Vehicle control method based on monocular camera and intelligent driving auxiliary camera

Abstract

The embodiment of the invention provides a vehicle control method based on a monocular camera and an intelligent driving auxiliary camera, and the method comprises the steps: obtaining a set cut-off line, a current vehicle speed and a distance from a current vehicle to the cut-off line when a current scene is judged to be a confluence lane scene based on the monocular camera; according to the current vehicle speed and the distance between the current vehicle and the cut-off line, vehicle average acceleration is generated; and when the vehicle average acceleration is smaller than or equal to a set acceleration threshold value, vehicle control is conducted. In the technical scheme provided by the embodiment of the invention, the vehicle can be controlled before the ADAS exits when the vehicle passes through the confluence lane, so that the driving safety is ensured.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving assistance technology, and in particular to a vehicle control method based on a monocular camera and an intelligent driving assistance camera. Background Art

[0002] Advanced Driving Assistance System (ADAS) is widely used and can realize functions such as lane keeping and adaptive cruise control. Currently, a large number of ADAS products use low-cost monocular cameras as sensors to realize this function. Monocular cameras can calculate the size, distance and other information of detected objects after calibrating internal and external parameters with known reference objects (such as professional calibration plates). Through image training, vehicles and lane lines on the road can be identified and classified. Through interaction with power, braking, steering system actuators and various electronic devices, the vehicle can realize autonomous acceleration, deceleration, steering, and prompts or alarms to the driver, etc., so as to achieve the role of assisted driving.

[0003] Due to the complexity and diversity of real road scenes, the current ADAS product control strategy cannot cover all scenes. When facing ordinary ideal road scenes, ADAS products only need to follow the lane lines and stay centered for control. However, when facing special road scenes (such as merging lane scenes), there is a lack of traffic strategies that can safely and comfortably pass through this scene. The vehicle will drive along the lane lines. Eventually, the ADAS product will exit control of the vehicle because the lane lines are too narrow. The vehicle will maintain its original movement posture and cross the lane lines to the left or right, which is very likely to cause a collision risk and has low safety. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a vehicle control method based on a monocular camera and an intelligent driving assistance camera to improve the safety of the vehicle in a merging lane scenario.

[0005] On the one hand, an embodiment of the present invention provides a vehicle control method based on a monocular camera, comprising: When the current scene is determined to be a merging lane scene based on the monocular camera, the set cutoff line, the current vehicle speed, and the distance from the current vehicle to the cutoff line are obtained; Generate an average vehicle acceleration according to the current vehicle speed and the distance from the current vehicle to the cutoff line; Vehicle control is performed when the vehicle average acceleration is less than or equal to a set acceleration threshold.

[0006] Optionally, the current vehicle speed includes a first vehicle speed, the distance from the current vehicle to the cutoff line includes a first distance, and generating the vehicle average acceleration according to the current vehicle speed and the distance from the current vehicle to the cutoff line includes: generating a first vehicle average acceleration according to the first vehicle speed and the first distance; The setting of the acceleration threshold includes setting an alarm acceleration, and the performing of vehicle control when the average acceleration of the vehicle is less than or equal to the set acceleration threshold includes: When the average acceleration of the first vehicle is less than or equal to the set alarm acceleration, a vehicle takeover prompt alarm is issued.

[0007] Optionally, when the first vehicle average acceleration is less than or equal to a set alarm acceleration, after issuing a vehicle takeover prompt alarm, the method includes: If the steering wheel takeover command input by the driver is not received, obtaining the current second vehicle speed and the second distance from the current vehicle to the cut-off line; generating a second vehicle average acceleration according to the second vehicle speed and the second distance; The setting of the acceleration threshold includes setting the braking acceleration, and the performing of vehicle control when the average acceleration of the vehicle is less than or equal to the set acceleration threshold includes: Vehicle braking control is performed when the second vehicle average acceleration is less than or equal to the set braking acceleration.

[0008] Optionally, the current vehicle speed includes a second vehicle speed, the distance from the current vehicle to the cutoff line includes a second distance, and generating the vehicle average acceleration according to the current vehicle speed and the distance from the current vehicle to the cutoff line includes: generating a second vehicle average acceleration according to the second vehicle speed and the second distance; The setting of the acceleration threshold includes setting the braking acceleration, and the performing of vehicle control when the average acceleration of the vehicle is less than or equal to the set acceleration threshold includes: Vehicle braking control is performed when the second vehicle average acceleration is less than or equal to the set braking acceleration.

[0009] Optionally, the determining that the current scene is a merging lane scene based on a monocular camera includes: If the current scene satisfies the first condition or the second condition and the third condition at the same time, it is determined that the current scene is a merging lane scene; The first condition is to identify, based on an image recognition algorithm and according to a lane image captured by a monocular camera, that one side of the lane in the lane image is a guide line and the other side is a dotted line; The second condition is to identify, based on an image recognition algorithm and according to a lane image captured by a monocular camera, that one side of the lane in the lane image is a solid line and a guardrail or a solid line and a curb, and the other side is a dotted line; The third condition is that the width of the front lane of the current vehicle driving road is less than or equal to the set distance threshold.

[0010] Optionally, satisfying the third condition includes: Get the width of the lane ahead within the set maximum confidence recognition distance threshold; After the time threshold is set, if the width of the lane ahead continues to be less than or equal to the width of the vehicle, the third condition is satisfied.

[0011] Optionally, the obtaining of the set cutoff line includes: When the width of the lane ahead is less than or equal to the set width of the vehicle, the position where the width of the lane ahead is less than or equal to the width of the vehicle is set as the cutoff line.

[0012] On the other hand, an embodiment of the present invention provides a vehicle control device based on a monocular camera, comprising: An acquisition module, used to acquire a set cutoff line, a current vehicle speed, and a distance from the current vehicle to the cutoff line when the current scene is determined to be a merging lane scene based on the monocular camera; A generating module, used for generating an average acceleration of the vehicle according to the current vehicle speed and the distance from the current vehicle to the cut-off line; The control module is used to control the vehicle when the average acceleration of the vehicle is less than or equal to a set acceleration threshold.

[0013] On the other hand, an embodiment of the present invention provides a storage medium, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the above-mentioned vehicle control method based on a monocular camera.

[0014] On the other hand, an embodiment of the present invention provides an intelligent driving assistance camera, including a memory and a processor, wherein the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, wherein the program instructions, when loaded and executed by the processor, implement the steps of the above-mentioned vehicle control method based on a monocular camera.

[0015] In the technical solution provided by the embodiment of the present invention, when the current scene is judged to be a merging lane scene based on the monocular camera, the set cutoff line, the current vehicle speed and the distance from the current vehicle to the cutoff line are obtained; the average acceleration of the vehicle is generated according to the current vehicle speed and the distance from the current vehicle to the cutoff line; when the average acceleration of the vehicle is less than or equal to the set acceleration threshold, the vehicle is controlled. In the technical solution provided by the embodiment of the present invention, the vehicle can be controlled before the ADAS exits when the vehicle passes through the merging lane, ensuring driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A flow chart of a vehicle control method based on a monocular camera provided by one embodiment of the present invention; Figure 2 A schematic diagram of a first condition provided by an embodiment of the present invention; Figure 3 A schematic diagram of a second condition provided by an embodiment of the present invention; Figure 4 A flowchart of another vehicle control method based on a monocular camera provided by an embodiment of the present invention; Figure 5 A flowchart of another vehicle control method based on a monocular camera provided by an embodiment of the present invention; Figure 6 A flowchart of another vehicle control method based on a monocular camera provided by an embodiment of the present invention; Figure 7 A schematic diagram of the structure of a vehicle control device based on a monocular camera provided by one embodiment of the present invention; Figure 8 A schematic diagram of an intelligent driving assistance camera provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to better understand the technical solution of the present invention, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0019] It should be clear that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0021] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0022] An embodiment of the present invention provides a vehicle control method based on a monocular camera. Figure 1 A flow chart of a vehicle control method based on a monocular camera is provided in one embodiment of the present invention, such as Figure 1 As shown, the method includes: Step 102: When the current scene is determined to be a merging lane scene based on the monocular camera, a set cutoff line, a current vehicle speed, and a distance from the current vehicle to the cutoff line are obtained.

[0023] In an embodiment of the present invention, each step is performed by an intelligent driving assistance camera, wherein the intelligent driving assistance camera includes a monocular camera, and the monocular camera can be set on the front of the vehicle.

[0024] In the embodiment of the present invention, if the current scene satisfies the first condition or the second condition and the third condition at the same time, it is determined that the current scene is a merging lane scene.

[0025] Among them, the first condition is to identify, based on an image recognition algorithm and according to the lane image captured by a monocular camera, that one side of the lane in the lane image is a guide line and the other side is a dotted line. Figure 2 A schematic diagram of a first condition provided by an embodiment of the present invention, such as Figure 2 As shown in the figure, the blue box is the vehicle, one side of the guardrail or curb in the merging lane is the guide line, and the other side (close to the merging side) is the dotted line.

[0026] Since the solid line is close to the guardrail or curb in the actual road scene, the guardrail or curb needs to be included in the scene judgment condition. That is, the second condition is to identify that one side of the lane in the lane image is a solid line and a guardrail or a solid line and a curb, and the other side is a dotted line based on the lane image captured by the monocular camera based on the image recognition algorithm. Figure 3 A schematic diagram of the second condition provided by an embodiment of the present invention, such as Figure 3 As shown in the figure, the blue box represents the vehicle, and one side of the fence of the merging lane is a solid line and guardrail or a solid line and curb, and the other side (the side close to the merging) is a dotted line.

[0027] The third condition is that the width of the front lane of the current vehicle driving road is less than or equal to the set distance threshold.

[0028] In the embodiment of the present invention, the width of the lane ahead within the set maximum confidence identification distance threshold can be obtained to prevent the remote end from identifying inaccurate width information and causing erroneous effects. After the time threshold is set, if the width of the lane ahead is continuously and stably less than or equal to the width of the vehicle, the third condition is met. The maximum confidence identification distance threshold and the set time threshold can be set according to actual conditions. For example, the maximum confidence identification distance threshold is 60m and the set time threshold is 200ms.

[0029] In the embodiment of the present invention, when the width of the lane ahead is less than or equal to the set width of the vehicle body, the position where the width of the lane ahead is less than or equal to the width of the vehicle body is set as the cutoff line. Figure 2 or Figure 3 As shown, the black dashed line in the figure is the cut-off line.

[0030] Step 104: Generate the average acceleration of the vehicle according to the current vehicle speed and the distance from the current vehicle to the cut-off line.

[0031] Specifically, the current vehicle speed and the distance from the current vehicle to the cutoff line are calculated using the speed displacement formula to generate the average acceleration of the vehicle.

[0032] Step 106: When the average acceleration of the vehicle is less than or equal to the set acceleration threshold, the vehicle is controlled.

[0033] In the technical solution provided by the embodiment of the present invention, when the current scene is judged to be a merging lane scene based on the monocular camera, the set cutoff line, the current vehicle speed and the distance from the current vehicle to the cutoff line are obtained; the average acceleration of the vehicle is generated according to the current vehicle speed and the distance from the current vehicle to the cutoff line; when the average acceleration of the vehicle is less than or equal to the set acceleration threshold, the vehicle is controlled. In the technical solution provided by the embodiment of the present invention, the vehicle can be controlled before the ADAS exits when the vehicle passes through the merging lane, ensuring driving safety.

[0034] When an ADAS equipped with a monocular camera enters the above-mentioned merging lane, it will exit the control of the vehicle due to the lack of ability to identify the traffic conditions on the side and rear of the vehicle. However, in the related art, the vehicle will maintain the motion posture before exiting by directly exiting the control, which is easy to hit the guardrail or curb without alerting the driver, or run out of the lane and collide with other vehicles. The embodiment of the present invention optimizes this problem from two aspects: takeover alarm and comfort braking.

[0035] An embodiment of the present invention provides another vehicle control method based on a monocular camera. Figure 4 A flow chart of another vehicle control method based on a monocular camera provided by an embodiment of the present invention, such as Figure 4 As shown, the method includes: Step 202: When the current scene is determined to be a merging lane scene based on the monocular camera, a set cutoff line, a first vehicle speed, and a first distance from the current vehicle to the cutoff line are obtained.

[0036] In an embodiment of the present invention, each step is performed by an intelligent driving assistance camera, wherein the intelligent driving assistance camera includes a monocular camera, and the monocular camera can be set on the front of the vehicle.

[0037] In the embodiment of the present invention, if the current scene satisfies the first condition or the second condition and the third condition at the same time, it is determined that the current scene is a merging lane scene. For a detailed description of the first condition, the second condition and the third condition, please refer to step 102.

[0038] In the embodiment of the present invention, the width of the lane ahead within the set maximum confidence identification distance threshold can be obtained to prevent the remote end from identifying inaccurate width information and causing erroneous effects. After the time threshold is set, if the width of the lane ahead is continuously and stably less than or equal to the width of the vehicle, the third condition is met. The maximum confidence identification distance threshold and the set time threshold can be set according to actual conditions. For example, the maximum confidence identification distance threshold is 60m and the set time threshold is 200ms.

[0039] In the embodiment of the present invention, when the width of the lane ahead is less than or equal to the set width of the vehicle body, the position where the width of the lane ahead is less than or equal to the width of the vehicle body is set as the cutoff line. Figure 2 or Figure 3 As shown, the black dashed line in the figure is the cut-off line.

[0040] Step 204: Generate a first vehicle average acceleration according to the first vehicle speed and the first distance.

[0041] Specifically, through the velocity displacement formula -V 1 2 =2a 1 S 1 The first vehicle speed and the first distance from the current vehicle to the cut-off line are calculated to generate a first vehicle average acceleration, where V 1 is the first speed, S 1 is the first distance, a 1 is the average acceleration of the first vehicle.

[0042] Step 206: When the average acceleration of the first vehicle is less than or equal to the set alarm acceleration, a vehicle takeover prompt alarm is issued.

[0043] In the embodiment of the present invention, the alarm acceleration can be set according to the actual situation. For example, the alarm acceleration is set to a 0 =-1m / s 2 .

[0044] In the embodiment of the present invention, when the average acceleration of the first vehicle a 1 Less than or equal to the set alarm acceleration a 0 When the vehicle takes over, a vehicle takeover reminder alarm is issued, that is, the vehicle issues an alarm requesting the driver to take over the steering wheel to remind the driver to pay attention to the road conditions and actively intervene in the driving of the vehicle. The alarm can end when the driver takes over or the vehicle stops.

[0045] In the technical solution provided by the embodiment of the present invention, when the current scene is judged to be a merging lane scene based on the monocular camera, the set cutoff line, the current vehicle speed and the distance from the current vehicle to the cutoff line are obtained; the average acceleration of the vehicle is generated according to the current vehicle speed and the distance from the current vehicle to the cutoff line; when the average acceleration of the vehicle is less than or equal to the set acceleration threshold, the vehicle is controlled. In the technical solution provided by the embodiment of the present invention, the vehicle can be controlled before the ADAS exits when the vehicle passes through the merging lane, ensuring driving safety.

[0046] An embodiment of the present invention provides another vehicle control method based on a monocular camera. Figure 5 A flow chart of another vehicle control method based on a monocular camera provided by an embodiment of the present invention, such as Figure 5 As shown, the method includes: Step 302: When the current scene is determined to be a merging lane scene based on the monocular camera, a set cutoff line, a second vehicle speed, and a second distance from the current vehicle to the cutoff line are obtained.

[0047] In an embodiment of the present invention, each step is performed by an intelligent driving assistance camera, wherein the intelligent driving assistance camera includes a monocular camera, and the monocular camera can be set on the front of the vehicle.

[0048] In the embodiment of the present invention, if the current scene satisfies the first condition or the second condition and the third condition at the same time, it is determined that the current scene is a merging lane scene. For a detailed description of the first condition, the second condition and the third condition, please refer to step 102.

[0049] In the embodiment of the present invention, the width of the lane ahead within the set maximum confidence identification distance threshold can be obtained to prevent the remote end from identifying inaccurate width information and causing erroneous effects. After the time threshold is set, if the width of the lane ahead is continuously and stably less than or equal to the width of the vehicle, the third condition is met. The maximum confidence identification distance threshold and the set time threshold can be set according to actual conditions. For example, the maximum confidence identification distance threshold is 60m and the set time threshold is 200ms.

[0050] In the embodiment of the present invention, when the width of the lane ahead is less than or equal to the set width of the vehicle body, the position where the width of the lane ahead is less than or equal to the width of the vehicle body is set as the cutoff line. Figure 2 or Figure 3As shown, the black dashed line in the figure is the cut-off line.

[0051] Step 304: Generate a second vehicle average acceleration according to the second vehicle speed and the second distance.

[0052] Specifically, through the velocity displacement formula -V 2 2 =2a 2 S 2 The second vehicle speed and the second distance from the current vehicle to the cut-off line are calculated to generate a second vehicle average acceleration, where V 2 is the second speed, S 2 is the second distance, a 2 is the average acceleration of the second vehicle.

[0053] Step 306: Perform vehicle braking control when the second vehicle average acceleration is less than or equal to the set braking acceleration.

[0054] In the embodiment of the present invention, the braking acceleration can be set according to the actual situation. For example, the braking acceleration can be set to a 3 =-1.5m / s 2 According to practical experience, braking feels more comfortable when the deceleration is less than 1.5. The greater the deceleration, the more urgent the braking will feel.

[0055] In the embodiment of the present invention, when the average acceleration of the second vehicle a 2 Less than or equal to the set braking acceleration a 3 The intelligent driving assistance camera estimates that the second average vehicle acceleration required to stop at the cut-off line from the current second distance has a rapid trend, and the vehicle starts braking and eventually stops before the cut-off line.

[0056] In the technical solution provided by the embodiment of the present invention, when the current scene is judged to be a merging lane scene based on the monocular camera, the set cutoff line, the current vehicle speed and the distance from the current vehicle to the cutoff line are obtained; the average acceleration of the vehicle is generated according to the current vehicle speed and the distance from the current vehicle to the cutoff line; when the average acceleration of the vehicle is less than or equal to the set acceleration threshold, the vehicle is controlled. In the technical solution provided by the embodiment of the present invention, the vehicle can be controlled before the ADAS exits when the vehicle passes through the merging lane, ensuring driving safety.

[0057] An embodiment of the present invention provides another vehicle control method based on a monocular camera. Figure 6 A flow chart of another vehicle control method based on a monocular camera provided by an embodiment of the present invention, such as Figure 6 As shown, the method includes: Step 402: When the current scene is determined to be a merging lane scene based on the monocular camera, a set cutoff line, a first vehicle speed, and a first distance from the current vehicle to the cutoff line are obtained.

[0058] In an embodiment of the present invention, each step is performed by an intelligent driving assistance camera, wherein the intelligent driving assistance camera includes a monocular camera, and the monocular camera can be set on the front of the vehicle.

[0059] In the embodiment of the present invention, if the current scene satisfies the first condition or the second condition and the third condition at the same time, it is determined that the current scene is a merging lane scene. For a detailed description of the first condition, the second condition and the third condition, please refer to step 102.

[0060] In the embodiment of the present invention, the width of the lane ahead within the set maximum confidence identification distance threshold can be obtained to prevent the remote end from identifying inaccurate width information and causing erroneous effects. After the time threshold is set, if the width of the lane ahead is continuously and stably less than or equal to the width of the vehicle, the third condition is met. The maximum confidence identification distance threshold and the set time threshold can be set according to actual conditions. For example, the maximum confidence identification distance threshold is 60m and the set time threshold is 200ms.

[0061] In the embodiment of the present invention, when the width of the lane ahead is less than or equal to the set width of the vehicle body, the position where the width of the lane ahead is less than or equal to the width of the vehicle body is set as the cutoff line. Figure 2 or Figure 3 As shown, the black dashed line in the figure is the cut-off line.

[0062] Step 404: Generate a first vehicle average acceleration according to the first vehicle speed and the first distance.

[0063] Specifically, through the velocity displacement formula -V 1 2 =2a 1 S 1 The first vehicle speed and the first distance from the current vehicle to the cut-off line are calculated to generate a first vehicle average acceleration, where V 1 is the first speed, S 1 is the first distance, a 1 is the average acceleration of the first vehicle.

[0064] Step 406: When the average acceleration of the first vehicle is less than or equal to the set alarm acceleration, a vehicle takeover prompt alarm is issued.

[0065] In the embodiment of the present invention, the alarm acceleration can be set according to the actual situation. For example, the alarm acceleration is set to a 0 =-1m / s 2 .

[0066] In the embodiment of the present invention, when the average acceleration of the first vehicle a 1 Less than or equal to the set alarm acceleration a 0 When the vehicle takes over, a vehicle takeover reminder alarm is issued, that is, the vehicle issues an alarm requesting the driver to take over the steering wheel to remind the driver to pay attention to the road conditions and actively intervene in the driving of the vehicle. The alarm can end when the driver takes over or the vehicle stops.

[0067] Step 408: If the steering wheel takeover command input by the driver is not received, obtain the second vehicle speed and the second distance from the current vehicle to the cut-off line.

[0068] In this step, if the driver does not take over the steering wheel, the steering wheel takeover command input by the driver cannot be received, the vehicle will actively brake, and step 410 will continue to be executed.

[0069] Step 410: Generate a second vehicle average acceleration according to the second vehicle speed and the second distance.

[0070] Specifically, through the velocity displacement formula -V 2 2 =2a 2 S 2 The second vehicle speed and the second distance from the current vehicle to the cut-off line are calculated to generate a second vehicle average acceleration, where V 2 is the second speed, S 2 is the second distance, a 2 is the average acceleration of the second vehicle.

[0071] Step 412: Perform vehicle braking control when the second vehicle average acceleration is less than or equal to the set braking acceleration.

[0072] In the embodiment of the present invention, the braking acceleration can be set according to the actual situation. For example, the braking acceleration is set to a 3 =-1.5m / s 2 According to practical experience, braking feels more comfortable when the deceleration is less than 1.5. The greater the deceleration, the more urgent the braking will feel.

[0073] In the embodiment of the present invention, when the average acceleration of the second vehicle a 2 Less than or equal to the set braking acceleration a 3 The intelligent driving assistance camera estimates that the second average vehicle acceleration required to stop at the cut-off line from the current second distance has a rapid trend, and the vehicle starts braking and eventually stops before the cut-off line.

[0074] In the embodiment of the present invention, a specific implementation example is used for description: Assuming that a vehicle is traveling at a speed of 36 km / h in a merging lane, the vehicle first recognizes that the lane is too narrow at the maximum confidence recognition distance (60m). After a delay of 200ms, the vehicle stably recognizes that the lane is too narrow. This point is recorded as the cutoff line. At this time, the vehicle is at a distance from the cutoff line S = 60-(0.2 10) = 58m, the merging lane strategy is implemented. 1 ≤-1m / s^2, that is, at the distance from the cut-off line S 1 =(-100) / (2 (-1)) = 50m, the alarm starts to be taken over; when a 2 ≤-2m / s^2, that is, at the distance from the cut-off line S 2 =(-100) / (2 When (-2))=25m, vehicle braking control begins.

[0075] In the technical solution provided by the embodiment of the present invention, when the current scene is judged to be a merging lane scene based on the monocular camera, the set cutoff line, the current vehicle speed and the distance from the current vehicle to the cutoff line are obtained; the average acceleration of the vehicle is generated according to the current vehicle speed and the distance from the current vehicle to the cutoff line; when the average acceleration of the vehicle is less than or equal to the set acceleration threshold, the vehicle is controlled. In the technical solution provided by the embodiment of the present invention, the vehicle can be controlled before the ADAS exits when the vehicle passes through the merging lane, ensuring driving safety.

[0076] The technical solution provided in the embodiment of the present invention enriches the application scenarios of ADAS. It can effectively remind the driver to take over the vehicle before ADAS exits when the vehicle passes through the merging lane. If the driver still does not take over, the vehicle will be braked in time before the vehicle runs out of the lane, thereby ensuring driving safety.

[0077] An embodiment of the present invention provides a vehicle control device based on a monocular camera, Figure 7 A structural diagram of a vehicle control device based on a monocular camera provided by an embodiment of the present invention is shown in FIG. Figure 7 As shown, the device includes: an acquisition module 11, a generation module 12 and a control module 13.

[0078] The acquisition module 11 is used to acquire the set cutoff line, the current vehicle speed, and the distance from the current vehicle to the cutoff line when the monocular camera determines that the current scene is a merging lane scene.

[0079] The generating module 12 is used to generate the average acceleration of the vehicle according to the current vehicle speed and the distance from the current vehicle to the cut-off line.

[0080] The control module 13 is used to control the vehicle when the average acceleration of the vehicle is less than or equal to a set acceleration threshold.

[0081] In the embodiment of the present invention, the current vehicle speed includes a first vehicle speed, the distance from the current vehicle to the cutoff line includes a first distance, and the generating module 12 is specifically configured to generate a first vehicle average acceleration according to the first vehicle speed and the first distance.

[0082] The set acceleration threshold includes a set alarm acceleration, and the control module 13 is specifically used to issue a vehicle takeover prompt alarm when the first vehicle average acceleration is less than or equal to the set alarm acceleration.

[0083] In the embodiment of the present invention, the acquisition module 11 is specifically configured to acquire the current second vehicle speed and the second distance from the current vehicle to the cut-off line if no steering wheel takeover command inputted by the driver is received.

[0084] The generating module 12 is specifically configured to generate a second vehicle average acceleration according to the second vehicle speed and the second distance.

[0085] The set acceleration threshold includes a set braking acceleration, and the control module 13 is specifically configured to perform vehicle braking control when the second vehicle average acceleration is less than or equal to the set braking acceleration.

[0086] In the embodiment of the present invention, the current vehicle speed includes a second vehicle speed, the current distance from the vehicle to the cutoff line includes a second distance, and the generating module 12 is specifically configured to generate a second vehicle average acceleration according to the second vehicle speed and the second distance.

[0087] The set acceleration threshold includes a set braking acceleration, and the control module 13 is specifically configured to perform vehicle braking control when the second vehicle average acceleration is less than or equal to the set braking acceleration.

[0088] In an embodiment of the present invention, if the current scene satisfies the first condition or the second condition and the third condition at the same time, it is determined that the current scene is a merging lane scene; wherein, the first condition is to identify, based on an image recognition algorithm and according to a lane image captured by a monocular camera, one side of the lane in the lane image is a guide line and the other side is a dotted line; the second condition is to identify, based on an image recognition algorithm and according to a lane image captured by a monocular camera, one side of the lane in the lane image is a solid line and a guardrail or a solid line and a curb and the other side is a dotted line; the third condition is that the width of the front lane of the road where the current vehicle is traveling is less than or equal to a set distance threshold.

[0089] In the embodiment of the present invention, the acquisition module 11 is specifically used to acquire the width of the lane ahead within the set maximum confidence recognition distance threshold; after the set time threshold, if the width of the lane ahead is continuously less than or equal to the width of the vehicle body, the third condition is satisfied.

[0090] In the embodiment of the present invention, the acquisition module 11 is specifically configured to set a position where the width of the lane ahead is less than or equal to the width of the vehicle as a cutoff line when the width of the lane ahead is less than or equal to the width of the vehicle.

[0091] In the technical solution provided by the embodiment of the present invention, when the current scene is judged to be a merging lane scene based on the monocular camera, the set cutoff line, the current vehicle speed and the distance from the current vehicle to the cutoff line are obtained; the average acceleration of the vehicle is generated according to the current vehicle speed and the distance from the current vehicle to the cutoff line; when the average acceleration of the vehicle is less than or equal to the set acceleration threshold, the vehicle is controlled. In the technical solution provided by the embodiment of the present invention, the vehicle can be controlled before the ADAS exits when the vehicle passes through the merging lane, ensuring driving safety.

[0092] The vehicle control device based on a monocular camera provided in the embodiment of the present invention can be used to achieve the above Figure 1 , Figure 4 , Figure 5 or Figure 6 The vehicle control method based on a monocular camera is described in detail in the embodiment of the vehicle control method based on a monocular camera, and will not be repeated here.

[0093] An embodiment of the present invention provides a storage medium, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the steps of the embodiment of the above-mentioned vehicle control method based on a monocular camera. For a specific description, please refer to the embodiment of the above-mentioned vehicle control method based on a monocular camera.

[0094] An embodiment of the present invention provides an intelligent driving assistance camera, including a memory and a processor, the memory is used to store information including program instructions, the processor is used to control the execution of the program instructions, and when the program instructions are loaded and executed by the processor, the steps of the embodiment of the above-mentioned vehicle control method based on a monocular camera are implemented. For a specific description, please refer to the embodiment of the above-mentioned vehicle control method based on a monocular camera.

[0095] Figure 8 A schematic diagram of an intelligent driving assistance camera provided by an embodiment of the present invention. Figure 8 As shown, the intelligent driving assistance camera 20 of this embodiment includes: a processor 21, a memory 22, and a computer program 23 stored in the memory 22 and executable on the processor 21. When the computer program 23 is executed by the processor 21, the vehicle control method based on the monocular camera in the embodiment is implemented. To avoid repetition, it is not described one by one here. Alternatively, when the computer program is executed by the processor 21, the functions of each model / unit in the vehicle control device based on the monocular camera in the embodiment are implemented. To avoid repetition, it is not described one by one here.

[0096] The intelligent driving assistance camera 20 includes, but is not limited to, a processor 21 and a memory 22. Those skilled in the art will appreciate that Figure 8 It is only an example of the intelligent driving assistance camera 20 and does not constitute a limitation of the intelligent driving assistance camera 20. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the intelligent driving assistance camera may also include input and output devices, network access devices, buses, etc.

[0097] The processor 21 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0098] The memory 22 may be an internal storage unit of the intelligent driving assistance camera 20, such as a hard disk or memory of the intelligent driving assistance camera 20. The memory 22 may also be an external storage device of the intelligent driving assistance camera 20, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the intelligent driving assistance camera 20. Further, the memory 22 may also include both an internal storage unit and an external storage device of the intelligent driving assistance camera 20. The memory 22 is used to store computer programs and other programs and data required by the intelligent driving assistance camera. The memory 22 may also be used to temporarily store data that has been output or is to be output.

[0099] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0100] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0101] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0102] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0103] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0104] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A vehicle control method based on a monocular camera, characterized in that: include: When the current scene is determined to be a merging lane scene based on the monocular camera, the set cutoff line, the current vehicle speed, and the distance from the current vehicle to the cutoff line are obtained; Generate an average vehicle acceleration according to the current vehicle speed and the distance from the current vehicle to the cutoff line; Vehicle control is performed when the vehicle average acceleration is less than or equal to a set acceleration threshold.

2. The method according to claim 1, characterized in that The current vehicle speed includes a first vehicle speed, the distance from the current vehicle to the cutoff line includes a first distance, and generating a vehicle average acceleration according to the current vehicle speed and the distance from the current vehicle to the cutoff line includes: generating a first vehicle average acceleration according to the first vehicle speed and the first distance; The setting of the acceleration threshold includes setting an alarm acceleration, and the performing of vehicle control when the average acceleration of the vehicle is less than or equal to the set acceleration threshold includes: When the average acceleration of the first vehicle is less than or equal to the set alarm acceleration, a vehicle takeover prompt alarm is issued.

3. The method according to claim 2, characterized in that When the average acceleration of the first vehicle is less than or equal to the set alarm acceleration, after issuing a vehicle takeover prompt alarm, the method includes: If the steering wheel takeover command input by the driver is not received, obtaining the current second vehicle speed and the second distance from the current vehicle to the cut-off line; generating a second vehicle average acceleration according to the second vehicle speed and the second distance; The setting of the acceleration threshold includes setting the braking acceleration, and the performing of vehicle control when the average acceleration of the vehicle is less than or equal to the set acceleration threshold includes: Vehicle braking control is performed when the second vehicle average acceleration is less than or equal to the set braking acceleration.

4. The method according to claim 1, characterized in that: The current vehicle speed includes a second vehicle speed, the distance from the current vehicle to the cutoff line includes a second distance, and generating a vehicle average acceleration according to the current vehicle speed and the distance from the current vehicle to the cutoff line includes: generating a second vehicle average acceleration according to the second vehicle speed and the second distance; The setting of the acceleration threshold includes setting the braking acceleration, and the performing of vehicle control when the average acceleration of the vehicle is less than or equal to the set acceleration threshold includes: Vehicle braking control is performed when the second vehicle average acceleration is less than or equal to the set braking acceleration.

5. The method according to claim 1, characterized in that The determining that the current scene is a merging lane scene based on the monocular camera includes: If the current scene satisfies the first condition or the second condition and the third condition at the same time, it is determined that the current scene is a merging lane scene; The first condition is to identify, based on an image recognition algorithm and according to a lane image captured by a monocular camera, that one side of the lane in the lane image is a guide line and the other side is a dotted line; The second condition is to identify, based on an image recognition algorithm and according to a lane image captured by a monocular camera, that one side of the lane in the lane image is a solid line and a guardrail or a solid line and a curb, and the other side is a dotted line; The third condition is that the width of the front lane of the current vehicle driving road is less than or equal to the set distance threshold.

6. The method according to claim 5, characterized in that The third condition being met includes: Get the width of the lane ahead within the set maximum confidence recognition distance threshold; After the time threshold is set, if the width of the lane ahead continues to be less than or equal to the width of the vehicle, the third condition is satisfied.

7. The method according to claim 6, characterized in that The obtaining setting cutoff line includes: When the width of the lane ahead is less than or equal to the set width of the vehicle, the position where the width of the lane ahead is less than or equal to the width of the vehicle is set as the cutoff line.

8. A vehicle control device based on a monocular camera, characterized in that: include: An acquisition module, used to acquire a set cutoff line, a current vehicle speed, and a distance from the current vehicle to the cutoff line when the current scene is determined to be a merging lane scene based on the monocular camera; A generating module, used for generating an average acceleration of the vehicle according to the current vehicle speed and the distance from the current vehicle to the cut-off line; The control module is used to control the vehicle when the average acceleration of the vehicle is less than or equal to a set acceleration threshold.

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the vehicle control method based on a monocular camera according to any one of claims 1 to 7.

10. An intelligent driving assistance camera, comprising a memory and a processor, wherein the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, characterized in that: When the program instructions are loaded and executed by the processor, the steps of the vehicle control method based on a monocular camera described in any one of claims 1 to 7 are implemented.

Images