The invention belongs to the technical field of unmanned driving, and discloses a method, a system, equipment and a terminal for recognizing, positioning and changing lanes by sound images of an unmanned vehicle, and the method comprises the following steps: after sound waves of a surrounding environment are picked up, filtering road noise; after the siren sound signals are enhanced, the siren sound signals are matched with a sample library for judgment; generating an alarm whistle sound source coordinate, and matching the generated alarm whistle sound source coordinate with a positioning coordinate of the cloud online special vehicle system for confirmation; after the confirmation information of the special vehicle is received, the surrounding environment sensing information and the self information of the unmanned vehicle are uploaded to the comity decision-making system layer; and after environment division is carried out, on the basis of the environment and identified sound image information, the change of traffic condition legality is adapted in real time, and an action strategy of the controlled unmanned vehicle is obtained through a behavior decision network. The invention relates to a method for making an avoidance by adopting a criterion sequence of legality, safety, comfort and rapidness after an unmanned vehicle recognizes siren sound and doubly locates the special vehicle according to cloud coordinates when the special vehicle needs the unmanned vehicle to make a way.

    本发明属于无人驾驶技术领域,公开了一种无人车声图识别定位变道方法、系统、设备及终端,拾取周围环境的声波后,过滤公路噪声;在对警笛声信号增强后,与样本库匹配进行判别;生成警笛声源坐标,并将生成的警笛声源坐标与云在线特殊车辆系统的定位坐标匹配确认;在收到特殊车辆确认信息后,将周围环境感知信息与无人车自身信息上传到礼让决策系统层;进行环境划分后,基于所处环境与识别的声图信息,实时适应交通路况合法性的变化,通过行为决策网络获取被控无人车动作策略。本发明涉及特殊车辆需要无人车让道时,无人车识别警笛声并根据云坐标双重定位特殊车辆后,采用合法性、安全性、舒适性以及快速性的准则顺序,从而决策避让的方法。


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    Title :

    Unmanned vehicle sound image recognition positioning lane changing method, system, device and terminal


    Additional title:

    一种无人车声图识别定位变道方法、系统、设备及终端


    Contributors:
    LI XUEYUAN (author) / GAO XIN (author) / LIU QI (author) / YANG FAN (author)

    Publication date :

    2022-03-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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