Driver vision fusion method for automatic driving trajectory tracking

A trajectory tracking and automatic driving technology, which is applied in the directions of instruments, calculations, character and pattern recognition, etc.

Active Publication Date: 2020-10-20
JILIN UNIV
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AI Technical Summary

Problems solved by technology

Although these studies can obtain models with control accuracy close to or even better than real drivers, they are lacking in further research

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  • Driver vision fusion method for automatic driving trajectory tracking
  • Driver vision fusion method for automatic driving trajectory tracking
  • Driver vision fusion method for automatic driving trajectory tracking

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[0051] The present invention will be further described in detail below with reference to the accompanying drawings, so that those skilled in the art can implement it according to the text of the description.

[0052] Such as figure 1 As shown, the present invention provides a driver vision fusion method for automatic driving trajectory tracking, including the following implementation processes:

[0053] Step one, experimental plan design and data collection.

[0054] Experimental equipment: glasses-type eye tracker, which obtains the driver’s gaze point (image coordinate system) and the image information of the driver’s perspective; a driving recorder, used to eliminate image jitter; an experimental car with an open CAN underlying protocol, which can collect and drive in real time Operator behavior information, vehicle kinematics and dynamics information; CAN line signal collector can record CAN signals and collect experimental monitoring data.

[0055] Since the eye tracker with glas...

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Abstract

The invention discloses a driver vision fusion method for automatic driving trajectory tracking. The method comprises the steps of 1, acquiring a front view image and eye movement data of the view angle of a driver; 2, separating driver fixation points from the front view image of the view angle of the driver; 3, after the driver fixation points are positioned under a fixed coordinate system, obtaining the fixed coordinates of the driver effective fixation points; 4, determining normal distribution characteristics of the fixed coordinates of the effective fixation points of the driver, and determining a driver preview point according to fitting parameters of normal distribution of the fixation points; 5, converting the driver preview point into a ground coordinate system to obtain the ground coordinates of the preview point; calculating the forward-looking preview time corresponding to the preview point according to the ground coordinates of the preview point, and obtaining a forward-looking preview time probability density graph according to the vehicle speed, the probability density of the preview point and the forward-looking preview time corresponding to the preview point; and6, correcting a predictive control driver model according to the forward-looking preview time probability density graph.

Description

technical field [0001] The invention belongs to the technical field of automatic driving, and in particular relates to a driver vision fusion method for automatic driving trajectory tracking. Background technique [0002] As the core decision-making control unit in the human-vehicle-road closed-loop system, the research on the driver is of great significance for understanding the interaction mode between the human-vehicle-road and the overall system optimization. Among them, an effective research method is to establish a driver model, which is the process of abstracting the actual driver's process of manipulating the car into a mathematical expression. [0003] The research on driver model has been carried out for more than half a century and has been applied in many aspects. In the vehicle design process, the introduction of the driver model can objectively, accurately, comprehensively and deeply evaluate the control performance of the overall human-vehicle-road closed-loo...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/56G06F18/22G06F18/25
Inventor 胡宏宇程铭盛愈欢
Owner JILIN UNIV
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