CN203480561U - Driving state measurement system of non-contact unmanned vehicle - Google Patents
Driving state measurement system of non-contact unmanned vehicle Download PDFInfo
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- CN203480561U CN203480561U CN201320175244.4U CN201320175244U CN203480561U CN 203480561 U CN203480561 U CN 203480561U CN 201320175244 U CN201320175244 U CN 201320175244U CN 203480561 U CN203480561 U CN 203480561U
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Abstract
The utility model discloses a driving state measurement system of a non-contact unmanned vehicle. The system comprises an unmanned vehicle, a power-amplifier long-distance electronic tag, a manned vehicle of the unmanned vehicle, a millimeter-wave radar, a heading sensor, a global position system (GPS) receiver, a vidicon, a power-amplifier long-distance electronic tag card reader, an unmanned vehicle driving state measurement device, a video image recording device, a summarized information display device, a wireless image emitter, and a long-range terminal receiving and displaying device, wherein the power-amplifier long-distance electronic tag is arranged at the rear part of the unmanned vehicle; the millimeter-wave radar, the heading sensor, the GPS receiver, the vidicon, the power-amplifier long-distance electronic tag card reader, the unmanned vehicle driving state measurement device, the video image recording device, the summarized information display device and the wireless image emitter are arranged on the manned vehicle. By adopting the system, real-time measurement is carried out in a non-contact manner, so as to obtain a driving state parameter of the front unmanned vehicle; a speed curve and a position curve of the unmanned vehicle are drawn in real time; the image when the front unmanned vehicle runs is obtained and stored through the vidicon in real time; and the video of the unmanned vehicle across a lane line is instantly and independently stored, so that subsequent lookup and viewing are facilitated.
Description
Technical field
The utility model relates to automatic driving vehicle transport condition measuring system technical field, relates to particularly a kind of contactless automatic driving vehicle transport condition measuring system.
Background technology
To the monitoring of automatic driving vehicle intelligent behavior under complex environment and the measurement to its transport condition parameter (as speed, traveling-position), be to realize the precondition of the gordian technique research levels such as automatic driving vehicle environment sensing, behaviour decision making being carried out to scientific evaluation.
For guaranteeing control measurement accurate and effective and reliable and practical, must design a kind of automatic driving vehicle transport condition control measurement system, realize the accurate control measurement to automatic driving vehicle.
Automatic driving vehicle itself is generally all provided with GPS, inertial navigation system, odometer etc., can obtain position and the velocity information of automatic driving vehicle self, so, what existing automatic driving vehicle transport condition measuring system had is exactly to adopt a kind of method: require automatic driving vehicle when operation, the information such as speed and position are preserved in real time, after test finishes, data are depicted as to curve.The problem that this method exists is that it cannot watch in real time response curve in automatic driving vehicle operational process.
Other method is, design a manned vehicle follow gallop after automatic driving vehicle, laser radar and gps receiver are installed on manned vehicle, by laser radar, obtain the position relationship between people's steering vehicle and automatic driving vehicle, by gps receiver, obtain speed and the positional information of people's steering vehicle, comprehensively the two extrapolates speed and the positional information of automatic driving vehicle.The problem of this method is, being limited in scope of laser radar range finding (for example the laser radar of 60,000 yuan of certain moneys, its effective finding range is only 45 meters of left and right).And for antiradar reflectivity material, as black vehicle, its effective range is lower, only can guarantee 20-30 rice finding range.And in fact automatic driving vehicle, when advancing at a high speed, in order to remain a safe distance behind the car in front, has the spacing of people's steering vehicle and automatic driving vehicle often to surpass the finding range of above-mentioned laser radar.
For the deficiency of above-mentioned the whole bag of tricks, the utility model proposes a kind of contactless automatic driving vehicle transport condition measuring system.It adopts has people's steering vehicle with the scheme of speeding, and millimetre-wave radar and gps receiver are installed on manned vehicle; Millimetre-wave radar is far away than laser radar operating distance, can reach 150 meters, and can directly obtain automatic driving vehicle and the relative velocity (and the reckoning of the velocity information that laser radar obtains system obtains) that has people's vehicle.
By millimetre-wave radar, obtain the position relationship between people's steering vehicle and automatic driving vehicle, obtain speed and the positional information of people's steering vehicle by gps receiver, comprehensively the two extrapolates speed and the positional information of automatic driving vehicle.In addition, by power amplifier type long-distance electronic tag sign the place ahead automatic driving vehicle, and mate with millimetre-wave radar testing result, obtain automatic driving vehicle accurate location.And the image by video camera Real-time Obtaining and when preserving the place ahead automatic driving vehicle and travelling, in conjunction with lane detection result, judge whether cross-pressure lane line of automatic driving vehicle; When automatic driving vehicle cross-pressure lane line being detected, automatically the video of cross-pressure lane line is preserved separately, facilitate follow-up searching to watch.Automatic driving vehicle video image and rate curve, position curve synthesis display are shown in same screen, and be transferred to terminal monitoring chamber by Wireless Image Transmission Systems, for terminal works personnel, monitor in real time.
Utility model content
In order to reach above-mentioned target, the automatic driving vehicle transport condition measuring system the utility model proposes comprises automatic driving vehicle and is arranged on the power amplifier type long-distance electronic tag at described automatic driving vehicle rear portion, with the described automatic driving vehicle of speeding, there is people's steering vehicle, described in being arranged on, have automatic driving vehicle transport condition measurement mechanism, video image pen recorder, integrated information display device and wireless image emitter on people's steering vehicle, and terminal receives and display device.
Particularly, this automatic driving vehicle transport condition control measurement system, comprise automatic driving vehicle and be arranged on the power amplifier type long-distance electronic tag on described automatic driving vehicle, with the described automatic driving vehicle of speeding, there is people's steering vehicle, described in being arranged on, there is the radar on people's steering vehicle, heading sensor, gps receiver, gps antenna, video camera, power amplifier type long-distance electronic tag card reader, transport condition metering computer, video image logger computer, integrated information Display control computer, wireless image emitter and vehicle-mounted electric supply installation, and be positioned at long-range terminal and receive and display device,
Described video camera is connected with described transport condition metering computer, video image logger computer, integrated information Display control computer respectively through video distributor, video frequency collection card;
Described power amplifier type long-distance electronic tag sends for identifying the coded signal of described automatic driving vehicle to described power amplifier type long-distance electronic tag card reader;
Described radar for detection of described automatic driving vehicle and described in have lateral separation, fore-and-aft distance and the relative velocity between people's steering vehicle;
Described heading sensor is for detection of the described course angle that has people's steering vehicle;
The longitude, latitude, sea level elevation, the velocity information that described in described gps receiver receives, have people's steering vehicle;
Described transport condition metering computer receive described automatic driving vehicle and described in have lateral separation, fore-and-aft distance and the relative velocity between people's steering vehicle, the described course angle that has people's steering vehicle, and described in have longitude, latitude, sea level elevation, the velocity information of people's steering vehicle, and export speed and the positional information of automatic driving vehicle;
Described integrated information Display control computer is by speed and the positional information of described automatic driving vehicle, and export in real time rate curve, the position curve of described automatic driving vehicle, and video image when described rate curve, position curve and described automatic driving vehicle are travelled shows in the screen of described integrated information Display control computer;
Described wireless image emitter is sent to described terminal by the information showing in described integrated information Display control computer screen and receives and display device.
Described gps receiver is by described gps antenna, has longitude, latitude, sea level elevation, the velocity information of people's steering vehicle described in reception.
Described wireless image emitter comprises wireless image transmitter, video dac, and one end of described video dac is connected with described integrated information Display control computer, and the other end is connected with described wireless image transmitter.
Video image when described video image logger computer is received and preserved described automatic driving vehicle and travels by video camera, and can realize and judge whether cross-pressure lane line of described automatic driving vehicle; When described automatic driving vehicle cross-pressure lane line being detected, the function of automatically video of cross-pressure lane line being preserved separately.
Described power amplifier type long-distance electronic tag is arranged on the rear portion of described automatic driving vehicle.
The front end bottom that has people's steering vehicle described in described radar is arranged on.
The front top that has people's steering vehicle described in described video camera is arranged on, and described video camera is digital camera.
Described terminal receives with display device and comprises wireless image receiver, receiver antenna, online video server, Internet network router, terminal Display control computer.Described wireless image receiver is positioned over indoor, and described receiver antenna is positioned on roof, by cable, is connected with described wireless image receiver.Wireless image receiver is connected with online video server by video line, and online video server is connected with Internet network router by netting twine.
Vehicle-mounted electric supply installation is comprised of high-capacity lead-acid storage battery, 4 current insurance boxes, 4 switches and corresponding cable.Be respectively power supply such as device such as 4, automatic driving vehicle transport condition measurement mechanism, video image pen recorder, integrated information display device, onboard wireless image emissions device etc., 4 current insurance boxes, 4 switches respectively provide one for each device.
By power amplifier type long-distance electronic tag sign the place ahead automatic driving vehicle, and mate with millimetre-wave radar testing result, obtain automatic driving vehicle accurate location, and then be combined with speed and the information that the reckoning of people's steering vehicle GPS information obtains automatic driving vehicle, realize the automatic measurement to automatic driving vehicle transport condition.
Video image by video camera Real-time Obtaining and when preserving the place ahead automatic driving vehicle and travelling, in conjunction with lane detection result, judges whether cross-pressure lane line of automatic driving vehicle; When automatic driving vehicle cross-pressure lane line being detected, automatically the video of cross-pressure lane line is preserved separately.
Native system is by introducing online video server, the wireless video receiving is left in server in real time, in the whole world, set up with router any computing machine that physics contacts Anywhere like this and can come displaying live view to real-time pictures and travel speed and the position curve of automatic driving vehicle by access services device address.
The function that this system has is to measure in real time the place ahead automatic driving vehicle transport condition parameter by cordless, as position and speed, and real-time rendering automatic driving vehicle rate curve and position curve; Image by video camera Real-time Obtaining and when preserving the place ahead automatic driving vehicle and travelling, preserves separately for the video of automatic driving vehicle cross-pressure lane line is instant, facilitates follow-up searching to watch; Automatic driving vehicle video image and rate curve, position curve synthesis display are shown in same screen, and be transferred to terminal reception and the display device in terminal monitoring chamber by wireless image transmission device, for terminal works personnel, monitor in real time.
Application the utility model, can obtain following beneficial effect:
The automatic driving vehicle transport condition measuring system that employing the utility model proposes can realize contactless measurement, can not produce any interference to tested automatic driving vehicle.
In native system, adopt millimetre-wave radar, lower than laser radar cost, and detect distance, do not need to calculate and can directly obtain relative velocity accurately.
The utility model is used power amplifier type long-distance electronic tag, can realize 100 meters of above range findings.
Native system takes electronic tag tentatively to determine automatic driving vehicle position, calculates area-of-interest.In area-of-interest, extract millimetre-wave radar testing result, obtain the accurate location of automatic driving vehicle, and then calculate in conjunction with testing vehicle GPS information speed and the information that obtains automatic driving vehicle, realize the automatic measurement to automatic driving vehicle transport condition.
Image by video camera Real-time Obtaining and when preserving the place ahead automatic driving vehicle and travelling, in conjunction with lane detection result, judge whether cross-pressure lane line of automatic driving vehicle, when automatic driving vehicle cross-pressure lane line being detected, automatically the video of cross-pressure lane line is preserved separately, facilitated follow-up checking.
Automatic driving vehicle video image and rate curve, position curve synthesis display are shown in same screen, and be transferred to terminal monitoring chamber by wireless image transmission device, for terminal works personnel, monitor in real time.
Accompanying drawing explanation
Following accompanying drawing in this as a part of the present utility model so that understand, in accompanying drawing:
Fig. 1 is the entire block diagram of automatic driving vehicle transport condition measuring system in the utility model;
Fig. 2 is that the physical location of each device feature of automatic driving vehicle transport condition measuring system in the utility model is arranged schematic diagram;
Fig. 3 is the structural representation of the utility model Computer and data connection device;
Fig. 4 is the schematic diagram of wireless image emitter in the utility model;
Fig. 5 is that in the utility model, terminal receives the schematic diagram with display device;
Fig. 6 is the schematic diagram of vehicle-mounted electric supply installation in the utility model;
Fig. 7 is the computer program interface of automatic driving vehicle transport condition measuring system in the utility model;
Fig. 8 is the schematic diagram that in the utility model, area-of-interest is determined method;
Fig. 9 is the schematic diagram of radar fix system in the utility model;
Figure 10 is the schematic diagram of image coordinate system in the utility model;
Figure 11 is the computer program interface of video image pen recorder in the utility model;
Figure 12 is the computer program interface of integrated information display device in the utility model;
Figure 13 is the workflow diagram of automatic driving vehicle transport condition measuring system in the utility model.
Embodiment
In the following description, having provided a large amount of concrete details understands the utility model more thoroughly to provide.Yet, it is obvious to the skilled person that the utility model can be implemented without one or more these details.In other example, for fear of obscuring with the utility model, for technical characterictics more well known in the art, be not described.Below in conjunction with accompanying drawing, embodiment of the present utility model is described.
In the following description, having provided a large amount of concrete details understands the utility model more thoroughly to provide.Yet, it is obvious to the skilled person that the utility model can be implemented without one or more these details.In other example, for fear of obscuring with the utility model, for technical characterictics more well known in the art, be not described.Below in conjunction with accompanying drawing, embodiment of the present utility model is described.
As shown in Figure 1-Figure 3, the automatic driving vehicle transport condition measuring system the utility model proposes comprises automatic driving vehicle 8 and is arranged on the power amplifier type long-distance electronic tag 111 at automatic driving vehicle 8 rear portions, with the automatic driving vehicle 8 of speeding, there is people's steering vehicle 101, be arranged on automatic driving vehicle transport condition measurement mechanism 1, video image pen recorder 2, integrated information display device 3 and wireless image emitter 4 and vehicle-mounted electric supply installation 6 on people's steering vehicle 101, and the remote terminal that can be arranged in terminal monitoring chamber receives and display device 5.
As shown in Figure 1, the result of calculation of automatic driving vehicle transport condition measurement mechanism 1 exports video image pen recorder 2 and integrated information display device 3 to, the demonstration result of integrated information display device 3 outputs to wireless image emitter 4, and wireless image emitter 4 sends to remote terminal by wireless mode by demonstration result and receives and display device 5.Vehicle-mounted electric supply installation 6 is automatic driving vehicle transport condition measurement mechanism 1, video image pen recorder 2, integrated information display device 3 and 4 power supplies of wireless image emitter.
As shown in Fig. 2-Fig. 3, in the automatic driving vehicle transport condition measuring system proposing at the utility model, have on people's steering vehicle 101, be provided with millimetre-wave radar 102, heading sensor 120, video camera 105, gps antenna 104, wireless image transmitter 401, transmitter antenna 402,, vehicle-mounted electric supply installation 6, computing machine and data connection device 7, power amplifier type long-distance electronic tag card reader 109.
As shown in Figure 2, millimetre-wave radar 102 is arranged on the front end bottom of people's steering vehicle 101, video camera 105 is arranged on the front top of people's steering vehicle, gps antenna 104 has been placed on Pian Qian optional position, people's steering vehicle top, and transmitter antenna 402 has been placed on Pian Hou optional position, people's steering vehicle top.Wireless image transmitter 401 and vehicle-mounted electric supply installation 6 are put in rear positions in compartment.Computing machine and data connection device 7 are put in compartment in the rack after pilothouse.
As shown in Figure 3, computing machine and data connection device 7 comprise video distributor 701, video frequency collection card 205, video frequency collection card 303, video frequency collection card 702, transport condition metering computer 106, video image logger computer 203, integrated information Display control computer 302, netting twine 107, netting twine 204, netting twine 301, HUB hub 108, power amplifier type long-distance electronic tag card reader 109, gps receiver 103, heading sensor 120, video dac 403.The video image that video camera 105 is taken, after video distributor 701 distributes, then is connected with transport condition metering computer 106, video image logger computer 203, integrated information Display control computer 302 through video frequency collection card 702, video frequency collection card 205, video frequency collection card 303 respectively.One end of video dac 403 is connected with the display interface device of integrated information Display control computer 302.This video camera 105 can be both digital camera, can be also analog video camera.
One end of netting twine 107 is connected with HUB hub 108, and the other end is connected with transport condition metering computer 106.One end of netting twine 204 is connected with HUB hub 108, and the other end is connected with video image logger computer 203.Netting twine 301 one end are connected with HUB hub 108, and the other end is connected with integrated information Display control computer 302.The cable that power amplifier type long-distance electronic tag card reader 109, gps receiver 103, heading sensor 120 pass through separately is respectively connected with transport condition metering computer 106.
As shown in Fig. 2-Fig. 3, automatic driving vehicle transport condition measurement mechanism 1 is by being comprised of people's steering vehicle 101, millimetre-wave radar 102, gps receiver 103, gps antenna 104, video camera 105, video distributor 701, video frequency collection card 702, netting twine 107, HUB hub 108, power amplifier type long-distance electronic tag card reader 109, power amplifier type long-distance electronic tag 111, transport condition metering computer 106.Millimetre-wave radar 102 is arranged on the front end bottom of people's steering vehicle 101, video camera 105 is arranged on the front top of people's steering vehicle 101, gps receiver 103, heading sensor 120 and transport condition metering computer 106 have been arranged on the inner rear deck of people's steering vehicle 101 position, HUB hub 108 is positioned over state measurement computing machine 106 sides of travelling in car, and gps antenna 104 has been placed on people's steering vehicle 101 tops, rear end.One end of netting twine 107 is connected with HUB hub 108, and the other end is connected with transport condition metering computer 106.Power amplifier type long-distance electronic tag card reader 109 is put in the appropriate location of people's steering vehicle 101.
As Figure 2-3, video image pen recorder 2 is comprised of video camera 105, video distributor 701, video frequency collection card 205, video image logger computer 203.Video camera 105 is connected with video image logger computer 203 by video distributor 701, video frequency collection card 205.One end of netting twine 204 is connected with HUB hub 108, and the other end is connected with video image logger computer 203.
The program interface of video image logger computer 203 as shown in figure 11.
Click " opening image " in Figure 11 interface, the place ahead image in interface, top, demonstration video camera 105 being obtained.In " license number " edit box, input the license number num of current tested automatic driving vehicle, and click " start preserve ", now on the disk of video image logger computer 203, will start to record and preserve video file, when test finishes, click " finishing to preserve ", now display file is called to the video file of " num.avi " on the disk of video image logger computer 203.When test starts, click " counting starts " button simultaneously, in " displaying time " edit box, by time of occurrence, its form is hh-mm-ss, initial value is 00-00-00.In test process, background program reads the cross-pressure lane line sign from transport condition metering computer 106 via HUB hub 108 always, if sign is 10, automatic driving vehicle 8 cross-pressure left-lane lines are described, suppose now in " displaying time " edit box, to be shown as " 00-28-54 ", background program is by this time of automatic acquisition, now on the disk of video image logger computer 203, will start to record and preserve automatic driving vehicle 8 these cross-pressure lane line video files, when automatic driving vehicle 8 is got back to this track, the cross-pressure lane line sign reading from transport condition metering computer 106 becomes 00, now background program will finish this preservation.Now display file is called to automatic driving vehicle 8 these cross-pressure lane line video files of " 00-28-54-left.avi " on the disk of video image logger computer 203.Similarly, if sign is 01, automatic driving vehicle 8 cross-pressure right lane lines are described, display file are called to automatic driving vehicle 8 these cross-pressure right lane line video files of " 00-28-54-right.avi " on the disk of video image logger computer 203.
After test finishes, on the disk of video image logger computer 203, the video file of file " num.avi " by name is the overall process video of automatic driving vehicle in this test; On the disk of video image logger computer 203, the file all video files that are similar to " 00-28-54-left.avi " by name are the video of automatic driving vehicle 8 cross-pressure lane lines in this test process, need to from the video file of " num.avi ", not search like this, can find fast the video of cross-pressure lane line, and owing to containing temporal information in filename, can count easily the time span of cross-pressure lane line.
As Figure 2-3, integrated information display device 3 is comprised of video camera 105, video distributor 701, video frequency collection card 303, integrated information Display control computer 302.Netting twine 301 one end are connected with HUB hub 108, and the other end is connected with integrated information Display control computer 302.Integrated information Display control computer 302 has been arranged on the inner rear deck of people's steering vehicle 101 position.Video camera 105 is connected with integrated information Display control computer 302 by video distributor 701, video frequency collection card 303.
The program interface of integrated information Display control computer 302 as shown in figure 12.
Left side, interface is the automatic driving vehicle video image information of video camera 105 Real-time Obtainings, the same with middle and upper part, Figure 11 interface image.Interface, right side is respectively automatic driving vehicle position curve, rate curve, by transport condition metering computer 106, by netting twine 301, position (e3, n3) and speed v 3 real-time Transmission calculated is come, and real-time rendering forms in the drawings.The process of drawing is as follows: when first position is transmitted, section out in the drawings; When second position transmitted, also section out in the drawings, two positions is connected with straight line, the rest may be inferred.The curve of speed is also the same.
After system works, the real time content of integrated information Display control computer 302 program interfaces will be launched by wireless image transmitter 401.
As shown in Figure 4, wireless image emitter 4 is comprised of wireless image transmitter 401, transmitter antenna 402, video dac 403.Wireless image transmitter 401 has been arranged on the inner rear deck of people's steering vehicle 101.Transmitter antenna 402 has been placed on people's steering vehicle 101 rear portions, top, by cable, is connected with wireless image transmitter 401.VGA interface one end of video dac 403 is connected with the display interface device of integrated information Display control computer 302, and other end S terminal is connected with wireless image transmitter 401.After system works, the real time content of integrated information Display control computer 302 program interfaces will be launched by wireless image transmitter 401.
The remote terminal reception that can be arranged in terminal monitoring chamber as shown in Figure 5, is comprised of wireless image receiver 501, receiver antenna 502, video line 503, large screen display 504, online video server 505, Internet network router 506, terminal Display control computer 507 with display device 5.Wireless image receiver 501 is positioned over indoor, and receiver antenna 502 is positioned on roof, by cable, is connected with wireless image receiver 501.Video line 503 one end are connected with the video output of wireless image receiver 501, and the other end is connected with the video input mouth of online video server 505.Online video server 505 is connected with Internet network router 506 by netting twine.Terminal Display control computer 507 is connected with arbitrary cable interface of Internet network router 506 by another root netting twine.The VGA display interface device of terminal Display control computer 507 is connected with large screen display 504.
According to the configuration of Internet network router 506, set the parameter such as IP address, subnet mask, gateway address, dns server address of online video server 505.
After system works, the real time content of integrated information Display control computer 302 program interfaces will be launched through wireless image transmitter 401, through wireless image receiver 501, receive, and video image is input to online video server 505, the IP address of the accessing video webserver 505 in terminal Display control computer 507, can browse to real-time pictures and travel speed and the position curve of long-range automatic driving vehicle, at large screen display, show in real time, reach the effect of remote real-time monitoring simultaneously.
If Internet network router 506 is connected with public network, in the whole world, has set up physics with Internet network router 506 Anywhere and contacted any computing machine and can come displaying live view to real-time pictures and travel speed and the position curve of automatic driving vehicle by the IP address of the accessing video webserver 505.
As shown in Figure 6, vehicle-mounted electric supply installation 6 is comprised of high-capacity lead-acid storage battery 602,603,604,605,4 switches 606,607,608,609 of 601,4 current insurance boxes and corresponding cable.Be respectively power supply such as device such as 4, automatic driving vehicle transport condition measurement mechanism 1, video image pen recorder 2, integrated information display device 3, onboard wireless image emissions device 4 etc., 4 current insurance boxes, 4 switches respectively provide one for each device.
Below in conjunction with Fig. 7-13, the workflow of the automatic driving vehicle transport condition measuring system the utility model proposes is described.
The function that the automatic driving vehicle transport condition measuring system the utility model proposes has is to measure in real time the place ahead automatic driving vehicle transport condition parameter by cordless, as position and speed, and real-time rendering automatic driving vehicle rate curve and position curve; Image by video camera Real-time Obtaining and when preserving the place ahead automatic driving vehicle and travelling, preserves separately for the video of automatic driving vehicle cross-pressure lane line is instant, facilitates follow-up searching to watch; Automatic driving vehicle video image and rate curve, position curve synthesis display are shown in same screen, and receive and display device by wireless image transmission device to the remote terminal that is arranged in terminal monitoring chamber, for terminal works personnel, monitor in real time.
After powering on, power amplifier type long-distance electronic tag 111 constantly outwards sends wireless signal, can pass far distance (maximum 300 meters), and this wireless signal is with coding, and the coding of each electronic tag is unique.After receiving wireless signal, power amplifier type long-distance electronic tag card reader 109 decodes, then decoded information is sent to transport condition metering computer 106, above-mentioned decoded information comprises the distance of unique coding of electronic tag 111 and it and identification card reader 109.
Click " system is started working ", background program completes following work (in whole test process, these work constantly loop, until test finishes) successively:
(1) transport condition metering computer 106 is obtained the decoded information being sent by power amplifier type long-distance electronic tag card reader 109, comprises the distance of unique coding of electronic tag 111 and it and identification card reader 109.
Because electronic tag 111 is positioned on automatic driving vehicle 8, identification card reader 109 has been put on people's steering vehicle 101, therefore can tentatively obtain the distance R of two cars.
(2) determine area-of-interest, i.e. the approximate range at automatic driving vehicle place
As shown in Figure 8, because detecting distance, electronic tag 111 has error, suppose that error is positive and negative 5 meters, using and have the square frame of home position in people's steering vehicle 101(Fig. 8) as the center of circle, take respectively (R+5), (R-5) draws 2 circles as radius, and straight line 21,23,24,26 is respectively the lane line in three tracks.Straight line 22 is that lane line 23 is outwards offset the straight line after an overall width (as 2 meters); Straight line 25 is that lane line 24 is outwards offset the straight line after an overall width (as 2 meters).Due to the square frame in automatic driving vehicle 8(Fig. 8 bend region) may cross-pressure lane line travel, so in this lane line width range to external expansion a lane width.
The region that smallest circle, greatest circle and straight line 22,25 form is area-of-interest, as shown in Fig. 8 bend, thereby can determine the approximate range at automatic driving vehicle place.
(3) millimetre-wave radar detects target, and target is fused in image
In the utility model, millimetre-wave radar 102 can detect 8, the place ahead target, can obtain lateral separation and fore-and-aft distance between each target and millimetre-wave radar 102, i.e. x in Fig. 9, the distance of y direction.Because the horizontal field of view angle of millimetre-wave radar 102 is 15 degree, so these 8 targets are necessarily distributed in two dotted line angular range in Fig. 9.Take millimetre-wave radar 102 as initial point, can set up the coordinate system of x-y shown in Fig. 9, be i.e. radar fix system.The lateral separation of each target detecting with millimetre-wave radar 102 and fore-and-aft distance are under this coordinate system (unit is rice).And with the image that vision obtains, be under the image coordinate system shown in Figure 10, take resolution as 800*600 be example, the width of presentation video (u direction in Figure 10) is 800 pixels, highly (the v direction in Fig. 9) is 600 pixels.The unit of image coordinate system is pixel.For the target that millimetre-wave radar 102 is detected is presented in image coordinate system, need to carry out the conversion of coordinate system and unit, this process is called fusion.
The process merging is well known in the art, simply introduces the cardinal principle of image co-registration in the utility model below.
Millimetre-wave radar check point can directly project on image pixel coordinate system by relevant transformational relation, and transformational relation is as follows:
P
c=φ(P
l-Δ) （1）
Here P
cthe points of 3 dimension space mid point P in image coordinate system, P
lthe point of a P in millimetre-wave radar coordinate system.Δ is translation vector; φ is tied to the rotation matrix of millimetre-wave radar coordinate system from camera coordinates.A plurality of unique points by diverse location are set up equation, finally, by Solving Linear, can obtain rotation matrix and translation vector.
A plurality of unique points by diverse location are set up equation of constraint, finally, by Solving Linear, can obtain rotation matrix and translation vector.
After millimetre-wave radar 102 and video camera 105 are having and install on people's steering vehicle 101, asking for of above parameter, only need to carry out once.During system works, each millimetre-wave radar 102 detects after target, with formula (1), can practical calculate its point in image coordinate system, can in image, show in real time.Result after fusion is exactly in image, to mark 8 targets that millimetre-wave radar detects.As shown in Figure 7.
(4) millimetre-wave radar 102 detects after 8 targets, to each target meeting automatic numbering, from n1-n8, finds that target with electronic tag 111 coded messages in n1-n8, is automatic driving vehicle 8.In described area-of-interest, finding after automatic driving vehicle 8 in the above, will be n3 in this target sequence number m(Fig. 7), assignment is to n.
(5) read millimetre-wave radar 102 and detect the target that target sequence number is n and have lateral separation, fore-and-aft distance, the relative velocity of people's steering vehicle 101, and comprehensively calculate with gps data, can obtain speed and the position of automatic driving vehicle 8.
First will have ECEF(the earth's core body-fixed coordinate system Earth-Centered, the Earth-Fixed of GPS output of people's steering vehicle Real-time Obtaining) latitude (λ), longitude under coordinate system
and height (h), change into plane coordinate system UTM(Universal Transverse Mercartor Grid System, under general horizontal Mercator's graticule mesh system) under coordinate (e, n).
Suppose to have people's steering vehicle when whole test has just started, the planimetric coordinates calculating is (e0, n0).
Again, suppose to calculate to have the planimetric coordinates that people's steering vehicle at a time calculates according to the GPS value of obtaining be (e1, n1), with respect to the speed of the earth, be v1, and obtain course angle θ by heading sensor 120; In addition, the fore-and-aft distance that has people's steering vehicle and automatic driving vehicle obtaining according to millimetre-wave radar is x2, and relative velocity is v2, can try to achieve automatic driving vehicle with respect to the positional information of starting point, with coordinates table, is shown:
e3=e1-e0+x2cosθ;
n3=n1-n0+x2sinθ;
Automatic driving vehicle with respect to the speed of the earth is:
v3=v1+v2;
(6) lane detection and judgement
Use machine vision image processing to carry out lane detection and judgement; According to left and right lane line, the position in image and the automatic driving vehicle position in image can judge whether cross-pressure lane line of automatic driving vehicle, and sending zone bits to video image logger computer 203, cross-pressure left-lane line sends zone bit 01, does not send zone bit 00 during cross-pressure while sending zone bit 10, cross-pressure right lane line.
Above-mentioned machine vision image processing technique is technology well known in the art, is not described in detail here, only provides a kind of Processing Algorithm wherein below, is divided into following steps:
A, obtain input picture, adopt the medium filtering of 3 * 3 templates to image filtering;
B, with sobel operator, carry out rim detection;
C, use threshold value T are to figure value binaryzation, and threshold value T acquiring method is as follows:
Calculate max-thresholds Zh and the minimum threshold Zl of pixel in image;
Ask for the mean value T0 of Zh and Zl;
YiT0Wei circle, asks for threshold value in image and is less than the pixel threshold mean value Z0 of T0, then ask for the pixel threshold mean value Zb that threshold value is greater than T0;
Ask for the mean value of Z0 and Zb as the threshold value T of dynamic window image in this two field picture.
D, fitting a straight line
Use Hough conversion (a kind of method as known in the art) to carry out fitting a straight line to traffic lane line, and then definite traffic lane line.
Wherein, it should be noted is that, because detected target is above actually the point of electronic tag representative on automatic driving vehicle, and automatic driving vehicle has certain width, in order to judge whether more accurately cross-pressure lane line.During concrete judgement, can be according to electronic tag the particular location on automatic driving vehicle, consider that electronic tag is apart from the distance of the automatic driving vehicle leftmost side or the rightmost side, when carrying out the judgement of cross-pressure lane line, above-mentioned distance is revised.This correction is apparent to those skilled in the art equally, does not repeat them here.
Below in conjunction with Figure 13, describe the workflow of system in detail
Step 7, by this target sequence number m, assignment is to n.
Step 9, the above-mentioned information that millimetre-wave radar is detected is carried out fusion calculation in conjunction with course angle and gps data, obtains speed and the position of automatic driving vehicle.
Step 10, utilizes machine vision image processing to carry out lane detection and judgement; Whether the position according to left and right lane line in image and the automatic driving vehicle position judgment automatic driving vehicle in image cross-pressure lane line.
Step 11, sends whether cross-pressure lane line zone bit of automatic driving vehicles to video image logger computer 203; To integrated information Display control computer 302, send automatic driving vehicle position and the speed calculating.In test process, the background program of video image logger computer 203 reads the cross-pressure lane line sign from transport condition metering computer 106 via HUB hub 108 always, according to sign, determines whether to start cross-pressure lane line save routine.
Step 12, if judge automatic driving vehicle cross-pressure lane line, starts cross-pressure lane line save routine.As described above, if for example sign is 10, automatic driving vehicle 8 cross-pressure left-lane lines are described, suppose now in " displaying time " edit box, to be shown as " 00-28-54 ", background program is by this time of automatic acquisition, now on the disk of video image logger computer 203, will start to record and preserve automatic driving vehicle 8 these cross-pressure lane line video files, when automatic driving vehicle 8 is got back to this track, the cross-pressure lane line sign reading from transport condition metering computer 106 becomes 00, and now background program will finish this preservation.
Step 13, integrated information Display control computer 302 reads the automatic driving vehicle position (e3 from the calculating of transport condition metering computer 106 via HUB hub 108 always, and at real-time rendering, go out position curve and the rate curve of automatic driving vehicle n3) and speed v 3.
Step 14, after system works, the real time content of integrated information Display control computer 302 program interfaces is launched, through wireless image receiver 501, is received through wireless image transmitter 401, and video image is input to online video server 505.
The IP address of the accessing video webserver 505 in terminal Display control computer 507, can browse to real-time pictures and travel speed and the position curve of long-range automatic driving vehicle, at large screen display, show in real time, reach the effect of remote real-time monitoring simultaneously.
The utility model is illustrated by above-described embodiment, but should be understood that, above-described embodiment is the object for giving an example and illustrating just, but not is intended to the utility model to be limited in described scope of embodiments.In addition it will be understood by those skilled in the art that; the utility model is not limited to above-described embodiment; according to instruction of the present utility model, can also make more kinds of variants and modifications, these variants and modifications all drop in the utility model scope required for protection.Protection domain of the present utility model is defined by the appended claims and equivalent scope thereof.
Claims (7)
1. an automatic driving vehicle transport condition control measurement system, it comprises automatic driving vehicle and is arranged on the power amplifier type long-distance electronic tag on described automatic driving vehicle, with the described automatic driving vehicle of speeding, there is people's steering vehicle, described in being arranged on, there is the radar on people's steering vehicle, heading sensor, gps receiver, gps antenna, video camera, power amplifier type long-distance electronic tag card reader, transport condition metering computer, video image logger computer, integrated information Display control computer, wireless image emitter and vehicle-mounted electric supply installation, and be positioned at long-range terminal and receive and display device,
It is characterized in that: described video camera is connected with described transport condition metering computer, video image logger computer, integrated information Display control computer respectively through video distributor, video frequency collection card;
Described power amplifier type long-distance electronic tag sends for identifying the coded signal of described automatic driving vehicle to described power amplifier type long-distance electronic tag card reader;
Described radar, heading sensor, gps receiver are connected with transport condition metering computer, wherein, described radar by automatic driving vehicle and described in have lateral separation, fore-and-aft distance and relative velocity data between people's steering vehicle to send to transport condition metering computer, described heading sensor will have the course angle data of people's steering vehicle to send to transport condition metering computer, and described gps receiver will have longitude, latitude, sea level elevation, the velocity information data of people's steering vehicle to send to transport condition metering computer;
Described integrated information Display control computer is connected with wireless image emitter,
Wherein, described wireless image emitter is sent to described remote terminal reception and display device by the information showing in described integrated information Display control computer screen.
2. automatic driving vehicle transport condition control measurement system as claimed in claim 1, is characterized in that: described gps receiver is provided with gps antenna described in obtaining, having longitude, latitude, sea level elevation, the velocity information of people's steering vehicle.
3. automatic driving vehicle transport condition control measurement system as claimed in claim 1 or 2, it is characterized in that: described wireless image emitter comprises wireless image transmitter, video dac, one end of described video dac is connected with described integrated information Display control computer, and the other end is connected with described wireless image transmitter.
4. automatic driving vehicle transport condition control measurement system as claimed in claim 1, is characterized in that: described power amplifier type long-distance electronic tag is arranged on the rear portion of described automatic driving vehicle.
5. the automatic driving vehicle transport condition control measurement system as described in claim 1 or 4, is characterized in that: the front end bottom that has people's steering vehicle described in described radar is arranged on.
6. automatic driving vehicle transport condition control measurement system as claimed in claim 1, is characterized in that: described in described video camera is arranged on, have the front top of people's steering vehicle, and described video camera is digital camera.
7. automatic driving vehicle transport condition control measurement system as claimed in claim 1 or 2, is characterized in that: described remote terminal receives with display device and comprises wireless image receiver, online video server, terminal Display control computer; Described wireless image receiver is connected with online video server, and described online video server is connected by network with described terminal Display control computer.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105741635A (en) * | 2016-03-01 | 2016-07-06 | 武汉理工大学 | Multifunctional road experiment vehicle platform |
| CN108469771A (en) * | 2018-05-09 | 2018-08-31 | 安徽上造智能设备科技有限公司 | A kind of video recording system based on tourist coach |
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| CN110040074A (en) * | 2019-04-04 | 2019-07-23 | 广州小马智行科技有限公司 | Automatic driving vehicle navigation equipment |
| CN112757252A (en) * | 2021-01-21 | 2021-05-07 | 深圳市普渡科技有限公司 | Robot movement intention display method, robot, and storage medium |
| US12092726B2 (en) | 2021-12-10 | 2024-09-17 | Honeywell International Inc. | Methods and systems for millimeter wave assisted vehicle navigation |
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- 2013-04-09 CN CN201320175244.4U patent/CN203480561U/en not_active Expired - Lifetime
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105741635A (en) * | 2016-03-01 | 2016-07-06 | 武汉理工大学 | Multifunctional road experiment vehicle platform |
| CN108469771A (en) * | 2018-05-09 | 2018-08-31 | 安徽上造智能设备科技有限公司 | A kind of video recording system based on tourist coach |
| CN109187042A (en) * | 2018-08-08 | 2019-01-11 | 同济大学 | A kind of automatic driving vehicle is blown out operating condition driving performance test macro and test method |
| CN109815555A (en) * | 2018-12-29 | 2019-05-28 | 百度在线网络技术（北京）有限公司 | The environmental modeling capability assessment method and system of automatic driving vehicle |
| CN110040074A (en) * | 2019-04-04 | 2019-07-23 | 广州小马智行科技有限公司 | Automatic driving vehicle navigation equipment |
| CN112757252A (en) * | 2021-01-21 | 2021-05-07 | 深圳市普渡科技有限公司 | Robot movement intention display method, robot, and storage medium |
| CN112757252B (en) * | 2021-01-21 | 2022-12-30 | 深圳市普渡科技有限公司 | Robot movement intention display method, robot, and storage medium |
| US12092726B2 (en) | 2021-12-10 | 2024-09-17 | Honeywell International Inc. | Methods and systems for millimeter wave assisted vehicle navigation |
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