基于光学多传感器场景信息的视觉辅助驾驶技术

Vision assisted driving technology based on optical multi-sensor scene information

为满足坦克、装甲车辆等军用车辆的闭舱、无窗驾驶需求,研制了一套新型辅助驾驶系统。系统将分布于车辆四周的多路光学传感器获取车辆近身场景,通过全景拼接算法得到车辆近身360°的全景鸟瞰视频,该视频显示于车载显示屏,用于车辆通过窄道、有障碍物等特殊路段,或倒车时,驾驶员观看。同时,在车辆通过常规路段时,上述视频可根据驾驶员头部扭转角度,裁选出符合人眼观察视角的车外场景视频,传输至驾驶员显示头盔上,供驾驶员观看。如遇特殊情况,车载显示屏会报警,驾驶员将回归车载显示屏的观看。其中,驾驶员头部位置确定方法采用了红外LED光源图像定位技术和MEMS惯性器件定位技术。在实验室,搭建模型小车,验证全景鸟瞰视频生成技术和头盔自由视点观察技术。此外,还使用真实车辆进行了跑车实验。实验结果表明,上述系统可满足闭舱无窗车辆在常规路况下行驶,速度可达40 km/h,同时可辅助车辆窄道行车、障碍物绕行和倒车等事项顺利进行。

In order to meet the needs of closed cabin and windowless driving of military vehicles such as tanks and armored vehicles, a new assisted driving system was developed. The scene around the vehicle was obtained through a multi-path optical sensors and the 360° panoramic view video of the vehicle body was obtained through the panoramic splicing algorithm. The panoramic video was displayed on the on-board display screen to assist the driver to watch the vehicle when driving in a narrow roads, an obstacles and the other special sections, or when reversing. When the vehicle driving in a standard road, the video can also provide a scene video around the vehicle according to the driver’s head torsion angle, and transmit it to the driver’s display helmet for the driver to use. In case of a special circumstances, the on-board display will give an alarm to driver. The driver’s head position determination method used the infrared LED light source image positioning technology and the MEMS inertial device positioning technology. The vehicle modeling in the laboratory can verify the panoramic view video generation technology and the helmet free-viewpoint-observation technology. In addition, the driving experiments were carried out with a real vehicle. The experimental results show that this system can meet the requirements of vehicles with closed cabin and windowless driving with a standard road conditions, a speed of40 km/h. It can assist in driving with a special situations such as narrow roads, obstacle detour and reversing.