The invention relates to the field of intelligent driving obstacle avoidance, in particular to a road surface bumpy upheaval early warning method for an intelligent driving automobile, which comprisesthe steps of realizing acquisition of a front ground scanning image based on a vehicle-mounted infrared light curtain group, and realizing perception of automobile driving state parameters based on avehicle-mounted automobile state perception module; based on the front ground scanning image, recognizing the pit upheaval type and the position information; recognizing the shape of the built-in bumpy upheaval in the front ground scanning image, and calculating the size of the bumpy upheaval according to the recognition result; judging whether the automobile passes through the pothole upheaval or not based on the position of the pothole upheaval and the automobile driving state parameters; and according to a judgment result, starting different early warning algorithms to realize early warning of the bumpy upheaval based on the bumpy upheaval type, the location information and the size information. Accurate positions and size information of pits and upheaval can be scanned and determinedin real time, automatic lane changing and active obstacle avoiding are achieved, and therefore the safety of automobile driving can be improved.

    本发明涉及智能驾驶避障领域,具体涉及一种智能驾驶汽车对路面坑洼拥包预警方法,包括:基于车载的红外线光幕组实现前方地面扫描图像的采集,同时基于车载的汽车状态感知模块实现汽车行驶状态参数的感知;基于前方地面扫描图像实现坑洼拥包类型及所在位置信息的识别;实现前方地面扫描图像内载坑洼拥包形状的识别,根据识别结果实现坑洼拥包尺寸的计算;基于坑洼拥包所在位置、汽车行驶状态参数判断汽车是否会经过该坑洼拥包;根据判断结果,基于坑洼拥包类型、所在位置信息及尺寸信息启用不同的预警算法实现坑洼拥包的预警。本发明能实时扫描并确定坑洼、拥包的准确位置和尺寸信息,并实现自主变道和主动避障,从而可以提高汽车驾驶的安全性。


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    Title :

    Road surface bumpy upheaval early warning method for an intelligent driving automobile


    Additional title:

    智能驾驶汽车对路面坑洼拥包预警方法


    Contributors:
    LI RONG (author) / TANG LUN (author) / ZHANG FENGYU (author) / WU XIAONI (author)

    Publication date :

    2021-03-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung



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