Navigation system for example has
Have one or more in following functions：Positioning, map inquiry (for example, inquiring about neighbouring gas station, cash dispenser etc.), route rule
Draw (for example, a circuit is planned according to the starting point of driver's setting and destination automatically), self-navigation (e.g., including
Voice Navigation, picture navigation etc.) etc..
Fig. 2 a and Fig. 2 b are according to embodiments herein, the vehicle DAS (Driver Assistant System) of the (not shown) of automobile 100 respectively
Exemplary scenario 200-1 and 200-2 during 110 work.As shown in Figure 2 a, along the direction running from south orientation north, it is filled truck 201
There is extra afterbody headlight 210.Automobile 100 is located in same track in the behind of truck 201, and with truck 201.
Under the relatively low environment of the visibility such as night, tunnel, dense fog and sleet, when automobile 100 is being provided with extra afterbody
During 201 behind of truck of headlight 210, the light source detection unit 112 in vehicle DAS (Driver Assistant System) 110 may be configured to
Detect light source (for example, the extra afterbody headlight 210) image in the front of automobile 100.In one embodiment, light source detection unit
112 can be RGB cameras.
Contour detecting unit 114 in vehicle DAS (Driver Assistant System) 110 may be configured to detect the car in the front of automobile 100
(for example, truck 201) profile.In one embodiment, contour detecting unit 114 can be in laser aid and radar installations
One of or the two.Extra afterbody headlight 210 is very bright so that the driver of automobile 100 can not see front vehicles, therefore vapour clearly
It is truck 201 that the driver of car 100, which can not differentiate front vehicles,.Therefore, in the scene shown in Fig. 2 a, common RGB cameras
The profile of the vehicle (for example, truck 201) in the front of automobile 100 can not be detected.Laser aid or radar installations can be used for detecting
Vehicle (for example, truck 201) profile in the front of automobile 100.
In another embodiment, the receiving unit in vehicle DAS (Driver Assistant System) 110 can be from external detection device (example
Such as, RGB cameras, laser aid and radar installations etc.) receive the light source (for example, extra afterbody headlight 210) in the front of automobile 100
Image, and vehicle (for example, truck 201) profile in the front of automobile 100.
Control unit 116 in vehicle DAS (Driver Assistant System) 110 is configured to detecting or receiving
Whether image and profile judge light source on the vehicle (for example, truck 201) in the front of automobile 100.
In one embodiment, control unit 116 can also include computation subunit, for calculating each of light source image
The brightness of pixel.For example, computation subunit may be configured to the pixel of light source image that is that extraction detects or receiving, and
And the brightness of each pixel of light source image is calculated based on the pixel extracted.Alternatively, in one embodiment, based on institute
When the pixel of extraction calculates the brightness of each pixel of light source image, control unit 116 can be for example based on Lab color space meters
Calculate the brightness of each pixel of the light source image.Lab color spaces are (for example, CIE XYZ colors are empty based on non-linear compression
Between) coordinate system, the color opposition space that represents with L brightness dimension, a and b and represent color opposition dimension.Because Lab colors are empty
Between be technology known to those skilled in the relevant art, will not be repeated here.
In one embodiment, control unit 116 can also include obtaining subelement, for being obtained based on the brightness calculated
Take source region.For example, source region can be obtained based on the high-high brightness in the brightness calculated by obtaining subelement.Can
Selection of land, in one embodiment, when the high-high brightness in based on the brightness calculated is to obtain source region, if had
The pixel of high-high brightness only has one, then source region can be considered as to the pixel with the high-high brightness；If with most
The pixel more than one of big brightness, then for example it can be fitted using Graham algorithms or available for any other of convex closure problem is solved
When algorithm obtains its source region according to the distributing position of the pixel with high-high brightness.Because convex closure problem is that computer is several
A classical problem in what, the algorithm (for example, Graham algorithms) for asking for convex closure is known to those skilled in the relevant art
Technology, it will not be repeated here.
In one embodiment, control unit 116 can also include mapping subelement, for by source region and vehicle wheel
Exterior feature is mapped to the same coordinate system system.For example, source region and vehicle's contour can be mapped to image coordinate system by mapping subelement
System.
In one embodiment, control unit 116 can also include determination subelement, for the center based on source region
Whether in vehicle's contour, judge light source whether on vehicle.For example, determination subelement can based on source region center sit
Whether whether mark judge light source in front vehicles in vehicle's contour.
In one embodiment, vehicle DAS (Driver Assistant System) 110 can also include information acquisition unit, for gathering traffic
Condition information.For example, in response to determining that light source is the light source on the vehicle (for example, truck 201) in the front of automobile 100, information is adopted
Collect traffic related information of the unit collection in the track in the left side of automobile 100.In one embodiment, traffic related information bag
Include the information relevant with head-on sailing next vehicle in the track in the left side of automobile 100.For example, in the exemplary scenario shown in Fig. 2 a
In 200-1, detect the left side of automobile 100 sails the vehicle 202 come to there is one to head on into track, and in showing shown in Fig. 2 b
In example property scene 200-2, detect in the track in the left side of automobile 100 and sail next vehicle without heading on.In one embodiment, traffic
Condition information can include and information relevant with the vehicle that automobile 100 travels in the same direction in the track in the left side of automobile 100.For example,
In the track in the left side of automobile 100, detect has a more slow vehicle of traveling (not show in figure in the front of automobile 100
Go out).It should be noted that for the purpose of brief description, embodiment herein is said by taking the country to keep to the right as an example
Bright, it will be appreciated by those skilled in the art that in the country to keep to the left, situation described above is symmetrical, is no longer gone to live in the household of one's in-laws on getting married herein
State.In one embodiment, vehicle DAS (Driver Assistant System) 110 can also include output unit, for exporting traffic related information.
In one embodiment, output unit can export traffic related information the display unit to automobile 100 so as to visual side
Formula is checked for driver.For example, in the case of having oncoming traffic in the track for detecting the left side of automobile 100, can show
It is dangerous (as shown in Figure 2 a) to remind driver now to overtake other vehicles with red admiration alarming sign in unit；Detecting automobile
In the track in 100 left sides without oncoming traffic in the case of, the track in the left side of automobile 100 can be subjected to green in display unit
Highlighted to represent, it is desirable (as shown in Figure 2 b) that now piggybacking, which is overtaken other vehicles, to remind driver.For example, detecting that automobile 100 is left
, can be in display unit in the case of having a more slow vehicle of traveling in the front of automobile 100 in the track in the same direction of side
It is worthless to remind driver now to overtake other vehicles with red admiration alarming sign.Display unit for example can be as the one of instrument board
It part, can also be attached in the display interface of navigation system, can be combined with vehicle-mounted audio frequency and video display unit.At one
In embodiment, output unit can export traffic related information the audio output unit to automobile 100 so as to voice or police
The mode of report prompts driver.Audio output unit for example can be vehicle-mounted loudspeaker, can also be attached to the sound of navigation system
In frequency output equipment, it can be combined with vehicle-mounted audio frequency and video voice unit (VU).In one embodiment, output unit will can be handed over
Logical condition information exports the haptic unit to automobile 100 so as to prompt driver in a manner of producing sense of touch.Haptic unit is for example
Steering wheel can be mounted or integrate, when exporting traffic related information, steering wheel can use different frequency, difference
Expand to degree or micro-vibration etc., so that the feel of driver is by the signal.Haptic unit can also be mounted or one collection
Into to pilot set, when exporting traffic related information, seat (for example, back and/or buttocks) is with different frequency, different journeys
Degree raps driver, to cause the back of driver and/or buttocks to experience the signal.
In one embodiment, output unit traffic related information can also be output to automobile 100 navigation system and/
Or traffic related information is used for vehicle DAS (Driver Assistant System) in itself.For example, traffic related information can be used for by output unit
The vehicle DAS (Driver Assistant System) of automobile 100 in itself, the judgement overtaken other vehicles or do not overtaken other vehicles to aid in driver to make.Or in vehicle
In the case of adaptive learning algorithms (ACC) function on of DAS (Driver Assistant System), it can cause vehicle DAS (Driver Assistant System) certainly
The dynamic action overtaken other vehicles or do not overtaken other vehicles.For example, traffic related information can also be output to the navigation of automobile 100 by output unit
System, with secondary navigation system according to traffic related information again planning travelling line etc..
Fig. 3 shown according to embodiments herein, the flow chart for vehicle assistant drive method 300.In step 301
In, receive light source image.In one embodiment, can be from the light source detection list of the vehicle DAS (Driver Assistant System) 110 of automobile 100
Member 112 receives the light source image detected.
In step 302, vehicle's contour is received.In one embodiment, can be from the vehicle assistant drive system of automobile 100
The contour detecting unit 114 of system 110 receives the vehicle's contour detected.
In step 303, based on light source image and vehicle's contour, judge light source whether on vehicle.
In one embodiment, step 303 can include the brightness for calculating each pixel of light source image.For example, can be with
Extract the pixel of the light source image detected, and the brightness of each pixel based on the pixel calculating light source image extracted.
Alternatively, in one embodiment, can example when calculating the brightness of each pixel of light source image based on the pixel extracted
The brightness of each pixel of the light source image is such as calculated based on Lab color spaces.
In one embodiment, step 303 can also include based on the luminance acquisition source region calculated.For example, can
To obtain source region based on the high-high brightness in the brightness calculated.Alternatively, in one embodiment, based on institute
, can if the pixel with high-high brightness only has one when high-high brightness in the brightness calculated is to obtain source region
So that source region is considered as into the pixel with the high-high brightness；, can be with if the pixel more than one with high-high brightness
Such as using Graham algorithms or available for solve convex closure problem any other appropriate algorithm according to have high-high brightness picture
The distributing position of vegetarian refreshments obtains its source region.Because convex closure problem is a classical problem in computer geometry, ask for convex
The algorithm (for example, Graham algorithms) of bag is technology known to those skilled in the relevant art, be will not be repeated here.
In one embodiment, step 303 can also include source region and vehicle's contour being mapped to the same coordinate system
System.For example, source region and vehicle's contour can be mapped to image coordinate system.
In one embodiment, step 303 can also include the center based on source region whether in vehicle's contour, sentence
Whether disconnected light source is on vehicle.For example, can the centre coordinate based on source region whether in vehicle's contour, judge that light source is
It is no in front vehicles.
In one embodiment, vehicle assistant drive method 300 can also include collection traffic related information.For example, ring
Should be in it is determined that light source be the light source on the vehicle (for example, truck 201) in the front of automobile 100, collection is located at the car in the left side of automobile 100
Traffic related information in road.In one embodiment, traffic related information is included with head-on being sailed in the track in the left side of automobile 100
The relevant information of next vehicle.
In one embodiment, vehicle assistant drive method 300 can also include：Export traffic related information.In one kind
In embodiment, traffic related information can be exported to the display unit to automobile 100 so as to be checked in a visual manner for driver.
Display unit can also be for example attached in the display interface of navigation system, can also tied as a part for instrument board
Close in vehicle-mounted audio frequency and video display unit.In one embodiment, traffic related information can be exported to the audio to automobile 100
Output unit with voice mode so that be prompted to driver.Audio output unit for example can be vehicle-mounted loudspeaker, can also tie
In the audio output apparatus for closing navigation system, it can be combined with vehicle-mounted audio frequency and video voice unit (VU).In one embodiment,
Traffic related information can be exported to the haptic unit to automobile 100 so as to prompt driver in a manner of producing sense of touch.Tactile
Unit for example can be mounted or integrate steering wheel, and when exporting traffic related information, steering wheel can use difference
Frequency, to some extent expansion or micro-vibration etc., so that the feel of driver is by the signal.Haptic unit can also be mounted
Or pilot set is integrated, when exporting traffic related information, seat (for example, back and/or buttocks) is with different frequencies
Rate, driver is rapped in various degree, to cause the back of driver and/or buttocks to experience the signal.
In one embodiment, traffic related information can also be output to the navigation system of automobile 100 and/or by traffic
Condition information is used for vehicle DAS (Driver Assistant System) in itself.For example, the vehicle that traffic related information can be used for automobile 100 aids in
Control loop in itself, the judgement overtaken other vehicles or do not overtaken other vehicles to aid in driver to make.Or in the adaptive of vehicle DAS (Driver Assistant System)
In the case of answering cruise control (ACC) function on, vehicle DAS (Driver Assistant System) can be caused to be overtaken other vehicles or do not overtaken other vehicles automatically
Action.For example, it is also possible to traffic related information is output to the navigation system of vehicle, with secondary navigation system according to traffic shape
Condition information planning travelling line etc. again.Fig. 4 shows the structural representation of message processing device 400, embodiments herein
In vehicle DAS (Driver Assistant System) 110 can be realized by message processing device 400.As shown in figure 4, equipment 400 can include
With one or more in lower component：Processor 420, memory 430, power supply module 440, input/output (I/O) interface 460,
Communication interface 480, these components for example can communicatively be connected by bus 410.
The operation of the control device 400 on the whole of processor 420, for example, it is associated with data communication and calculating processing etc.
Operation.Processor 420 can include one or more processing cores, and be able to carry out instruction to realize method described herein
All or part of step.Processor 420 can include the various devices with processing function, including but not limited to general procedure
It is device, application specific processor, microprocessor, microcontroller, graphics processor (GPU), digital signal processor (DSP), special integrated
Circuit (ASIC), PLD (PLD), field programmable gate array (FPGA) etc..Processor 420 can include
Caching 425 can communicate with caching 425, to improve the access speed of data.
Memory 430 is configured as storing various types of instructions and/or data with the operation of holding equipment 400.Data
Example include being used for the instruction of any application program or method, data operated on device 400 etc..Memory 430 can be with
Realized by any kind of volatibility or non-volatile memory device or combinations thereof.Memory 430 can include partly leading
Body memory, such as random access memory (RAM), static RAM (SRAM), dynamic random access memory
(DRAM), read-only storage (ROM), programmable read only memory (PROM), Erasable Programmable Read Only Memory EPROM (EPROM),
Electrically Erasable Read Only Memory (EEPROM), flash memory etc..Memory 430 can also include for example using paper being situated between
Any memory of matter, magnetizing mediums and/or optical medium, as paper tape, hard disk, tape, floppy disk, magneto-optic disk (MO), CD, DVD,
Blue-ray etc..
Power supply module 440 provides electric power for the various assemblies of equipment 400.Power supply module 440 can include internal cell and/
Or external power interface, and can include power-supply management system and other with generating, managing and distributing electric power phase for equipment 400
The component of association.
I/O interfaces 460 provide the interface for allowing users to interact with equipment 400.I/O interfaces 460 for example can be with
Including the interface based on technologies such as PS/2, RS-232, USB, FireWire, Lightening, VGA, HDMI, DisplayPort,
Allow users to by keyboard, Genius mouse, touch pad, touch-screen, control stick, button, microphone, loudspeaker, display, shooting
The peripheral devices such as head, projection port and equipment 400 interact.
Communication interface 480 is configured to enable equipment 400 to be communicated in a wired or wireless fashion with other equipment.If
Standby 400 can access the wireless network based on one or more communication standards by communication interface 480, for example, Wi-Fi, bluetooth,
3G, 4G communication network.In a kind of exemplary embodiment, communication interface 480 can also be received from outside via broadcast channel
The broadcast singal or broadcast related information of broadcasting management systems.Exemplary communication interface 480 can include being based on near-field communication
(NFC) technology, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) technology, bluetooth (BT)
The interface of the communication modes such as technology.
Functional block shown in structures described above block diagram can be implemented as hardware, software, firmware or their group
Close.When realizing in hardware, its may, for example, be electronic circuit, application specific integrated circuit (ASIC), appropriate firmware, insert
Part, function card etc..When being realized with software mode, element of the invention is used to perform program or the generation of required task
Code section.Either code segment can be stored in machine readable media program or the data-signal by being carried in carrier wave is passing
Defeated medium or communication links are sent." machine readable media " can include any medium that can store or transmit information.
The example of machine readable media includes electronic circuit, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), soft
Disk, CD-ROM, CD, hard disk, fiber medium, radio frequency (RF) link, etc..Code segment can be via such as internet, inline
The computer network of net etc. is downloaded.
The present invention can realize in other specific forms, without departing from its spirit and essential characteristics.For example, particular implementation
Algorithm described in example can be changed, and system architecture is without departing from the essence spirit of the present invention.Therefore, currently
Embodiment be all counted as being exemplary rather than in all respects it is limited, the scope of the present invention by appended claims rather than
Foregoing description defines, also, fall people's claim implication and equivalent in the range of whole change so as to all be included in
Among the scope of the present invention.
Claims (10)
1. a kind of vehicle DAS (Driver Assistant System), including：
Light source detection unit, for detecting light source image；
Contour detecting unit, for detecting the vehicle's contour of this vehicle front；And
Control unit, for judging the light source whether in the vehicle based on the image and profile that detect.
2. vehicle DAS (Driver Assistant System) according to claim 1, wherein, the light source detection unit is RGB cameras.
3. vehicle DAS (Driver Assistant System) according to claim 1 or 2, wherein, the contour detecting unit is laser aid
And/or radar installations.
4. vehicle DAS (Driver Assistant System) according to any one of claim 1 to 3, wherein, described control unit also includes：
Computation subunit, the brightness of each pixel for calculating the light source image；
Subelement is obtained, for based on the luminance acquisition source region calculated；
Subelement is mapped, for the source region and the vehicle's contour to be mapped into the same coordinate system system；And
Determination subelement, for the center based on the source region whether in the vehicle's contour, judge that the light source is
It is no on the vehicle.
5. vehicle DAS (Driver Assistant System) according to any one of claim 1 to 4, in addition to：
Information acquisition unit, for gathering traffic related information；And
Output unit, for exporting the traffic related information,
Wherein, in response to determining the light source on the vehicle, the collection of described information collecting unit is located at the vehicle left side
Or the traffic related information in the track on right side.
6. vehicle DAS (Driver Assistant System) according to claim 5, wherein, the traffic related information includes and the track
In head-on sail the relevant information of vehicle come.
7. the vehicle DAS (Driver Assistant System) according to claim 5 or 6, wherein, the traffic related information is output to this
At least one of in the following of vehicle：Display unit, audio output unit, haptic unit and navigation system.
8. a kind of vehicle assistant drive method, including：
Receive light source image；
Receive the vehicle's contour of this vehicle front；And
Based on received light source image and vehicle's contour, judge the light source whether on the vehicle.
9. a kind of vehicle DAS (Driver Assistant System), including：
Receiving unit, for performing following operation：
Receive light source image；And
Receive the vehicle's contour of this vehicle front；And
Control unit, for based on received light source image and vehicle's contour, judging the light source whether in the vehicle
On.
10. a kind of vehicle, the vehicle is equipped with the vehicle DAS (Driver Assistant System) any one of just like claim 1-7.
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| CN201610798053.1A CN107776572A (en) | 2016-08-31 | 2016-08-31 | Vehicle assistant drive method and system |
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| CN201610798053.1A CN107776572A (en) | 2016-08-31 | 2016-08-31 | Vehicle assistant drive method and system |
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