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

Abstract

The embodiment of the present application provides a vehicle control method based on a monocular camera and an intelligent driving auxiliary camera, and the method comprises the following steps: when it is judged that the current scene is a merging lane scene based on the monocular camera, acquiring a set stop line, a current vehicle speed and a distance from the current vehicle to the stop line; generating a vehicle average acceleration according to the current vehicle speed and the distance from the current vehicle to the stop line; and performing vehicle control when the vehicle average acceleration is less than or equal to a set acceleration threshold. In the technical scheme provided by the embodiment of the present application, vehicle control can be performed before the ADAS exits when the vehicle passes through the merging lane, so that the driving safety is ensured.

Description

Technical Field

[0001] This 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 Technology

[0002] Advanced Driving Assistance Systems (ADAS) have a wide range of applications, enabling functions such as lane keeping and adaptive cruise control. Currently, many ADAS products use low-cost monocular cameras as sensors to achieve this functionality. Monocular cameras can calculate the size and distance of detected objects after calibrating intrinsic and extrinsic parameters using known reference objects (such as specialized calibration boards). Through image training, they can identify and classify vehicles and lane markings on the road. Furthermore, through interaction with actuators in the power, braking, and steering systems, as well as various electronic devices, they enable the vehicle to autonomously accelerate, decelerate, and steer, and provide prompts or warnings to the driver, thus achieving the function of assisting driving.

[0003] Due to the complexity and diversity of real-world road scenarios, current ADAS product control strategies cannot cover all scenarios. In ordinary, ideal road scenarios, ADAS products only need to follow the lane lines and maintain centered control. However, in special road scenarios (such as merging lane scenarios), there is a lack of a safe and comfortable passage strategy. The vehicle will travel along the lane lines, and eventually, because the lane lines are too narrow, the ADAS product will relinquish control of the vehicle. The vehicle will maintain its original motion posture, cross the lane lines, and veer to the left or right, which is very likely to cause a collision and has low safety. Summary of the Invention

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

[0005] On one hand, embodiments of the present invention provide a vehicle control method based on a monocular camera, including:

[0006] When the current scene is determined to be a merging lane scene based on a monocular camera, the set cutoff line, the current vehicle speed, and the distance of the current vehicle from the cutoff line are obtained.

[0007] The average vehicle acceleration is generated based on the current vehicle speed and the distance of the current vehicle to the cutoff line.

[0008] Vehicle control is performed when the average acceleration of the vehicle is less than or equal to a set acceleration threshold.

[0009] Optionally, the current vehicle speed includes a first vehicle speed, the current vehicle distance to the cutoff line includes a first distance, and generating the vehicle average acceleration based on the current vehicle speed and the current vehicle distance to the cutoff line includes:

[0010] The first vehicle average acceleration is generated based on the first vehicle speed and the first distance;

[0011] The set acceleration threshold includes a set alarm acceleration, and the step of performing vehicle control when the average vehicle acceleration is less than or equal to the set acceleration threshold includes:

[0012] When the average acceleration of the first vehicle is less than or equal to the set alarm acceleration, a vehicle takeover warning alarm will be issued.

[0013] Optionally, after issuing a vehicle takeover warning alarm when the average acceleration of the first vehicle is less than or equal to a set alarm acceleration, the process includes:

[0014] If no steering wheel takeover command is received from the driver, obtain the current second vehicle speed and the current second distance of the vehicle from the cutoff line;

[0015] The second vehicle average acceleration is generated based on the second vehicle speed and the second distance;

[0016] The set acceleration threshold includes a set braking acceleration, and the step of performing vehicle control when the average vehicle acceleration is less than or equal to the set acceleration threshold includes:

[0017] Vehicle braking control is performed when the average acceleration of the second vehicle is less than or equal to the set braking acceleration.

[0018] Optionally, the current vehicle speed includes a second vehicle speed, the current vehicle distance to the cutoff line includes a second distance, and generating the vehicle's average acceleration based on the current vehicle speed and the current vehicle distance to the cutoff line includes:

[0019] The second vehicle average acceleration is generated based on the second vehicle speed and the second distance;

[0020] The set acceleration threshold includes a set braking acceleration, and the step of performing vehicle control when the average vehicle acceleration is less than or equal to the set acceleration threshold includes:

[0021] Vehicle braking control is performed when the average acceleration of the second vehicle is less than or equal to the set braking acceleration.

[0022] Optionally, determining that the current scene is a merging lane scene based on a monocular camera includes:

[0023] If the current scenario satisfies the first condition or the second condition and the third condition simultaneously, then the current scenario is determined to be a merging lane scenario.

[0024] The first condition is that, based on an image recognition algorithm, one side of the lane in the lane image captured by a monocular camera is identified as a guide line and the other side as a dashed line.

[0025] The second condition is based on an image recognition algorithm to identify, according to the lane image captured by a monocular camera, that one side of the lane in the lane image is a solid line and guardrail or a solid line and curb, and the other side is a dashed line.

[0026] The third condition is that the width of the lane ahead of the current vehicle's travel path is less than or equal to a set distance threshold.

[0027] Optionally, satisfying the third condition includes:

[0028] Obtain the width of the lane ahead within the set maximum confidence recognition distance threshold;

[0029] If, after setting a time threshold, the width of the lane ahead is continuously less than or equal to the width of the vehicle body, then the third condition is met.

[0030] Optionally, obtaining the set cutoff line includes:

[0031] When the width of the lane ahead is less than or equal to the width of the vehicle body, the point 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.

[0032] On the other hand, embodiments of the present invention provide a vehicle control device based on a monocular camera, comprising:

[0033] The acquisition module 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 current scene is determined to be a merging lane scene based on the monocular camera.

[0034] The generation module is used to generate the average vehicle acceleration based on the current vehicle speed and the current distance of the vehicle to the cutoff line;

[0035] 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.

[0036] On the other hand, embodiments of the present invention provide a storage medium including a stored program, wherein the program controls the device where the storage medium is located to execute the above-described vehicle control method based on a monocular camera when it is running.

[0037] On the other hand, embodiments of the present invention provide an intelligent driving assistance camera, including a memory and a processor. The memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions. When the program instructions are loaded and executed by the processor, the steps of the above-described vehicle control method based on a monocular camera are implemented.

[0038] In the technical solution provided by this invention, when a monocular camera determines that the current scene is a merging lane, it acquires the set cutoff line, the current vehicle speed, and the distance from the current vehicle to the cutoff line. Based on the current vehicle speed and the distance from the current vehicle to the cutoff line, it generates the vehicle's average acceleration. Vehicle control is performed when the vehicle's average acceleration is less than or equal to a set acceleration threshold. This technical solution allows for vehicle control before ADAS (Advanced Driver Assistance Systems) disengages when the vehicle passes through the merging lane, ensuring driving safety. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 A flowchart illustrating a vehicle control method based on a monocular camera, as provided in an embodiment of the present invention;

[0041] Figure 2 A schematic diagram illustrating a first condition provided in an embodiment of the present invention;

[0042] Figure 3 A schematic diagram illustrating the second condition provided in an embodiment of the present invention;

[0043] Figure 4 A flowchart illustrating another vehicle control method based on a monocular camera, provided in an embodiment of the present invention;

[0044] Figure 5 A flowchart illustrating another vehicle control method based on a monocular camera, provided in an embodiment of the present invention;

[0045] Figure 6 A flowchart illustrating another vehicle control method based on a monocular camera, provided in an embodiment of the present invention;

[0046] Figure 7 This is a schematic diagram of a vehicle control device based on a monocular camera, provided in an embodiment of the present invention.

[0047] Figure 8A schematic diagram of an intelligent driving assistance camera provided in an embodiment of the present invention. Detailed Implementation

[0048] To better understand the technical solution of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0049] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0050] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0051] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0052] One embodiment of the present invention provides a vehicle control method based on a monocular camera. Figure 1 A flowchart illustrating a vehicle control method based on a monocular camera, as provided in an embodiment of the present invention, is shown below. Figure 1 As shown, the method includes:

[0053] Step 102: When the current scene is determined to be a merging lane scene based on the monocular camera, obtain the set cutoff line, the current vehicle speed, and the distance of the current vehicle to the cutoff line.

[0054] In this embodiment of the invention, each step is performed by an intelligent driving assistance camera, wherein the intelligent driving assistance camera includes a monocular camera, which can be installed at the front of the vehicle.

[0055] In this embodiment of the invention, if the current scenario satisfies the first condition or the second condition and the third condition at the same time, then the current scenario is determined to be a merging lane scenario.

[0056] The first condition is that, based on the lane image captured by the monocular camera, the image recognition algorithm identifies one side of the lane as a guide line and the other side as a dashed line. Figure 2 A schematic diagram of the first condition provided in an embodiment of the present invention, as shown below. Figure 2As shown, the blue box represents a bicycle, and the guide line is on one side of the guardrail or curb in the merging lane, while the other side (closer to the merging side) is a dashed line.

[0057] In actual road scenarios, solid lines are close to guardrails or curbs, so guardrails or curbs need to be included in the scenario judgment conditions. That is, the second condition is to identify, based on the image recognition algorithm, the lane image captured by the monocular camera, that one side of the lane in the lane image is a solid line and guardrail or a solid line and curb, and the other side is a dashed line. Figure 3 A schematic diagram of the second condition provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the blue box represents bicycles. The merging lane has a solid line on one side of the barrier and guardrail or a solid line on the curb, and a dashed line on the other side (the side closer to the merging vehicle).

[0058] The third condition is that the width of the lane ahead of the current vehicle is less than or equal to a set distance threshold.

[0059] In this embodiment of the invention, the width of the lane ahead can be obtained within a set maximum confidence recognition distance threshold to prevent erroneous responses caused by fluctuating width information in far-end recognition. If, after setting a time threshold, the width of the lane ahead is consistently and stably less than or equal to the vehicle's width, then the third condition is met. The maximum confidence recognition distance threshold and the set time threshold can be set according to actual conditions; for example, the maximum confidence recognition distance threshold is 60m, and the set time threshold is 200ms.

[0060] In this embodiment of the invention, when the width of the lane ahead is less than or equal to the set width of the vehicle body, the point 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, such as... Figure 2 or Figure 3 As shown in the figure, the black dashed line is the cutoff line.

[0061] Step 104: Generate the vehicle's average acceleration based on the current vehicle speed and the distance of the current vehicle to the cutoff line.

[0062] Specifically, the average vehicle acceleration is generated by calculating the current vehicle speed and the distance from the current vehicle to the cutoff line using the velocity-displacement formula.

[0063] Step 106: When the average vehicle acceleration is less than or equal to the set acceleration threshold, vehicle control is performed.

[0064] In the technical solution provided by this invention, when a monocular camera determines that the current scene is a merging lane, it acquires the set cutoff line, the current vehicle speed, and the distance from the current vehicle to the cutoff line. Based on the current vehicle speed and the distance from the current vehicle to the cutoff line, it generates the vehicle's average acceleration. Vehicle control is performed when the vehicle's average acceleration is less than or equal to a set acceleration threshold. This technical solution allows for vehicle control before ADAS (Advanced Driver Assistance Systems) disengages when the vehicle passes through the merging lane, ensuring driving safety.

[0065] When an ADAS system equipped with a monocular camera enters the aforementioned merging lane, it lacks the ability to recognize traffic conditions to the side and rear of the vehicle. In this situation, it disengages from vehicle control. However, related technologies often disengage directly, causing the vehicle to maintain its pre-disengagement posture. This can easily lead to collisions with guardrails or curbs without the driver's awareness, or even lane departure and collisions with other vehicles. This invention addresses this issue by implementing takeover warnings and comfort braking.

[0066] One embodiment of the present invention provides another vehicle control method based on a monocular camera. Figure 4 A flowchart of another vehicle control method based on a monocular camera provided in an embodiment of the present invention is shown below. Figure 4 As shown, the method includes:

[0067] Step 202: When the current scene is determined to be a merging lane scene based on the monocular camera, obtain the set cutoff line, the first vehicle speed, and the first distance from the current vehicle to the cutoff line.

[0068] In this embodiment of the invention, each step is performed by an intelligent driving assistance camera, wherein the intelligent driving assistance camera includes a monocular camera, which can be installed at the front of the vehicle.

[0069] In this embodiment of the invention, if the current scenario satisfies the first condition or the second condition and the third condition at the same time, it is determined that the current scenario is a merging lane scenario. For a detailed description of the first condition, the second condition and the third condition, please refer to step 102.

[0070] In this embodiment of the invention, the width of the lane ahead can be obtained within a set maximum confidence recognition distance threshold to prevent erroneous responses caused by fluctuating width information in far-end recognition. If, after setting a time threshold, the width of the lane ahead is consistently and stably less than or equal to the vehicle's width, then the third condition is met. The maximum confidence recognition distance threshold and the set time threshold can be set according to actual conditions; for example, the maximum confidence recognition distance threshold is 60m, and the set time threshold is 200ms.

[0071] In this embodiment of the invention, when the width of the lane ahead is less than or equal to the set width of the vehicle body, the point 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, such as... Figure 2 or Figure 3 As shown in the figure, the black dashed line is the cutoff line.

[0072] Step 204: Generate the first vehicle average acceleration based on the first vehicle speed and the first distance.

[0073] Specifically, through the velocity-displacement formula -V1 2 =2a1S1 calculates the first vehicle speed and the first distance from the current vehicle to the cutoff line to generate the first vehicle's average acceleration, where V1 is the first vehicle speed, S1 is the first distance, and a1 is the first vehicle's average acceleration.

[0074] Step 206: When the average acceleration of the first vehicle is less than or equal to the set alarm acceleration, issue a vehicle takeover warning alarm.

[0075] In this embodiment of the invention, the alarm acceleration can be set according to the actual situation. For example, the alarm acceleration can be set to a0 = -1 m / s². 2 .

[0076] In this embodiment of the invention, when the average acceleration a1 of the first vehicle is less than or equal to the set alarm acceleration a0, a vehicle takeover prompt alarm is issued, that is, the vehicle issues an alarm requesting the driver to take over the steering wheel, so as 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 comes to a stop.

[0077] In the technical solution provided by this invention, when a monocular camera determines that the current scene is a merging lane, it acquires the set cutoff line, the current vehicle speed, and the distance from the current vehicle to the cutoff line. Based on the current vehicle speed and the distance from the current vehicle to the cutoff line, it generates the vehicle's average acceleration. Vehicle control is performed when the vehicle's average acceleration is less than or equal to a set acceleration threshold. This technical solution allows for vehicle control before ADAS (Advanced Driver Assistance Systems) disengages when the vehicle passes through the merging lane, ensuring driving safety.

[0078] One embodiment of the present invention provides another vehicle control method based on a monocular camera. Figure 5 A flowchart of another vehicle control method based on a monocular camera provided in an embodiment of the present invention is shown below. Figure 5 As shown, the method includes:

[0079] Step 302: When the current scene is determined to be a merging lane scene based on the monocular camera, obtain the set cutoff line, the second vehicle speed, and the second distance from the current vehicle to the cutoff line.

[0080] In this embodiment of the invention, each step is performed by an intelligent driving assistance camera, wherein the intelligent driving assistance camera includes a monocular camera, which can be installed at the front of the vehicle.

[0081] In this embodiment of the invention, if the current scenario satisfies the first condition or the second condition and the third condition at the same time, it is determined that the current scenario is a merging lane scenario. For a detailed description of the first condition, the second condition and the third condition, please refer to step 102.

[0082] In this embodiment of the invention, the width of the lane ahead can be obtained within a set maximum confidence recognition distance threshold to prevent erroneous responses caused by fluctuating width information in far-end recognition. If, after setting a time threshold, the width of the lane ahead is consistently and stably less than or equal to the vehicle's width, then the third condition is met. The maximum confidence recognition distance threshold and the set time threshold can be set according to actual conditions; for example, the maximum confidence recognition distance threshold is 60m, and the set time threshold is 200ms.

[0083] In this embodiment of the invention, when the width of the lane ahead is less than or equal to the set width of the vehicle body, a cutoff line is set where the width of the lane ahead is less than or equal to the width of the vehicle body. Figure 2 or Figure 3 As shown in the figure, the black dashed line is the cutoff line.

[0084] Step 304: Generate the second vehicle average acceleration based on the second vehicle speed and the second distance.

[0085] Specifically, through the velocity-displacement formula -V2 2 =2a2S2 calculates the second vehicle speed and the second distance from the current vehicle to the cutoff line to generate the second vehicle average acceleration, where V2 is the second vehicle speed, S2 is the second distance, and a2 is the second vehicle average acceleration.

[0086] Step 306: When the average acceleration of the second vehicle is less than or equal to the set braking acceleration, vehicle braking control is performed.

[0087] In this embodiment of the invention, the braking acceleration can be set according to the actual situation. For example, the braking acceleration can be set to a3 = -1.5 m / s². 2 Based on practical experience, braking with a deceleration of less than 1.5 is more comfortable, while the greater the deceleration, the more abrupt the braking will feel.

[0088] In this embodiment of the invention, vehicle braking control is performed when the average acceleration a2 of the second vehicle is less than or equal to the set braking acceleration a3. The intelligent driving assistance camera predicts that the average acceleration of the second vehicle required to stop at the aforementioned cutoff line from the current second distance is relatively rapid, so the vehicle begins to brake and eventually stops before the cutoff line.

[0089] In the technical solution provided by this invention, when a monocular camera determines that the current scene is a merging lane, it acquires the set cutoff line, the current vehicle speed, and the distance from the current vehicle to the cutoff line. Based on the current vehicle speed and the distance from the current vehicle to the cutoff line, it generates the vehicle's average acceleration. Vehicle control is performed when the vehicle's average acceleration is less than or equal to a set acceleration threshold. This technical solution allows for vehicle control before ADAS (Advanced Driver Assistance Systems) disengages when the vehicle passes through the merging lane, ensuring driving safety.

[0090] One embodiment of the present invention provides another vehicle control method based on a monocular camera. Figure 6 A flowchart of another vehicle control method based on a monocular camera provided in an embodiment of the present invention is shown below. Figure 6 As shown, the method includes:

[0091] Step 402: When the current scene is determined to be a merging lane scene based on the monocular camera, obtain the set cutoff line, the first vehicle speed, and the first distance from the current vehicle to the cutoff line.

[0092] In this embodiment of the invention, each step is performed by an intelligent driving assistance camera, wherein the intelligent driving assistance camera includes a monocular camera, which can be installed at the front of the vehicle.

[0093] In this embodiment of the invention, if the current scenario satisfies the first condition or the second condition and the third condition at the same time, it is determined that the current scenario is a merging lane scenario. For a detailed description of the first condition, the second condition and the third condition, please refer to step 102.

[0094] In this embodiment of the invention, the width of the lane ahead can be obtained within a set maximum confidence recognition distance threshold to prevent erroneous responses caused by fluctuating width information in far-end recognition. If, after setting a time threshold, the width of the lane ahead is consistently and stably less than or equal to the vehicle's width, then the third condition is met. The maximum confidence recognition distance threshold and the set time threshold can be set according to actual conditions; for example, the maximum confidence recognition distance threshold is 60m, and the set time threshold is 200ms.

[0095] In this embodiment of the invention, when the width of the lane ahead is less than or equal to the set width of the vehicle body, the point 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, such as... Figure 2 or Figure 3 As shown in the figure, the black dashed line is the cutoff line.

[0096] Step 404: Generate the first vehicle average acceleration based on the first vehicle speed and the first distance.

[0097] Specifically, through the velocity-displacement formula -V1 2=2a1S1 calculates the first vehicle speed and the first distance from the current vehicle to the cutoff line to generate the first vehicle's average acceleration, where V1 is the first vehicle speed, S1 is the first distance, and a1 is the first vehicle's average acceleration.

[0098] Step 406: When the average acceleration of the first vehicle is less than or equal to the set alarm acceleration, issue a vehicle takeover warning alarm.

[0099] In this embodiment of the invention, the alarm acceleration can be set according to the actual situation. For example, the alarm acceleration can be set to a0 = -1 m / s². 2 .

[0100] In this embodiment of the invention, when the average acceleration a1 of the first vehicle is less than or equal to the set alarm acceleration a0, a vehicle takeover prompt alarm is issued, that is, the vehicle issues an alarm requesting the driver to take over the steering wheel, so as 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 comes to a stop.

[0101] Step 408: If no steering wheel takeover command is received from the driver, obtain the second vehicle speed and the second distance of the current vehicle from the cutoff line.

[0102] 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, and the vehicle will automatically brake and continue to execute step 410.

[0103] Step 410: Generate the second vehicle average acceleration based on the second vehicle speed and the second distance.

[0104] Specifically, through the velocity-displacement formula -V2 2 =2a2S2 calculates the second vehicle speed and the second distance from the current vehicle to the cutoff line to generate the second vehicle average acceleration, where V2 is the second vehicle speed, S2 is the second distance, and a2 is the second vehicle average acceleration.

[0105] Step 412: When the average acceleration of the second vehicle is less than or equal to the set braking acceleration, vehicle braking control is performed.

[0106] In this embodiment of the invention, the braking acceleration can be set according to the actual situation. For example, the braking acceleration can be set to a3 = -1.5 m / s². 2 Based on practical experience, braking with a deceleration of less than 1.5 is more comfortable, while the greater the deceleration, the more abrupt the braking will feel.

[0107] In this embodiment of the invention, vehicle braking control is performed when the average acceleration a2 of the second vehicle is less than or equal to the set braking acceleration a3. The intelligent driving assistance camera predicts that the average acceleration of the second vehicle required to stop at the aforementioned cutoff line from the current second distance is relatively rapid, so the vehicle begins to brake and eventually stops before the cutoff line.

[0108] In this embodiment of the invention, a specific implementation example is described below: Assume a vehicle is traveling at 36 km / h in a merging lane. The lane narrowing is first detected at the maximum confidence recognition distance (60 m). After a 200 ms delay, the lane narrowing is stably detected. This point is then recorded as the cutoff line. At this time, the distance between the vehicle and the cutoff line is S = 60 - (0.2...). 10) = 58m to start implementing the merging lane traffic strategy. When a1 ≤ -1m / s^2, that is, at a distance of S1 = (-100) / (2 When (-1))=50m, the takeover alarm starts; when a2≤-2m / s^2, that is, at a distance of S2=(-100) / (2 Vehicle braking control begins when (-2)) = 25m.

[0109] In the technical solution provided by this invention, when a monocular camera determines that the current scene is a merging lane, it acquires the set cutoff line, the current vehicle speed, and the distance from the current vehicle to the cutoff line. Based on the current vehicle speed and the distance from the current vehicle to the cutoff line, it generates the vehicle's average acceleration. Vehicle control is performed when the vehicle's average acceleration is less than or equal to a set acceleration threshold. This technical solution allows for vehicle control before ADAS (Advanced Driver Assistance Systems) disengages when the vehicle passes through the merging lane, ensuring driving safety.

[0110] The technical solution provided by this 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 stopped in time before it runs out of the lane, thus ensuring driving safety.

[0111] One embodiment of the present invention provides a vehicle control device based on a monocular camera. Figure 7 This is a schematic diagram of a vehicle control device based on a monocular camera, provided in one embodiment of the present invention. Figure 7 As shown, the device includes: an acquisition module 11, a generation module 12, and a control module 13.

[0112] 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 current scene is determined to be a merging lane scene based on the monocular camera.

[0113] The generation module 12 is used to generate the average vehicle acceleration based on the current vehicle speed and the distance of the current vehicle to the cutoff line.

[0114] 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.

[0115] In this embodiment of the invention, the current vehicle speed includes a first vehicle speed, the current distance of the vehicle to the cutoff line includes a first distance, and the generation module 12 is specifically used to generate a first vehicle average acceleration based on the first vehicle speed and the first distance.

[0116] The set acceleration threshold includes a set alarm acceleration. Specifically, the control module 13 is used to issue a vehicle takeover warning alarm when the average acceleration of the first vehicle is less than or equal to the set alarm acceleration.

[0117] In this embodiment of the invention, the acquisition module 11 is specifically used to acquire the current second vehicle speed and the current vehicle's second distance from the cutoff line if no steering wheel takeover command is received from the driver.

[0118] The generation module 12 is specifically used to generate the second vehicle average acceleration based on the second vehicle speed and the second distance.

[0119] The set acceleration threshold includes a set braking acceleration, and the control module 13 is specifically used to perform vehicle braking control when the average acceleration of the second vehicle is less than or equal to the set braking acceleration.

[0120] In this embodiment of the invention, the current vehicle speed includes a second vehicle speed, the current vehicle distance to the cutoff line includes a second distance, and the generation module 12 is specifically used to generate a second vehicle average acceleration based on the second vehicle speed and the second distance.

[0121] The set acceleration threshold includes a set braking acceleration, and the control module 13 is specifically used to perform vehicle braking control when the average acceleration of the second vehicle is less than or equal to the set braking acceleration.

[0122] In this embodiment of the invention, if the current scene satisfies either the first condition or the second condition, and simultaneously satisfies the third condition, then the current scene is determined to be a merging lane scene. The first condition is based on an image recognition algorithm using a monocular camera to identify that one side of the lane in the lane image is a guide line and the other side is a dashed line. The second condition is based on an image recognition algorithm using a monocular camera 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 dashed line. The third condition is that the width of the lane ahead of the current vehicle is less than or equal to a set distance threshold.

[0123] In this embodiment of the 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 setting a time threshold, if the width of the lane ahead is continuously less than or equal to the width of the vehicle body, then the third condition is satisfied.

[0124] In this embodiment of the invention, the acquisition module 11 is specifically used to set the point where the width of the lane ahead is less than or equal to the width of the vehicle body as a cutoff line when the width of the lane ahead is less than or equal to the width of the vehicle body.

[0125] In the technical solution provided by this invention, when a monocular camera determines that the current scene is a merging lane, it acquires the set cutoff line, the current vehicle speed, and the distance from the current vehicle to the cutoff line. Based on the current vehicle speed and the distance from the current vehicle to the cutoff line, it generates the vehicle's average acceleration. Vehicle control is performed when the vehicle's average acceleration is less than or equal to a set acceleration threshold. This technical solution allows for vehicle control before ADAS (Advanced Driver Assistance Systems) disengages when the vehicle passes through the merging lane, ensuring driving safety.

[0126] The vehicle control device based on a monocular camera provided in this embodiment of the 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 embodiments of the vehicle control method based on a monocular camera described above, and will not be repeated here.

[0127] This invention provides a storage medium that includes a stored program. When the program runs, it controls the device where the storage medium is located to execute the steps of the above-described vehicle control method based on a monocular camera. For a detailed description, please refer to the above-described embodiments of the vehicle control method based on a monocular camera.

[0128] This invention provides an intelligent driving assistance camera, including a memory and a processor. The memory stores information including program instructions, and the processor controls the execution of the program instructions. When the program instructions are loaded and executed by the processor, they implement the steps of the above-described vehicle control method based on a monocular camera. For a detailed description, please refer to the above-described vehicle control method based on a monocular camera.

[0129] Figure 8 This invention provides a schematic diagram of an intelligent driving assistance camera. (See diagram below.) Figure 8As 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 processor 21 executes the computer program 23, it implements the vehicle control method applied to a monocular camera in this embodiment. To avoid repetition, these details are not elaborated here. Alternatively, when the processor 21 executes the computer program, it implements the functions of each model / unit in the vehicle control device based on a monocular camera in this embodiment. To avoid repetition, these details are not elaborated here.

[0130] 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 understand that... Figure 8 This is merely an example of the intelligent driving assistance camera 20 and does not constitute a limitation on the intelligent driving assistance camera 20. It may include more or fewer components than shown, or combine certain components, or different components. For example, the intelligent driving assistance camera may also include input / output devices, network access devices, buses, etc.

[0131] The processor 21 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), 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.

[0132] The memory 22 can be an internal storage unit of the intelligent driving assistance camera 20, such as the hard drive or memory of the intelligent driving assistance camera 20. The memory 22 can also be an external storage device of the intelligent driving assistance camera 20, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the intelligent driving assistance camera 20. Furthermore, the memory 22 can include both internal storage units and external storage devices 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 can also be used to temporarily store data that has been output or will be output.

[0133] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0134] In the embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units through some interfaces, and may be electrical, mechanical, or other forms.

[0135] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0136] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0137] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0138] 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 within the scope of protection of the present invention.

Claims

1. A monocular camera based vehicle control method, characterized in that, The method comprises: When it is determined that the current scene is a merging lane scene based on a monocular camera, a set stop line, a current vehicle speed and a distance from the current vehicle to the stop line are obtained, wherein when a front lane width is less than or equal to a set vehicle body width, the front lane width less than or equal to the vehicle body width is set as the stop line; A vehicle average acceleration is generated according to the current vehicle speed and the distance from the current vehicle to the stop line; When the vehicle average acceleration is less than or equal to a set acceleration threshold, vehicle control is performed.

2. The method of claim 1, wherein, The current vehicle speed comprises a first vehicle speed, and the distance from the current vehicle to the stop line comprises a first distance. The vehicle average acceleration is generated according to the current vehicle speed and the distance from the current vehicle to the stop line, comprising: A first vehicle average acceleration is generated according to the first vehicle speed and the first distance; The set acceleration threshold comprises a set alarm acceleration. When the vehicle average acceleration is less than or equal to the set acceleration threshold, vehicle control is performed, comprising: When the first vehicle average acceleration is less than or equal to the set alarm acceleration, a vehicle takeover prompt alarm is issued.

3. The method of claim 2, wherein, After the vehicle takeover prompt alarm is issued when the first vehicle average acceleration is less than or equal to the set alarm acceleration, comprising: If no steering wheel takeover instruction input by a driver is received, a current second vehicle speed and a second distance from the current vehicle to the stop line are obtained; A second vehicle average acceleration is generated according to the second vehicle speed and the second distance; The set acceleration threshold comprises a set brake acceleration. When the vehicle average acceleration is less than or equal to the set acceleration threshold, vehicle control is performed, comprising: When the second vehicle average acceleration is less than or equal to the set brake acceleration, vehicle brake control is performed.

4. The method of claim 1, wherein, The current vehicle speed comprises a second vehicle speed, and the distance from the current vehicle to the stop line comprises a second distance. The vehicle average acceleration is generated according to the current vehicle speed and the distance from the current vehicle to the stop line, comprising: A second vehicle average acceleration is generated according to the second vehicle speed and the second distance; The set acceleration threshold comprises a set brake acceleration. When the vehicle average acceleration is less than or equal to the set acceleration threshold, vehicle control is performed, comprising: When the second vehicle average acceleration is less than or equal to the set brake acceleration, vehicle brake control is performed.

5. The method of claim 1, wherein, The current scene is determined to be a merging lane scene based on a monocular camera, comprising: If the current scene satisfies a first condition or a second condition at the same time as a third condition, the current scene is determined to be a merging lane scene; The first condition is that, based on an image recognition algorithm, a lane in a lane image captured by the monocular camera is recognized to have a guide line on one side and a dashed line on the other side; The second condition is that, based on the image recognition algorithm, the lane in the lane image captured by the monocular camera is recognized to have a solid line and a guardrail or a solid line and a road edge on one side and a dashed line on the other side; The third condition is that a front lane width of a road on which the current vehicle travels is less than or equal to a set distance threshold.

6. The method of claim 5, wherein, The third condition is satisfied, comprising: Obtaining a front lane width within a set maximum confidence recognition distance threshold; If the front lane width is continuously less than or equal to the vehicle body width after a set interval time threshold, the third condition is met.

7. A monocular camera based vehicle control device, characterized by, Comprise: An obtaining module, configured to: when it is judged by a monocular camera that a current scene is a merging lane scene, obtaining a set stop line, a current vehicle speed and a distance from the current vehicle to the stop line, wherein the front lane width is less than or equal to the set vehicle body width, and the front lane width less than or equal to the vehicle body width is set as the stop line; A generating module, configured to: generating a vehicle average acceleration according to the current vehicle speed and the distance from the current vehicle to the stop line; A control module, configured to: when the vehicle average acceleration is less than or equal to a set acceleration threshold, performing vehicle control.

8. A storage medium, characterized by The storage medium comprises a stored program, wherein the program controls a device in which the storage medium is located to execute the monocular camera-based vehicle control method in any one of claims 1 to 6 when the program is running.

9. An intelligent driving assistance camera comprising a memory for storing information including program instructions and a processor for controlling execution of the program instructions, characterized in that, The program instructions are loaded and executed by the processor to implement the steps of the monocular camera-based vehicle control method in any one of claims 1 to 6.

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