Vehicle automatic driving method and system based on traffic guidance gestures and vehicle

Abstract

The invention provides a vehicle automatic driving method and system based on traffic guidance gestures and a vehicle, and the method comprises the steps: obtaining voice instruction information which corresponds to the traffic guidance gestures and is synchronously transmitted when a traffic director makes the traffic guidance gestures; matching a corresponding gesture instruction result from a preset gesture instruction library according to the voice instruction information, and if the corresponding gesture instruction result is not matched, obtaining the corresponding voice instruction information again and matching the corresponding gesture instruction result from the preset gesture instruction library again until the corresponding gesture instruction result is matched; if the corresponding gesture instruction result is matched, outputting the matched gesture instruction result as a corresponding traffic command signal; and the corresponding traffic guidance signal is broadcasted and sent to the corresponding autonomous vehicle, and the autonomous vehicle is controlled according to the traffic guidance signal. According to the invention, the traffic police can command the automatic driving vehicles and the non-automatic driving vehicles which are mixed on the road at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle automatic driving, and in particular to a vehicle automatic driving method, system and vehicle based on traffic control gestures. Background Art

[0002] As the development of intelligent connected vehicle technology becomes increasingly mature, many cities have opened a large number of public roads for testing of self-driving cars, and have also introduced relevant policies to promote the implementation of self-driving cars on the road. More and more self-driving vehicles are on the road, and there is a mixed state of two types of vehicles on the road, especially for scenarios where traffic controllers need to direct mixed vehicles on the spot at the same time.

[0003] At present, traffic police use 8 types of hand signals to direct vehicles on the road. When there are both autonomous vehicles and non-autonomous vehicles on the road, the hand signals of traffic police are very effective for drivers of non-autonomous vehicles. Drivers recognize the standard hand signals of traffic police and make corresponding vehicle operations such as stopping, changing lanes, and slowing down. However, the effect is not good for autonomous vehicles, especially when the hand signals of traffic police are not absolutely standard. It is more difficult for autonomous vehicles to recognize the command intentions of traffic police. Since traffic police need to use both hands to make hand signals, it is difficult to operate other equipment at the same time to send signals to autonomous vehicles.

[0004] The current research mainly focuses on actively identifying the gestures of traffic police through vehicles. This solution has high requirements for the vehicle's visual perception system. Because it is based on the camera to collect the posture and gestures of traffic police, it is often difficult for the vehicle to accurately identify whether there is a traffic police in front of it, or it is difficult to accurately identify the traffic police's gesture instructions at the first time due to angles, distances, obstacles, etc. Even if a dummy model is used to simulate the traffic police to make more standard movements, it is impossible to avoid the visual perception ability of the unmanned vehicle being affected by the environment. In addition, deploying a large number of dummy models is costly on the one hand, and on the other hand, it is not mobile and cannot respond to complex road conditions at any time. Summary of the invention

[0005] The purpose of the present invention is to propose a vehicle automatic driving method, system and vehicle based on traffic command gestures, so as to solve the technical problems that the current traditional gesture command method of traffic police is difficult to convey instructions to automatic driving vehicles, and the automatic driving vehicles have difficulty in recognizing traffic police command gestures.

[0006] On the one hand, a method for automatic driving of a vehicle based on traffic control gestures is provided, comprising:

[0007] Acquire voice command information corresponding to the traffic control gesture issued synchronously when the traffic controller makes the traffic control gesture;

[0008] Matching a corresponding gesture command result from a preset gesture command library according to the voice command information; if no corresponding gesture command result is matched, reacquiring the corresponding voice command information and rematching the corresponding gesture command result from the preset gesture command library until the corresponding gesture command result is matched; if the corresponding gesture command result is matched, outputting the matched gesture command result as a corresponding traffic control signal;

[0009] The corresponding traffic command signal is broadcast to the corresponding autonomous driving vehicle, and the autonomous driving vehicle is controlled according to the corresponding traffic command signal.

[0010] Preferably, it also includes:

[0011] Voice command information corresponding to the traffic command gesture is collected through multiple voice collection devices worn by the traffic conductor, wherein the multiple voice collection devices include at least one voice collection device set at a position corresponding to the mouth of the traffic conductor, and a voice collection device set at a position other than the mouth of the traffic conductor.

[0012] Preferably, the preset gesture instruction library contains at least a plurality of traffic control gesture data that meet the requirements of traffic police gesture signals and a plurality of voice instructions corresponding to the traffic control gestures.

[0013] Preferably, the traffic command signal is output to the autonomous driving vehicle or the roadside unit through a preset direct communication interface, and when the autonomous driving vehicle or the roadside unit receives the traffic command signal, the traffic command signal is broadcast.

[0014] On the other hand, a vehicle automatic driving system based on traffic control gestures is also provided, which is used to implement the vehicle automatic driving method based on traffic control gestures, including:

[0015] A sound pickup module is used to obtain voice command information corresponding to the traffic control gesture issued synchronously when the traffic controller makes the traffic control gesture;

[0016] a calculation module, for matching a corresponding gesture command result from a preset gesture command library according to the voice command information; if the corresponding gesture command result is not matched, reacquiring the corresponding voice command information and rematching the corresponding gesture command result from the preset gesture command library until the corresponding gesture command result is matched; if the corresponding gesture command result is matched, outputting the matched gesture command result as a corresponding traffic control signal;

[0017] The signal sending module is used to broadcast the corresponding traffic command signal to the corresponding autonomous driving vehicle and control the autonomous driving vehicle according to the corresponding traffic command signal.

[0018] Preferably, the sound pickup module collects voice command information corresponding to the traffic command gesture through multiple voice collection devices worn by the traffic conductor, wherein the multiple voice collection devices include at least one voice collection device arranged at a position corresponding to the traffic conductor's mouth, and a voice collection device arranged at a position other than the traffic conductor's mouth.

[0019] Preferably, the preset gesture instruction library contains at least a plurality of traffic control gesture data that meet the requirements of traffic police gesture signals and a plurality of voice instructions corresponding to the traffic control gestures.

[0020] Preferably, the traffic command signal is output to the autonomous driving vehicle or the roadside unit through a preset direct communication interface, and when the autonomous driving vehicle or the roadside unit receives the traffic command signal, the traffic command signal is broadcast.

[0021] In another aspect, a vehicle is provided, comprising:

[0022] one or more processors;

[0023] Memory;

[0024] Detection components;

[0025] One or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, and the one or more computer programs are configured to execute the vehicle automatic driving method based on traffic control gestures as described.

[0026] On the other hand, a computer-readable storage medium is also provided, in which computer program instructions are stored. The computer program instructions can be called by a processor to execute the vehicle automatic driving method based on traffic control gestures as described.

[0027] In summary, the implementation of the embodiments of the present invention has the following beneficial effects:

[0028] The vehicle automatic driving method, system and vehicle based on traffic command gestures provided by the present invention convert the voice commands of the traffic police into PC5 signals that can be received by the automatic driving vehicle through voice recognition technology, so that the traffic police can simultaneously command the automatic driving vehicles and non-automatic driving vehicles mixed on the road; without adding additional police force, a traffic police can simultaneously command the automatic driving vehicles (unmanned driving) and non-automatic driving vehicles (manual driving) mixed on the road at any time and anywhere, thereby improving the efficiency of traffic command. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, without paying creative labor, other drawings obtained based on these drawings still belong to the scope of the present invention.

[0030] Figure 1 Schematic diagram of the main process of a method for automatic vehicle driving based on traffic control gestures in an embodiment of the present invention.

[0031] Figure 2 It is a logical schematic diagram of a method for automatic vehicle driving based on traffic control gestures in an embodiment of the present invention.

[0032] Figure 3 Schematic diagram of a vehicle automatic driving system based on traffic control gestures in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings.

[0034] like Figure 1 and Figure 2 FIG. 1 is a schematic diagram of an embodiment of a method for automatic vehicle driving based on traffic control gestures provided by the present invention. In this embodiment, the method includes the following steps:

[0035] Step S1, obtaining the voice command information corresponding to the traffic command gesture issued synchronously when the traffic conductor makes the traffic command gesture; it can be understood that when the traffic police makes the gesture command, he shouts the corresponding voice command, and the traffic police voice is obtained through the microphone of the electronic device worn by the traffic police.

[0036] In a specific embodiment, when the traffic police makes a gesture command and shouts out a command, the microphone needs to be able to timely and accurately collect the voice of the command shouted out, so the voice command information corresponding to the traffic command gesture is collected through multiple voice collection devices worn by the traffic conductor, wherein the multiple voice collection devices at least include a voice collection device set at a position corresponding to the mouth of the traffic conductor, and a voice collection device set at a position other than the mouth of the traffic conductor. That is, through dual-microphone noise cancellation: through dual-microphone sound recording, microphone A is close to the mouth of the traffic police, and can pick up environmental noise and the voice of the command shouted out by the traffic police, and microphone B is placed in other parts of the body to pick up environmental noise. Through circuit subtraction, the sound picked up by microphone A is subtracted from the sound of microphone B, so as to obtain a relatively clean recorded sound.

[0037] Step S2, according to the voice command information, the corresponding gesture command result is matched from the preset gesture command library. If the corresponding gesture command result is not matched, the corresponding voice command information is re-acquired and the corresponding gesture command result is re-matched from the preset gesture command library until the corresponding gesture command result is matched; if the corresponding gesture command result is matched, the matched gesture command result is output as the corresponding traffic command signal; it can be understood that the voice recognition module recognizes the voice information of the traffic police; the recognized voice information is matched with the 8 gesture commands in the database. If the match fails, the traffic police will be reminded to shout the command again through voice broadcast, and the first step will be repeated; if the match is successful, the corresponding gesture command will be converted into a PC5 signal, wherein the matching result is fed back to the traffic police through voice prompt.

[0038] In a specific embodiment, the preset gesture instruction library contains at least a plurality of traffic control gesture data that meet the requirements of traffic police gesture signals and a plurality of voice instructions corresponding to the traffic control gestures. That is, the real-time rate of voice recognition should reach the millisecond level; the 8 signals specified in the "Notice of the Ministry of Public Security of the People's Republic of China on the Issuance of Traffic Police Hand Signals" need to be set in advance in the system database for matching.

[0039] Step S3, broadcast the corresponding traffic command signal to the corresponding autonomous driving vehicle, and control the autonomous driving vehicle according to the corresponding traffic command signal. Specifically, the traffic command signal is output to the autonomous driving vehicle or the roadside unit through a preset direct communication interface. When the autonomous driving vehicle or the roadside unit receives the traffic command signal, the traffic command signal is broadcast. It can be understood that PC5 (direct communication interface) is used: a communication interface between terminals, that is, a short-distance direct communication interface between vehicles, people, and road infrastructure; its characteristics are: low-latency, high-capacity, and highly reliable communication is achieved through direct connection, broadcasting, and network scheduling.

[0040] like Figure 3 As shown, an embodiment of the present invention further provides a vehicle automatic driving system based on traffic control gestures, which is used to implement the vehicle automatic driving method based on traffic control gestures, including:

[0041] A sound pickup module is used to obtain voice command information corresponding to the traffic control gesture issued synchronously when the traffic controller makes the traffic control gesture;

[0042] a calculation module, for matching a corresponding gesture command result from a preset gesture command library according to the voice command information; if the corresponding gesture command result is not matched, reacquiring the corresponding voice command information and rematching the corresponding gesture command result from the preset gesture command library until the corresponding gesture command result is matched; if the corresponding gesture command result is matched, outputting the matched gesture command result as a corresponding traffic control signal;

[0043] The signal sending module is used to broadcast the corresponding traffic command signal to the corresponding autonomous driving vehicle and control the autonomous driving vehicle according to the corresponding traffic command signal.

[0044] Specifically, the sound pickup module collects voice command information corresponding to the traffic command gesture through multiple voice collection devices worn by the traffic conductor, wherein the multiple voice collection devices include at least one voice collection device set at a position corresponding to the traffic conductor's mouth, and a voice collection device set at a position other than the traffic conductor's mouth.

[0045] More specifically, the preset gesture command library contains at least a plurality of traffic command gesture data that meet the requirements of traffic police gesture signals and a plurality of voice commands corresponding to the traffic command gestures. The traffic command signal is output to the autonomous driving vehicle or the roadside unit through a preset direct communication interface, and when the autonomous driving vehicle or the roadside unit receives the traffic command signal, the traffic command signal is broadcast.

[0046] An embodiment of the present invention further provides a vehicle, comprising:

[0047] one or more processors;

[0048] Memory;

[0049] Detection components;

[0050] One or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, and the one or more computer programs are configured to execute the vehicle automatic driving method based on traffic control gestures.

[0051] An embodiment of the present invention further provides a computer-readable storage medium, in which computer program instructions are stored. The computer program instructions can be called by a processor to execute the vehicle automatic driving method based on traffic control gestures.

[0052] It should be noted that the system described in the above embodiment corresponds to the method described in the above embodiment. Therefore, the undetailed parts of the system described in the above embodiment can be obtained by referring to the contents of the method described in the above embodiment, and will not be repeated here.

[0053] In summary, the implementation of the embodiments of the present invention has the following beneficial effects:

[0054] The vehicle automatic driving method, system and vehicle based on traffic command gestures provided by the present invention convert the voice commands of the traffic police into PC5 signals that can be received by the automatic driving vehicle through voice recognition technology, so that the traffic police can simultaneously command the automatic driving vehicles and non-automatic driving vehicles mixed on the road; without adding additional police force, a traffic police can simultaneously command the automatic driving vehicles (unmanned driving) and non-automatic driving vehicles (manual driving) mixed on the road at any time and anywhere, thereby improving the efficiency of traffic command.

[0055] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A vehicle automatic driving method based on traffic control gestures, characterized in that: include: Acquire voice command information corresponding to the traffic control gesture issued synchronously when the traffic controller makes the traffic control gesture; Matching a corresponding gesture command result from a preset gesture command library according to the voice command information; if no corresponding gesture command result is matched, reacquiring the corresponding voice command information and rematching the corresponding gesture command result from the preset gesture command library until a corresponding gesture command result is matched; If a corresponding gesture command result is matched, the matched gesture command result is output as a corresponding traffic control signal; The corresponding traffic command signal is broadcast to the corresponding autonomous driving vehicle, and the autonomous driving vehicle is controlled according to the corresponding traffic command signal.

2. The method according to claim 1, characterized in that Also includes, Voice command information corresponding to the traffic command gesture is collected through multiple voice collection devices worn by the traffic conductor, wherein the multiple voice collection devices include at least one voice collection device set at a position corresponding to the mouth of the traffic conductor, and a voice collection device set at a position other than the mouth of the traffic conductor.

3. The method according to claim 2, characterized in that The preset gesture instruction library contains at least a plurality of traffic control gesture data that meet the requirements of traffic police gesture signals and a plurality of voice instructions corresponding to the traffic control gestures.

4. The method according to claim 3, characterized in that The traffic command signal is output to the autonomous driving vehicle or the roadside unit through a preset direct communication interface. When the autonomous driving vehicle or the roadside unit receives the traffic command signal, the traffic command signal is broadcast.

5. A vehicle automatic driving system based on traffic control gestures, used to implement the method according to any one of claims 1 to 4, characterized in that: include: A sound pickup module is used to obtain voice command information corresponding to the traffic control gesture issued synchronously when the traffic controller makes the traffic control gesture; a calculation module, used for matching a corresponding gesture command result from a preset gesture command library according to the voice command information, and if the corresponding gesture command result is not matched, reacquiring the corresponding voice command information and rematching the corresponding gesture command result from the preset gesture command library until the corresponding gesture command result is matched; If a corresponding gesture command result is matched, the matched gesture command result is output as a corresponding traffic control signal; The signal sending module is used to broadcast the corresponding traffic command signal to the corresponding autonomous driving vehicle and control the autonomous driving vehicle according to the corresponding traffic command signal.

6. The system according to claim 5, characterized in that The sound pickup module collects voice command information corresponding to the traffic command gesture through multiple voice collection devices worn by the traffic conductor, wherein the multiple voice collection devices include at least one voice collection device set at a position corresponding to the traffic conductor's mouth, and a voice collection device set at a position other than the traffic conductor's mouth.

7. The system according to claim 6, characterized in that The preset gesture instruction library contains at least a plurality of traffic control gesture data that meet the requirements of traffic police gesture signals and a plurality of voice instructions corresponding to the traffic control gestures.

8. The system according to claim 7, characterized in that The traffic command signal is output to the autonomous driving vehicle or the roadside unit through a preset direct communication interface. When the autonomous driving vehicle or the roadside unit receives the traffic command signal, the traffic command signal is broadcast.

9. A vehicle, characterized in that: include: one or more processors; Memory; Detection components; One or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, and the one or more computer programs are configured to perform the method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and the computer program instructions can be called by a processor to execute the method according to any one of claims 1 to 4.

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