WO2017173904A1 - 智能照明系统、智能车辆及其车辆辅助驾驶系统和方法 - Google Patents

智能照明系统、智能车辆及其车辆辅助驾驶系统和方法 Download PDF

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Publication number
WO2017173904A1
WO2017173904A1 PCT/CN2017/075834 CN2017075834W WO2017173904A1 WO 2017173904 A1 WO2017173904 A1 WO 2017173904A1 CN 2017075834 W CN2017075834 W CN 2017075834W WO 2017173904 A1 WO2017173904 A1 WO 2017173904A1
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WIPO (PCT)
Prior art keywords
vehicle
road condition
data
communication
condition information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/075834
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English (en)
French (fr)
Inventor
姜玉稀
周繁
卿培
帅应红
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sansi Optoelectronics Technology (shanghai) Co Ltd
Shanghai Sansi Technology Co Ltd
Shanghai Sansi Electronic Engineering Co Ltd
Jiashan Sansi Photoelectric Technology Co Ltd
Original Assignee
Sansi Optoelectronics Technology (shanghai) Co Ltd
Shanghai Sansi Technology Co Ltd
Shanghai Sansi Electronic Engineering Co Ltd
Jiashan Sansi Photoelectric Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201610214685.9A external-priority patent/CN107274695B/zh
Application filed by Sansi Optoelectronics Technology (shanghai) Co Ltd, Shanghai Sansi Technology Co Ltd, Shanghai Sansi Electronic Engineering Co Ltd, Jiashan Sansi Photoelectric Technology Co Ltd filed Critical Sansi Optoelectronics Technology (shanghai) Co Ltd
Priority to US16/090,584 priority Critical patent/US20200406926A1/en
Priority to EP17778568.0A priority patent/EP3441960A4/en
Priority to JP2019503609A priority patent/JP2019519051A/ja
Priority to CA3020190A priority patent/CA3020190C/en
Publication of WO2017173904A1 publication Critical patent/WO2017173904A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
    • F21S8/00—Lighting devices intended for fixed installation
    • F21S8/08—Lighting devices intended for fixed installation with a standard
    • F21S8/085—Lighting devices intended for fixed installation with a standard of high-built type, e.g. street light
    • F21S8/086—Lighting devices intended for fixed installation with a standard of high-built type, e.g. street light with lighting device attached sideways of the standard, e.g. for roads and highways
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21W—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO USES OR APPLICATIONS OF LIGHTING DEVICES OR SYSTEMS
    • F21W2131/00—Use or application of lighting devices or systems not provided for in codes F21W2102/00-F21W2121/00
    • F21W2131/10—Outdoor lighting
    • F21W2131/103—Outdoor lighting of streets or roads
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection

Definitions

  • the present invention relates to the field of network technologies, and in particular, to an intelligent lighting system, an intelligent vehicle, and a vehicle assisted driving system and method thereof.
  • the automatic driving of intelligent vehicles is a hot technical field that has developed rapidly in recent years, and its technology relates to the power system, sensor system, control system, computer system and peripheral equipment of the vehicle.
  • the main technical realization means is to detect the road condition information around the vehicle through the sensor system of the vehicle, and process the road condition system through the computer system to realize the function of the vehicle automatic or assisted driving.
  • the road condition data comes from the sensor system
  • the map and the positioning information comes from the satellite positioning data.
  • the automatic driving has entered the experimental phase from the laboratory stage.
  • data sources and processing methods have the following problems:
  • Satellite positioning systems may have limitations in the application of autonomous driving in certain situations, such as in tunnels, where communication may be interrupted or poorly signaled.
  • an object of the present invention is to provide an intelligent lighting system, an intelligent vehicle and a vehicle assisted driving system and method thereof, which are used to solve the inaccurate and easy judgment of road conditions caused by blind spots of the vehicle equipment in the prior art. Raising dangerous problems.
  • the present invention provides a lighting device, a plurality of lighting devices disposed along a road surface, wherein the lighting device is provided with a sensing unit for collecting road condition information data within the detection range thereof;
  • the system is in communication with each of the sensing units for providing the collected road condition information data to the smart vehicle.
  • the detection ranges of the plurality of illumination devices partially overlap; and/or the communication coverages of the plurality of illumination devices partially overlap.
  • the intelligent lighting system further includes a pre-processing unit for pre-processing the road condition information data and transmitting the data through the communication system.
  • the pre-processing unit includes a processing module distributed on a plurality of lighting devices in the communication system, and the processing module pre-processes road condition data collected by the lighting device in a certain area. deal with.
  • the pre-processing unit is disposed in a network connected to the cloud of the communication system.
  • the manner of pre-processing includes one or more of the following: definition of a collision boundary and/or collision volume of a vehicle, pedestrian or other obstacle; vehicle, pedestrian or other obstacle Judgment of the state of motion of the object; 3D modeling of vehicles, pedestrians or other obstacles.
  • the communication system includes a communication unit provided by each lighting device, and the smart vehicle is communicably connected through an external communication network, or directly connected to the smart vehicle.
  • the communication system is further connected to the cloud through an external network for uploading the road condition information data.
  • the present invention provides a lighting device for assembling the aforementioned road lighting network, comprising: a lighting unit, a sensing unit, and a communication unit; the sensing unit is configured to collect road conditions within the detection range thereof.
  • the communication unit is configured to form a communication system of the road lighting network, and transmit the road condition information collected by the sensor to the outside.
  • the present invention provides an intelligent vehicle comprising: a vehicle power system, a vehicle control system, an in-vehicle sensor system, and an in-vehicle terminal;
  • the in-vehicle terminal includes a processing module and a communication module; and the communication module is used
  • Receiving first road condition information data from the intelligent lighting system and second road condition information data from the onboard sensor system the processing module is connected to the communication module for processing the first road condition information data and The second road condition information data forms complete road condition data, and generates a vehicle control command according to the complete road condition data and transmits the vehicle control command to the vehicle power system and the vehicle control system of the vehicle to implement automatic driving; and/or the vehicle-mounted terminal according to the The complete road condition data generates navigation information and displays it.
  • the in-vehicle terminal further includes a display module; the processing module is connected to the display module, and is further configured to process the road condition information data as navigation information and display through the display module
  • the present invention provides an in-vehicle terminal, comprising: a communication module, configured to receive first road condition information data from the intelligent lighting system and second road condition information data from the onboard sensor system; a processing module, connected to the communication module, configured to process the first road condition information data and the second road condition information data Whole road condition data, and generating vehicle control systems for transmitting to the smart vehicle vehicle power system and the vehicle control system to implement automatic driving according to the complete road condition data; and/or the vehicle-mounted terminal generates according to the complete road condition data Navigate the information and display it.
  • the in-vehicle terminal further includes a display module; the processing module is connected to the display module, and is further configured to process the road condition information data as navigation information and display the information through the display module.
  • the present invention provides a vehicle driving assistance system comprising: the intelligent lighting system; the intelligent vehicle.
  • the present invention provides a vehicle driving assistance method, which is applied to the vehicle driving assistance system, the method comprising: the intelligent lighting system transmitting the collected first road condition data;
  • the terminal receives the first road condition data, and acquires second road condition data collected by the onboard sensor system;
  • the vehicle terminal integrates the first road condition data and the second road condition data to form complete road condition data;
  • the terminal generates a vehicle control command according to the complete road condition data and transmits the vehicle control system to the vehicle power system and the vehicle control system of the vehicle to implement automatic driving; and/or the vehicle-mounted terminal generates navigation information according to the complete road condition data and displays the navigation information.
  • the intelligent lighting system starts collecting the road condition information data within a certain section of the smart vehicle before and after monitoring the smart vehicle accessing the network or entering the communication coverage area.
  • the intelligent lighting system starts collecting the road condition information data within a certain section of the smart vehicle before and after monitoring the smart vehicle accessing the network or entering the communication coverage area.
  • the method comprises: the intelligent lighting system pre-processing the road condition information data and transmitting the data through the communication system.
  • the manner of pre-processing includes one or more of the following: definition of a collision boundary and/or collision volume of a vehicle, pedestrian or other obstacle; vehicle, pedestrian or other obstacle Judgment of the state of motion of the object; 3D modeling of vehicles, pedestrians or other obstacles.
  • the present invention provides an intelligent lighting system, an intelligent vehicle, and a vehicle assisted driving system and method thereof; the intelligent lighting system forms communication with the vehicle to transmit the road condition information data to the vehicle for navigation and/or automatic driving;
  • the technical solution of the invention utilizes the lighting device to collect the road condition information data to the vehicle, and compensates for the problem that the intelligent vehicle sensor system has a “field of vision blind spot”, thereby greatly improving the navigation accuracy and safety of the intelligent vehicle.
  • FIG. 1 is a schematic diagram showing a road scene applied in an embodiment of the present invention.
  • FIG. 2A is a schematic diagram showing the principle of detecting a range of a smart vehicle in a road scene in the prior art.
  • 2B to 2C are diagrams showing the principle of the present invention functioning in a plurality of road scenarios.
  • FIG. 3 is a schematic structural view of a lighting apparatus according to an embodiment of the present invention.
  • FIGS. 4A to 4C are views showing the structure of an intelligent vehicle in various embodiments of the present invention.
  • FIG. 5 is a flow chart showing a method of assisting driving of a vehicle according to an embodiment of the present invention.
  • FIG. 1 it is a schematic diagram showing the principle of an intelligent lighting system in a road scene according to an embodiment of the invention.
  • the intelligent lighting system of the present application is used for assisted driving (navigation and automatic driving) of intelligent vehicles, and it needs to be explained that
  • the navigation to the road refers to the display of real-time road conditions and the guidance of small-scale driving.
  • the automatic driving includes fully automatic driving (unmanned driving) and semi-automatic driving (automatic realization of certain driving functions).
  • the intelligent lighting system specifically includes the following components: a plurality of lighting devices 100 and a communication system distributed along the road surface.
  • the lighting device 100 may be a lighting device such as a street light, a tunnel light, a guardrail light, etc., and is usually distributed on both sides of the road, the middle portion, and the top or both sides of the tunnel.
  • a sensing unit is disposed on the lighting devices 100.
  • the detection range of the sensing unit covers a certain road area, that is, as shown by a dotted circle in the figure, for collecting road condition information data within the detected range; the sensing unit includes an infrared sensor, a camera, and a radar sensor.
  • One or more of the road condition information refers to the number of road vehicles, the position of each vehicle, the speed of the vehicle, the position of the pedestrian, the position of the obstacle, and the like, and the road conditions affecting the driving, and the sensing unit forms at least one of the road condition information.
  • Image or digital data
  • the detection range of the sensing unit of each lighting device 100 needs to completely cover the road area and its two sides. Preferably, some or all of the same area on the road has multiple illuminations. Equipment coverage.
  • the communication system is for providing the collected road condition information data to a computer system of the intelligent vehicle. In this way, the real-time road information data can be transmitted to the vehicle to form complete road condition data of “no blind zone”, and the road condition data of the same area collected by the on-board sensor can be reference corrected according to the data.
  • the communication system is a set of various communication devices or components that communicate with the external illumination device to transmit the collected road condition information data, and may be a wired communication method or a wireless communication method.
  • FIG. 2A which shows a road scene in the prior art
  • the smart vehicle A cannot know the road condition of the right side region of B due to the occlusion of the vehicle B, that is, the “blind zone” appears, so that the presence of the vehicle C cannot be known, then In this case, if B suddenly changes to the smart vehicle A, the A in the automatic driving state may not be able to react.
  • FIG. 2B a road scene in which the intelligent lighting system of the present invention is applied in the same case is displayed, in which the smart vehicle A' can cover the lighting device of the right side of the B' by the detection range in the intelligent lighting system.
  • the motion of the vehicle C' can be detected, and the "blind zone" is eliminated, and A' can be prepared in advance to avoid the problem in the embodiment of FIG. 2A.
  • FIG. 2C a road scene in which the intelligent lighting system of the present invention is applied in the same case is displayed, and a plurality of lighting devices in the same area cover the beneficial effects of the embodiment.
  • the lighting device disposed on one side is in some cases.
  • There may be a “blind zone” (explain that the illustration uses an exaggerated scale to illustrate the principle and effect. In actual implementation, the difference between the height of the pole and the height of the vehicle is much larger than the proportion of the drawing, and the actual “dead zone” "It is very small, does not affect the single lamp embodiment to achieve the object of the present invention.”
  • the coverage of the intelligent lighting system is covered by the mutual complement of the road condition information of multiple lighting devices.
  • the lighting device 300 includes: a sensing unit 301 and a communication unit 302. Of course, the lighting device 300 further includes a lighting unit 303.
  • the illumination unit 303 includes, for example, an LED light source, a driving power source, etc., and is not further developed here.
  • the communication unit 302 is connected to the sensing unit 301 for externally transmitting the road condition information data; the communication unit 302 may be a wired or wireless communication module, preferably a wireless communication module, such as a radio frequency module, a WiFi module, Or one or more of the Zigbee modules, etc., thereby transmitting the road condition information data outward.
  • a wireless communication module such as a radio frequency module, a WiFi module, Or one or more of the Zigbee modules, etc.
  • the communication system includes a communication unit 302 provided by each lighting device, and indirectly connects to the smart vehicle through an external communication network (eg, a mobile communication network or other network), or directly connects to the smart vehicle;
  • each of the illumination devices 300 does not necessarily need to be provided with the communication unit 302, but can be communicably connected to each of the communication devices by a communication system composed of one or more communication devices/components other than the illumination device 300.
  • the sensing unit 301 is configured to collect the collected road condition information data.
  • each of the lighting devices 300 may not communicate with each other, and the collected road condition information data is directly transmitted to the intelligent vehicle in the range, compared with other preferred embodiments.
  • the implementation method has high requirements on the processing capability of the intelligent vehicle and the communication device. If the pre-processing is required, the cost of deploying the intelligent lighting system is also high; and preferably, each of the lighting devices 300
  • the sensing network can also be configured as a wireless node, so as to meet the needs of some applications, such as positioning, etc.
  • the communication unit 302 and the external communication network on each lighting device 300 can also be used. The communication connection, the traffic information data is first transmitted to the external communication network, and then transmitted to the intelligent vehicle by the external network.
  • the lighting device comprises a lamp body, or a peripheral device such as a lamp body, a mounting bracket thereof, a pole frame, etc.
  • the sensing unit is disposed on the lighting device, and the sensing unit is structurally and/or electrically connected to the lighting device, for example,
  • the sensor unit body is connected to the lamp body and the bracket, or the sensor unit is installed around the lighting device, and is connected to the lighting device through electrical and network.
  • the setting manners of the functional modules such as the communication device and the pre-processing unit mentioned later may be the same.
  • the preferred embodiment may adopt the installation and combination manner of related devices and modules in the applicant's related application (such as Chinese Patent Application No. 201510960362.X, 201610128737.0, 2016220202236.8, etc.), and the detailed structure implementation manner will not be described herein.
  • the smart vehicle 400 includes an in-vehicle terminal 401 for performing the communication, and the in-vehicle terminal 401 includes a communication module 402 and a processing module 403.
  • the vehicle-mounted terminal may be an on-board computer or a processing chip disposed in the vehicle and capable of providing certain calculation and processing capabilities, or A mobile terminal that can communicate with a car to provide certain computing and processing capabilities.
  • the communication module 402 receives the first road condition data from the intelligent lighting system, and acquires the second road condition data collected by the onboard sensor system 406.
  • the communication module 402 includes: a radio frequency module, a WiFi module, or a Zigbee module and the like as described above, and can directly establish a communication connection with the lighting device 400 to obtain the collected information. Traffic data information.
  • the communication module 402 can also indirectly connect to the lighting device through other networks.
  • the communication module 402 includes only a GPRS module, and it is connected to a service terminal through a mobile internet connection (eg, a mobile network operator's base station or connection)
  • a mobile internet connection eg, a mobile network operator's base station or connection
  • a server of the base station e.g., a mobile network operator's base station or connection
  • the service terminal can be pre-networked to each of the lighting devices to establish the indirect connection.
  • the processing module 403 is connected to the communication module 402, configured to receive and fuse the first road condition data and the second road condition data to form complete road condition data for navigation and/or automatic driving, and according to the road condition information
  • the data generates vehicle control commands for controlling the automatic travel of the vehicle.
  • the processing module 403 may be a computer system, including: a processor (such as a CPU, an MCU, a SOC, etc.) and a memory (RAM, ROM), etc., and the memory is used to store a vehicle control instruction program.
  • the processor is configured to invoke a vehicle control command program from a memory to operate to implement a function; the processing module 403 can fuse the first road condition data and the second road condition data using, for example, a multi-sensor information fusion algorithm.
  • the reference frame coordinates corresponding to the two can be unified, and the coordinates based on the unified map information can be selected.
  • the smart vehicle 400 models the first road condition data according to the map information provided by the satellite positioning system, and then places the first road condition data into the map. Then, the communication system of the intelligent lighting system directly uses the second road condition data. When the transmission is performed, the coordinate information of the illumination device collecting the corresponding data on the same map needs to be correspondingly transmitted. At this time, the smart vehicle 400 can process the second road condition data and put it into the map in the same manner as the first road condition data.
  • the superimposed parts are superimposed and corrected, and the complete road condition information obtained thereby is used for, for example, navigation/automatic driving, and of course, can be transmitted to other devices or the like through communication transmission.
  • the in-vehicle terminal 411 of the smart vehicle 410 includes, in addition to the communication module 412 and the processing module 413, a display module 414 that is coupled to the in-vehicle sensor system 416; the display module 414 includes, for example, a display screen and related display circuit; the processing module 413 is connected to the display module 414, and is further configured to process the road condition information data into a graphic display format, for example, process the road condition information data into 2D or 3D modeling
  • the data is generated by a graphical algorithm for display on the display module 414 to navigate the user, preferably, to audio data, and the navigation information is communicated through the onboard vehicle speaker device.
  • the solution of the embodiment can also be applied to a general vehicle of a non-intelligent vehicle.
  • the vehicle-mounted terminal on the ordinary vehicle can provide a more accurate navigation experience by displaying navigation information corresponding to the complete road condition information data, instead of using the smart vehicle. Limited.
  • the smart vehicle 420 includes: an in-vehicle terminal 421 (including a communication module 422 and a processing module 423), a vehicle power system 424, and a vehicle control system 425, and the in-vehicle terminal 421 communicatively connects the Vehicle power system 424 and vehicle control system 425.
  • the processing module 423 is further configured to generate a vehicle control instruction (principle, for example, as described above) according to the complete road condition data, and send the vehicle to the vehicle.
  • the power system 424 and the vehicle control system 425 are configured to control the automatic driving of the vehicle. Since the vehicle control command is generated based on the complete road condition data, the vehicle control is implemented only according to the onboard sensor system 426 (including GPS) compared to the prior art. In terms of real road conditions, vehicle control is more precise, which greatly improves the safety of autonomous driving.
  • vehicle terminal may be an electronic terminal device fixedly installed on a vehicle, or may be other mobile electronic devices, such as a mobile phone, a tablet computer or a notebook computer carried by a driver. .
  • the processing module of the vehicle terminal needs to perform data analysis and processing, so that To some extent, the data calculation and processing amount of the vehicle terminal processing module is increased.
  • the intelligent lighting system may further include a pre-processing unit for pre-processing the collected road condition information data, which is pre-processed in the pre-processing unit of the intelligent lighting system. Part or all of the calculation and analysis process.
  • the pre-processing includes a definition of a collision boundary and/or a collision volume of a vehicle, a pedestrian or other obstacle on the road, a judgment of a motion state of a pedestrian or other obstacle on the road, a pedestrian on the road, or the like.
  • One or more of the 3D modeling of obstacles is one or more of the 3D modeling of obstacles.
  • the image data collected by the camera correspondingly analyzes the actual volume corresponding to the proportion in the image of the vehicle, defines the boundary around the vehicle, and associates the coordinates corresponding to each boundary, so that the smart vehicle can directly know the Data that has been analyzed and defined.
  • the road condition information collected from different angles by combining different lighting devices can be determined in more detail and comprehensively.
  • the pre-processing step performs 2D or 3D modeling on the road condition information collected by the sensing unit, and associates the coordinate data, so that the smart vehicle can directly put the data into the vehicle according to the on-board sensor and the satellite positioning data. Formed in a digital map.
  • the pre-processing process can also only include part of the steps from the sensor data to the conversion of the data that the processing module of the smart vehicle can directly use, and can also reduce the operation of the processing module in the vehicle-mounted terminal of the smart vehicle. pressure.
  • the allocation of specific steps can be based on the agreement between the intelligent lighting system and the vehicle terminal, which is superior.
  • the step splitting is performed according to the computing power that the intelligent lighting system and the vehicle-mounted terminal can actually allocate.
  • the pre-processing unit may be implemented in the form of a processor module distributed on a plurality of lighting devices in the intelligent lighting system, and each processor module collects road condition data collected by the lighting device in a certain area.
  • the pre-processing unit may also be set in the cloud, and the road condition data collected by the intelligent lighting system is transmitted to the cloud computing through the network and then fed back to the corresponding area. The data transmission to the external (smart vehicle) is performed on the network node of the intelligent lighting system.
  • Pre-processing the first road condition data and then transmitting it to the intelligent vehicle can greatly reduce the calculation and processing capacity of the intelligent vehicle. If there are multiple intelligent vehicles driving on the same road section, this advantage will be more obvious - intelligent lighting The amount of calculation of the system has not increased, and the calculation and processing amount of multiple intelligent vehicles have been alleviated.
  • each lighting device is fixed at a fixed position on the road, and thus the background of the sensing unit is also fixed, such as a camera device, and the road and landscape background within the range is constant or subtle.
  • the pre-processing unit of the intelligent lighting system can be pre-processed by simple comparison with the preset background (empty road surface), which can easily identify the vehicle and the height and horizontal distance between the camera and the road surface. Constant, only need to pre-set the scaling of the image data, the acquisition angle and the coordinate parameters of the lighting device on the map.
  • the information of the vehicle boundary, the distance of the car, the specific lane on the road surface in the first road condition data can be identified by image. And accurately obtained.
  • the above information is built according to the data standard of the intelligent vehicle, so that the preprocessed first road condition data can be directly placed into the road condition simulation model established by the intelligent vehicle.
  • the pre-processing unit fuses the road condition data collected by the plurality of lighting devices, it is only necessary to consider different coordinates of the respective lighting devices on the map. Data overlay processing can be performed on the same map coordinate system.
  • the present invention can also provide a vehicle assisted driving method, which includes:
  • Step S501 The intelligent lighting system sends the collected first road condition data
  • Step S502 The vehicle-mounted terminal located in the vehicle receives the first road condition data, and acquires second road condition data collected by the on-board sensor system;
  • Step S503 The in-vehicle terminal fuses the first road condition data and the second road condition data to form complete road condition data;
  • Step S504 The vehicle-mounted terminal generates a vehicle control command according to the complete road condition data and transmits the vehicle control command to the vehicle power system and the vehicle control system of the vehicle to implement automatic driving; and/or the vehicle-mounted terminal according to the complete road condition data. Generate navigation information and display it.
  • the present invention provides an intelligent lighting system, an intelligent vehicle and a vehicle assisted driving system and method thereof, wherein the intelligent lighting system forms communication with the vehicle to transmit the road condition information data to the vehicle for navigation and/or automatic driving; this invention
  • the technical solution utilizes lighting equipment to collect road condition information data to the vehicle, to make up for the problem of “field of vision blind zone” in the intelligent vehicle sensor system, and greatly improve the navigation accuracy and safety of the intelligent vehicle.
  • the invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

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Abstract

智能照明系统、智能车辆及其车辆辅助驾驶系统和方法，智能照明系统与车辆间形成通信以传输路况信息数据至车辆以用于导航和/或自动驾驶；利用照明设备采集路况信息数据给车辆，弥补智能车辆传感器系统存在"视野盲区"的问题，大大提升智能车辆的导航精确性及安全性。

Description

智能照明系统、智能车辆及其车辆辅助驾驶系统和方法 技术领域
本发明涉及网络技术领域，特别是涉及智能照明系统、智能车辆及其车辆辅助驾驶系统和方法。
背景技术
智能车辆的自动驾驶是近年发展迅速的热门技术领域，其技术涉及车辆的动力系统、传感器系统、控制系统、计算机系统以及外围设备。其主要技术实现手段是通过车辆的传感器系统，对车辆周围的路况信息进行探测，通过计算机系统对该些路况系统进行处理，实现车辆自动或辅助驾驶的功能。其中，路况数据来自于传感器系统、地图和定位信息来自于卫星定位数据，随着传感器技术的发展和计算机运算能力的提升，自动驾驶已经从实验室阶段进入上路实验阶段。但是这样的数据来源和处理方式存在以下问题：
1)依靠车载传感系统对路况数据的采集存在盲区以及视野的局限性：目前的传感单元例如激光测距设备、摄像头设备、车载雷达设备等无法绕过障碍物清楚的感知被遮挡区域的路况数据，这样该些被遮挡的区域内的路况对于车辆计算机系统来说是“视野盲区”；
2)车辆处于运动状态，由于传感器技术的局限性，所采集的数据处理和准确性的保障存在更大的难度，也未有外部的数据供参考修正；
3)卫星定位系统在一些特定情况下，例如隧道内，通信会出现中断或信号不佳的情况，也会对自动驾驶的适用情况产生局限性。
这样对于计算机系统的计算和处理能力是相当大的考验，需要在新数据出现时及时反应，要求计算机系统具备更快的响应时间和运算速度，在现实中的复杂路况的情形下极易出现事故，对智能车辆的安全性是极大的威胁。
发明内容
鉴于以上所述现有技术的缺点，本发明的目的在于提供智能照明系统、智能车辆及其车辆辅助驾驶系统和方法，用于解决现有技术中因车载设备盲点而导致路况判断不精确及易引发危险的问题。
为实现上述目的或其他目的，本发明提供一种照明设备，沿路面设置的多个照明设备，其中，所述照明设备设置有传感单元，用于采集其探测范围内的路况信息数据；通信系统，与各所述传感单元通信连接，用于将采集的路况信息数据提供给智能车辆。
于本发明的一实施例中，所述多个照明设备的探测范围间部分重叠；以及/或者，所述多个照明设备的通信覆盖范围间部分重叠。
于本发明的一实施例中，所述智能照明系统还包括预处理单元，用于将路况信息数据进行预处理后通过所述通信系统发送出去。
于本发明的一实施例中，所述预处理单元包括分布设置于所述通信系统中多个照明设备上的处理模块，所述处理模块对一定区域内的照明设备采集到的路况数据进行预处理。
于本发明的一实施例中，所述预处理单元设置于网络连接所述通信系统的云端。
于本发明的一实施例中，所述预处理的方式包括以下中的一种或多种：对车辆、行人或其它障碍物的碰撞边界和/或碰撞体积的界定；车辆、行人或其它障碍物的运动状态的判断；对车辆、行人或其它障碍物进行的3D建模。
于本发明的一实施例中，所述通信系统包括各照明设备所设有的通信单元，并通过外部通信网络通信连接所述智能车辆，或直接通信连接所述智能车辆。
于本发明的一实施例中，所述通信系统，还通过外部网络通信连接于云端，用于上传所述路况信息数据。
为实现上述目的或其他目的，本发明提供一种用于组建前述道路照明网络的照明设备，包括：照明单元、传感单元以及通信单元；所述传感单元用于采集其探测范围内的路况信息；所述通信单元，用于组成道路照明网络的通信系统，将传感器采集到的路况信息数据对外传送。
为实现上述目的或其他目的，本发明提供一种智能车辆，包括：车辆动力系统、车辆控制系统、车载传感器系统以及车载终端；所述车载终端包括处理模块以及通信模块；所述通信模块，用于接收来自所述智能照明系统的第一路况信息数据及来自所述车载传感器系统的第二路况信息数据；所述处理模块，连接所述通信模块，用于处理所述第一路况信息数据和第二路况信息数据形成完整路况数据，并根据所述完整路况数据生成车辆控制指令并发送至所述车辆的车辆动力系统及车辆控制系统以实现自动驾驶；以及/或者，所述车载终端根据所述完整路况数据生成导航信息并显示。
于本发明的一实施例中，所述车载终端还包括显示模块；所述处理模块，连接于所述显示模块，还用于处理所述路况信息数据为导航信息并通过所述显示模块显示
为实现上述目的或其他目的，本发明提供一种车载终端，包括：通信模块，用于接收来自所述智能照明系统的第一路况信息数据及来自所述车载传感器系统的第二路况信息数据；处理模块，连接所述通信模块，用于处理所述第一路况信息数据和第二路况信息数据形成完 整路况数据，并根据所述完整路况数据生成用于发送至智能车辆的车辆动力系统及车辆控制系统以实现自动驾驶的车辆控制指令；以及/或者，所述车载终端根据所述完整路况数据生成导航信息并显示。
于本发明的一实施例中，所述车载终端还包括显示模块；所述处理模块，连接于所述显示模块，还用于处理所述路况信息数据为导航信息并通过所述显示模块显示。
为实现上述目的或其他目的，本发明提供一种车辆驾驶辅助系统，包括：所述的智能照明系统；所述的智能车辆。
为实现上述目的或其他目的，本发明提供一种车辆驾驶辅助方法，应用于所述的车辆驾驶辅助系统，所述方法包括：所述智能照明系统发送所采集第一路况数据；位于车辆的车载终端接收所述第一路况数据，并获取由所述车载传感器系统采集所得的第二路况数据；所述车载终端融合所述第一路况数据及第二路况数据以形成完整路况数据；所述车载终端根据所述完整路况数据生成车辆控制指令并发送至所述车辆的车辆动力系统及车辆控制系统以实现自动驾驶；以及/或者，所述车载终端根据所述完整路况数据生成导航信息并显示。
于本发明的一实施例中，所述智能照明系统在监测到智能车辆接入网络或驶入通信覆盖区域后，开始对智能车辆前后一定路段范围内的路况信息数据的采集。
于本发明的一实施例中，所述智能照明系统在监测到智能车辆接入网络或驶入通信覆盖区域后，开始对智能车辆前后一定路段范围内的路况信息数据的采集。
于本发明的一实施例中，所述方法包括：所述智能照明系统将路况信息数据进行预处理后通过所述通信系统发送出去。
于本发明的一实施例中，所述预处理的方式包括以下中的一种或多种：对车辆、行人或其它障碍物的碰撞边界和/或碰撞体积的界定；车辆、行人或其它障碍物的运动状态的判断；对车辆、行人或其它障碍物进行的3D建模。
如上所述，本发明提供智能照明系统、智能车辆及其车辆辅助驾驶系统和方法；智能照明系统与车辆间形成通信以传输所述路况信息数据至车辆以用于导航和/或自动驾驶；本发明的技术方案利用照明设备采集路况信息数据给车辆，弥补智能车辆传感器系统存在“视野盲区”的问题，大大提升智能车辆的导航精确性及安全性。
附图说明
图1显示为本发明一实施例中所应用道路场景的示意图。
图2A显示为现有技术中智能车辆在道路场景中探测范围的原理示意图。
图2B至2C显示为本发明在多个道路场景中所起作用的原理示意图。
图3显示为本发明一实施例中的照明设备的结构示意图。
图4A至4C显示为本发明多个实施例中智能车辆的结构示意图。
图5显示为本发明一实施例中车辆辅助驾驶方法的流程示意图。
元件标号说明
100              照明设备
300              照明设备
301              传感单元
302              通信单元
303              照明单元
400、410、420    智能车辆
401、411、421    车载终端
402、412、422    通信模块
403、413、423    处理模块
414              显示模块
424              车辆动力系统
425              车辆控制系统
具体实施方式
以下通过特定的具体实例说明本发明的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其他优点与功效。本发明还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可以基于不同观点与应用，在没有背离本发明的精神下进行各种修饰或改变。需说明的是，在不冲突的情况下，以下实施例及实施例中的特征可以相互组合。
需要说明的是，以下实施例中所提供的图示仅以示意方式说明本发明的基本构想，遂图式中仅显示与本发明中有关的组件而非按照实际实施时的组件数目、形状及尺寸绘制，其实际实施时各组件的型态、数量及比例可为一种随意的改变，且其组件布局型态也可能更为复杂。
如图1所示，显示为本发明一实施例中智能照明系统在道路场景中的原理示意图。本申请的智能照明系统，用于智能车辆的辅助驾驶(导航和自动驾驶)，需要解释的是，此处提 到的导航是指路面实时路况的展示和小范围行车驾驶的指引，自动驾驶包括全自动驾驶(无人驾驶)、半自动驾驶(一定驾驶功能的自动实现)。
所述智能照明系统具体包括以下各部分：沿路面分布的多个照明设备100和通信系统。
所述照明设备100可以是路灯、隧道灯、护栏灯等照明设备，通常分布在道路两侧、中部和隧道顶部或两侧。在该些照明设备100上设置有传感单元。所述传感单元的探测范围覆盖一定的道路区域即如图中虚线圆所示，用于采集其所探测范围内的路况信息数据；所述传感单元包括红外传感器、摄像头、雷达传感器中的一种或多种，路况信息是指道路上行车数量、各车辆的位置、车辆速度、行人位置、障碍物位置等影响行车的路况，通过该些传感单元形成了至少包含其中一种路况信息的图像或数字数据。
为了保证智能照明系统采集到的数据更加全面精确，各个照明设备100的传感单元的探测范围需要完全覆盖道路区域及其两侧，较优的，道路上的部分或全部同一区域有多个照明设备覆盖。所述通信系统用于将采集的路况信息数据提供给智能车辆的计算机系统。这样，能将实时的道路信息数据传送至车辆，使其形成“无盲区”的完整路况数据，并且可以根据该些数据对车载传感器采集到的相同区域的路况数据进行参考修正。
所述通信系统，为各照明设备与外部通信以传输所采集的路况信息数据的各种通信装置或部件的集合，可以是有线通信方式，亦可为无线通信方式。
请参阅图2A至图2C，通过具体场景说明本发明的技术方案应用所产生的技术效果。
如图2A所示，其显示现有技术中的道路场景，智能车辆A由于车辆B的遮挡而无法知晓B右侧区域的路况，即出现“盲区”，故无法知晓车辆C的存在，则在此情况下，若B突然变道至智能车辆A之前，自动驾驶状态下的A未必能来得及反应。
而如图2B所示，显示同样情况下应用本发明的智能照明系统的道路场景，在此场景中，智能车辆A’可以通过智能照明系统中探测范围覆盖所述B’右侧区域的照明设备来获取路况信息数据，从而能探知车辆C’的运动情况，消除了“盲区”，A’能够预先准备，避免出现图2A实施例中的问题。
再如图2C所示，显示同样情况下应用本发明的智能照明系统的道路场景，同一区域有多个照明设备覆盖实施例的有益效果，在此场景中，单侧设置的照明设备在部分情况下可能出现“盲区”(需要说明的是，图示采用了夸大的比例来说明原理和效果，实际实施过程中由于灯杆的高度和车辆高度的差远大于附图比例，实际产生的“盲区”是很小的，不影响单灯实施例实现本申请的发明目的)，而同一区域有多个照明设备覆盖时，通过多个照明设备路况信息的相互补充，智能照明系统中探测范围覆盖了所述B’两侧区域，从而能探知被B’ 遮挡行人C’以及车辆A’的运动情况，消除了“盲区”，只能车辆能够获得远处该些详细的路况数据，从而能够预先准备，避免出现图2C实施例中的问题。
为实现上述技术内容，以下通过多个实施例对本发明中的各个设备实现加以介绍：
如图3所示，显示在一实施例中照明设备300的模块结构示意图，所述照明设备300包括：传感单元301及通信单元302；当然，该照明设备300另外还包括照明单元303，所述照明单元303包含例如LED光源、驱动电源等，此处不作进一步展开。
所述通信单元302，连接所述传感单元301，用于对外发送所述路况信息数据；所述通信单元302可以是有线或无线通讯模块，优选为无线通讯模块，例如射频模块、WiFi模块、或Zigbee模块等中的一或多者，从而将所述路况信息数据向外发送。
在一实施例中，所述通信系统包括各照明设备所设有的通信单元302，并通过外部通信网络(例如移动通信网络或其它网络)通信来间接连接智能车辆，或直接通信连接智能车辆；当然，在其它实施例中，各所述照明设备300未必需要设置通信单元302，而可通过照明设备300以外的由一或多个通信设备/部件所组成的通信系统而通信连接于各所述传感单元301，以实现对所采集路况信息数据的收集。
需说明的是，在本实施例中，各所述照明设备300间可以是不相互通信的，直接将采集到的路况信息数据传送至范围内的智能车辆上，与其它较优的实施例比较起来，该实施方式对智能车辆的处理能力和通信设备具有较高的要求，如需要进行预处理的话，对智能照明系统布设的成本也较高；；而优选的，各所述照明设备300之间亦可作为无线节点而组建传感网络，从而可满足一些应用的需求，例如定位等；在本申请的另一实施例中，也可以是各照明设备300上的通信单元302和外部通信网络通信连接，路况信息数据先传输到外部通信网络，再由外部网络传输到智能车辆。具体的，照明设备包括灯具本体，或者灯具本体及其安装支架、杆架等外围设备，照明设备上设置传感单元可以是传感单元在结构和/或电气上与照明设备相连接，比如将传感器单元本体连接在灯具本体和支架上、或将传感器单元安装在照明设备周边，通过电气和网络连接至照明设备，后续提到的通信装置、预处理单元等功能模块的设置方式可以与其相同。较优的实施方式可以采用申请人关联申请(如中国专利申请号201510960362.X、201610128737.0、2016220202236.8等)中的相关设备和模块的安装结合方式，在此不再赘述详细结构的实现方式。
如图4A所示，为实现上述方案，在一实施例中，所述智能车辆400包括：用于进行所述通信的车载终端401，所述车载终端401包括：通信模块402及处理模块403。具体的，所述车载终端可以是设置于车辆内的能够提供一定计算和处理能力的车载电脑、处理芯片，或 者可与汽车通信连接的能够提供一定计算和处理能力的移动终端。
所述通信模块402，从所述智能照明系统接收第一路况数据，并获取由所述车载传感器系统406采集所得的第二路况数据。于本发明的一实施例中，所述通信模块402，包括：如前所述的射频模块、WiFi模块、或Zigbee模块等，能与所述照明设备400间直接建立通信连接从而获取其所采集的路况数据信息。
所述通信模块402亦可通过其它网络而间接连接所述照明设备，例如，所述通信模块402仅包括GPRS模块，而其通过移动互联网络连接到服务终端(例如移动网络运营商的基站或连接基站的服务器)，而该服务终端可预先网络连接至各所述照明设备，从而建立所述间接连接。
所述处理模块403，连接所述通信模块402，用于接收并融合所述第一路况数据及第二路况数据以形成完整路况数据以用于导航和/或自动驾驶，并根据所述路况信息数据生成用于控制车辆自动行驶的车辆控制指令。于本发明的一实施例中，所述处理模块403可以是计算机系统，包括：处理器(如CPU、MCU、SOC等)及存储器(RAM、ROM)等，存储器用于存储车辆控制指令程序，所述处理器用于从存储器调用车辆控制指令程序，以运行来实现功能；所述处理模块403可利用例如多传感器信息融合算法来融合所述第一路况数据及第二路况数据。
关于在第一路况数据和第二路况数据的融合处理，举例来说，可将两者对应的参考系坐标进行统一，可以选择采用基于统一地图信息的坐标。例如在现有技术中，智能车辆400根据卫星定位系统提供的地图信息，将第一路况数据进行建模后置入地图内，那么，所述智能照明系统的通信系统在将第二路况数据直接进行传输时需要将采集对应数据的照明设备在同一地图上的坐标信息一并对应传输，此时智能车辆400能够采用处理第一路况数据相同的方式对第二路况数据进行处理并置入地图内，对于重合的部分予以叠加和修正，据此得到的完整路况信息，进而加以利用进行例如导航/自动驾驶，当然亦可通过通信传输而发送给其它设备等。
如图4B所示，所述智能车辆410的车载终端411，除了通信模块412和处理模块413外，还包括显示模块414，所述车载终端411连接车载传感器系统416；所述显示模块414包括例如：显示屏及相关显示电路；所述处理模块413，连接于所述显示模块414，还用于处理所述路况信息数据为图形显示格式，例如将所述路况信息数据处理为2D或3D建模数据，通过图形的算法生成图像，从而显示于所述显示模块414以对用户进行导航，优选的，还可转换为音频数据，通过车载的扬声器设备将导航信息进行传达。
本实施例的方案，亦可应用于非智能车辆的普通车辆，普通车辆上的车载终端可通过显示对应该完整路况信息数据的导航信息，从而提供给用户更加准确的导航体验，并非以智能车辆为限。
如图4C所示，在本实施例中，智能车辆420包括：车载终端421(包括通信模块422和处理模块423)、车辆动力系统424、及车辆控制系统425，所述车载终端421通信连接该车辆动力系统424及车辆控制系统425。
在本实施例中的车载终端421与前述实施例中的差异在于，所述处理模块423还用于根据所述完整路况数据生成车辆控制指令(原理例如前文所述)，并发送至所述车辆动力系统424及车辆控制系统425，以实现控制车辆自动驾驶，由于该车辆控制指令是基于完整路况数据而生成，相较于现有技术的仅根据车载传感器系统426(包括GPS)而实现车辆控制来讲，更加接近真实道路情况，车辆控制亦更为精准，大大提升自动驾驶的安全性。
需说明的是，本发明所称的“车载终端”，可以是固定设置于车上的电子终端设备，亦可为其它移动电子设备，例如行车人员携带的手机、平板电脑或笔记本电脑等皆可。
需说明的是，由于传感单元采集到的数据还不能直接运用在智能车辆的导航和自动驾驶中，故在上述实施例中，需要通过车载终端的处理模块进行数据的分析和处理，这样在一定程度上增加了车载终端处理模块的数据计算和处理量。
因此，在本申请的一个较优的实施例中，所述智能照明系统还可包括预处理单元，用于对采集到的路况信息数据进行预处理，预先在智能照明系统的预处理单元中进行部分或全部的计算和分析过程。具体的，所述预处理包括对道路上车辆、行人或其它障碍物的碰撞边界和/或碰撞体积的界定、道路上车辆行人或其它障碍物的运动状态的判断、对道路上车辆行人或其它障碍物的3D建模中的一种或多种。例如，通过摄像头采集到的图像数据对应分析出车辆的图像中的比例对应的实际体积，对于车辆四周的边界进行界定，并将各边界对应的坐标进行数据关联，这样智能车辆能够直接知悉该些已经被分析界定的数据。对于同一区域有多个照明设备覆盖的情况下(比如道路两侧)，通过结合不同照明设备从不同角度采集到的路况信息，能更加详细和全面的确定。
在另一实施例中，所述预处理步骤将传感单元采集的路况信息进行2D或3D建模，关联坐标数据，这样智能车辆能够直接将该些数据置入其根据车载传感器和卫星定位数据形成的数字地图中。可以理解的是，所述预处理过程也可以只包括从传感器数据到智能车辆的处理模块能够直接运用的数据的转换的步骤中的部分步骤，同样能够减轻智能车辆的车载终端中处理模块的运算压力。具体步骤的分配可以根据智能照明系统与车载终端的协议分配，较优 的实施例中根据智能照明系统与车载终端实际能分配的计算能力进行步骤拆分。
于一实施例中，所述预处理单元可以采用分布设置于智能照明系统中多个照明设备上的处理器模块的形式实现，每个处理器模块对一定区域内的照明设备采集到的路况数据进行预处理(各自处理和/或融合处理)；于另外的实施例中，也可以将预处理单元设置于云端，智能照明系统采集到的路况数据通过网络传输至云端计算后再反馈至对应区域的智能照明系统的网络节点上进行对外部(智能车辆)的数据传输。
对第一路况数据进行预处理后再传输给智能车辆能极大的减轻智能车辆的运算和处理量，如果在同一路段有多辆智能车辆行驶，这一优势将更加明显的体现——智能照明系统的计算量没有增加，而多辆智能车辆的运算和处理量都被减轻了。
进一步的，对于智能照明系统来说，每个照明设备是固定在道路上固定位置的，因而其传感单元的背景也是固定，例如摄像头设备，其范围内的道路和景观背景是不变或细微变化的，智能照明系统的预处理单元对其进行预处理过程，可以通过简单的与预设背景(空旷路面)进行比对，能很容易的识别出车辆，而摄像头与路面的高度和水平距离恒定，只需预先设定好图像数据的缩放比例、采集角度以及照明设备在地图上的坐标参数，第一路况数据中的车辆边界、车距、在路面的具体车道等信息即可通过图像识别而精确获得。
进一步，将上述信息按智能车辆的数据标准进行模拟模型的建立，这样，经过预处理的第一路况数据能够直接置入智能车辆建立的路况模拟模型中。同样的，对于有多个照明设备覆盖道路上的同一区域的情况下，预处理单元对多个照明设备采集到的路况数据进行融合处理时，也只需考虑各个照明设备位于地图上的不同坐标即可在同一地图坐标系上进行数据叠加处理。
如图5所示，基于上述实施例，本发明还能提供车辆辅助驾驶方法，其包括：
步骤S501：所述智能照明系统发送所采集的第一路况数据；
步骤S502：位于车辆的车载终端接收所述第一路况数据，并获取由所述车载传感器系统采集所得的第二路况数据；
步骤S503：所述车载终端融合所述第一路况数据及第二路况数据以形成完整路况数据；
步骤S504：所述车载终端根据所述完整路况数据生成车辆控制指令并发送至所述车辆的车辆动力系统及车辆控制系统以实现自动驾驶；以及/或者，所述车载终端根据所述完整路况数据生成导航信息并显示。
综上所述，本发明提供智能照明系统、智能车辆及其车辆辅助驾驶系统和方法，智能照明系统与车辆间形成通信以传输所述路况信息数据至车辆以用于导航和/或自动驾驶；本发明 的技术方案利用照明设备采集路况信息数据给车辆，弥补智能车辆传感器系统存在“视野盲区”的问题，大大提升智能车辆的导航精确性及安全性。
本发明有效克服了现有技术中的种种缺点而具高度产业利用价值。
上述实施例仅例示性说明本发明的原理及其功效，而非用于限制本发明。任何熟悉此技术的人士皆可在不违背本发明的精神及范畴下，对上述实施例进行修饰或改变。因此，举凡所属技术领域中具有通常知识者在未脱离本发明所揭示的精神与技术思想下所完成的一切等效修饰或改变，仍应由本发明的权利要求所涵盖。

Claims (19)

  1. 一种智能照明系统，其特征在于，包括：
    沿路面设置的多个照明设备，其中，所述照明设备设置有传感单元，用于采集其探测范围内的路况信息数据；
    通信系统，与所述传感单元通信连接，用于将采集的路况信息数据提供给车辆。
  2. 根据权利要求1所述的智能照明系统，其特征在于，所述多个照明设备的探测范围间部分重叠；以及/或者，所述多个照明设备的通信覆盖范围间部分重叠。
  3. 根据权利要求1所述的智能照明系统，其特征在于，还包括预处理单元，用于将路况信息数据进行预处理。
  4. 根据权利要求3所述的智能照明系统，其特征在于，所述预处理单元包括设置于照明设备上的处理模块，所述处理模块对传感单元在一定区域内采集到的路况数据进行预处理。
  5. 根据权利要求3所述的智能照明系统，其特征在于，所述预处理单元设置于网络连接所述通信系统的云端。
  6. 根据权利要求3至5中任一项所述的智能照明系统，其特征在于，所述预处理的方式包括以下中的一种或多种：对车辆、行人或其它障碍物的碰撞边界和/或碰撞体积的界定；车辆、行人或其它障碍物的运动状态的判断；对车辆、行人或其它障碍物进行的3D建模。
  7. 根据权利要求1所述的智能照明系统，其特征在于，所述通信系统包括各照明设备所设有的通信单元，并通过外部通信网络通信连接所述车辆，或直接通信连接所述车辆。
  8. 根据权利要求1所述的智能照明系统，其特征在于，所述通信系统，还通过外部网络通信连接于云端，用于上传所述路况信息数据。
  9. 一种照明设备，其特征在于，用于组建智能照明系统，所述照明设备包括：照明单元、传感单元以及通信单元；
    所述传感单元，用于采集其探测范围内的路况信息；
    所述通信单元，用于组成道路照明网络的通信系统，将传感器采集到的路况信息数据对外传送，直接或通过外部网络提供给车辆。
  10. 一种车辆，其特征在于，包括：处理模块以及通信模块；
    所述通信模块，用于接收来自智能照明系统的第一路况信息数据及来自车载传感器系统的第二路况信息数据，所述智能照明系统沿道路设置，用于采集并传输道路路况数据；
    所述处理模块，连接所述通信模块，用于处理所述第一路况信息数据和第二路况信息数据形成完整路况数据，并根据所述完整路况数据生成车辆控制指令；以及/或者，将所 述完整路况数据生成导航信息供车辆显示。
  11. 根据权利要求10所述的车辆，其特征在于，包括车载终端，所述车载终端包括所述处理模块以及所述通信模块。
  12. 根据权利要求11所述的车辆，其特征在于，所述车载终端还包括显示模块；所述处理模块，连接于所述显示模块，还用于处理所述路况信息数据为导航信息并通过所述显示模块显示。
  13. 一种车载终端，其特征在于，包括：
    通信模块，用于接收来自所述智能照明系统的第一路况信息数据及来自所述车载传感器系统的第二路况信息数据；
    处理模块，连接所述通信模块，用于处理所述第一路况信息数据和第二路况信息数据形成完整路况数据，并根据所述完整路况数据生成车辆控制指令；以及/或者，所述车载终端根据所述完整路况数据生成导航信息并显示。
  14. 根据权利要求13所述的车载终端，其特征在于，所述车载终端还包括显示模块；所述处理模块，连接于所述显示模块，还用于处理所述路况信息数据为导航信息并通过所述显示模块显示。
  15. 一种车辆驾驶辅助系统，其特征在于，包括：
    如权利要求1～8中任一项所述的智能照明系统；
    如权利要求10～12所述的车辆或权利要求13或14的车载终端。
  16. 一种车辆驾驶辅助方法，其特征在于，所述方法包括：
    沿道路设置用于采集并传输道路路况数据的智能照明系统发送所采集第一路况数据；
    位于车辆的车载终端接收所述第一路况数据，并获取由车载传感器系统采集所得的第二路况数据；
    所述车载终端融合所述第一路况数据及第二路况数据以形成完整路况数据；
    所述车载终端根据所述完整路况数据生成车辆控制指令并发送至所述车辆；以及/或者，所述车载终端根据所述完整路况数据生成导航信息并显示。
  17. 根据权利要求16所述的车辆驾驶辅助方法，其特征在于，所述智能照明系统在监测到车辆接入网络或驶入通信覆盖区域后，开始对车辆前后一定路段范围内的路况信息数据的采集。
  18. 根据权利要求16所述的车辆驾驶辅助方法，其特征在于，包括：所述智能照明系统将路况信息数据进行预处理后通过所述通信系统发送出去。
  19. 根据权利要求18所述的车辆驾驶辅助方法，其特征在于，所述预处理的方式包括以下中 的一种或多种：对车辆、行人或其它障碍物的碰撞边界和/或碰撞体积的界定；车辆、行人或其它障碍物的运动状态的判断；对车辆、行人或其它障碍物进行的3D建模。
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