CN100429101C - Safety monitoring system for running car and monitoring method - Google Patents
Safety monitoring system for running car and monitoring method Download PDFInfo
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- CN100429101C CN100429101C CNB2005101167154A CN200510116715A CN100429101C CN 100429101 C CN100429101 C CN 100429101C CN B2005101167154 A CNB2005101167154 A CN B2005101167154A CN 200510116715 A CN200510116715 A CN 200510116715A CN 100429101 C CN100429101 C CN 100429101C
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Abstract
The present invention relates to a safety monitoring system for running a car and a monitoring method. The safety monitoring system comprises a car-mounted digital image information acquiring unit and a car-mounted embedded computer platform, wherein the car-mounted embedded computer platform is provided with a system image treatment and decision controlling unit, the car-mounted digital image information acquiring unit uses a digital code pick-up device arranged in the car-mounted digital image information acquiring unit to acquire the image of a real scene around a car and generate pretreatment digital image information sent to the system image treatment and decision controlling unit, and the pretreatment digital image information is analyzed by the system image treatment and decision controlling unit to generate the signals of a threat kind and a threat level; when the signals of the threat kind and the threat level arrive at the warning standard, a warning command is transmitted to a sound and light warning device connected to a bus line so that the sound and light warning device warns. The safety monitoring system can remind drivers to pay attention to the existing threat so as to greatly provide running safety.
Description
Technical field
The present invention relates to a kind of ride safety of automobile monitored control system and method for supervising.
Background technology
The universal increase of people's activities radius, the quickening of productive life rhythm, the office efficiency of making of automobile improves, improved people's quality of life, now enter ordinary people's family just more and more, and become the important transport facility that people produce, sphere of life is done without even for a moment out.But, continuous increase along with automobile pollution, when we see that automobile is when bringing huge interests to the mankind, also to see because road is crowded, the automotive technology performance is incomplete, add the driver " overload driving, fatigue driving, driving a car under the influence of alcohol; exceed the speed limit, scramble for roads, long-time road occupying travels " etc., or the pernicious traffic accidents such as " overturning, car to car impact, car are thrusted into " that reason caused such as still do not enhance your vigilance under to road conditions, the unfamiliar situation of landform happens occasionally, and led to many human world tragedy really.The data that US Department of Transportation provides shows: about 23% is caused by rear-end collision in the self-propelled vehicle collision accident that the U.S. takes place; Daimler-chrysler motor manufacturing company adds up the traffic accident that 50000 heavy duty trucks more than 8 tons take place, and wherein has 48469 to be not cause due to the automobile run-off-road because chaufeur energy is not concentrated.Automobile departs from after the moving traffic lane of oneself, may knock into the back, Che-the Che side is hit, scratch, also may hurt sb.'s feelings or take place roll-over accident, thereby how prevent that automobile from departing from normal row track, long-time road occupying, scrambling for roads and drive over the speed limit, and must cause people's great attention.In order to reduce the loss of knocking into the back and causing, guarantee the safety of vehicle, people have installed bumper/spoiler in the front and back of car, have reduced the loss of self to a certain extent, but this method is passive, can't initiatively avoid knocking into the back; Along with development of electronic technology, the someone has invented reversing alarm device etc. in recent years, but this device generally be used in meeting, when parking, can not effectively solve problem such as knock into the back, side is hit in general, as for can prevent the technology that Che-Che bumps against, people-Che bumps against, Che-Che side impact/side is scraped not see as yet so far comprehensively.
Summary of the invention
Defective at prior art, purpose of the present invention just provides a kind of ride safety of automobile monitored control system and method for supervising, and this system and method can be when the vehicle that travels departs from the moving traffic lane of oneself for a long time or traffic accident dangerous exist to be taken place, send alarm, so that remind chaufeur.
In order to realize purpose of the present invention, the present invention adopts following technical scheme:
A kind of ride safety of automobile monitored control system, comprise vehicle-mounted digital image information acquisition unit and vehicle-mounted embedded type computer platform, and the sound and light alarm device that joins by bus and described vehicle-mounted embedded type computer platform, described vehicle-mounted embedded type computer platform is provided with system's image processing and Decision Control unit, described vehicle-mounted digital image information acquisition unit is obtained the real scene image of vehicle periphery by its built-in digital camera, and generation pretreatment digital image information is given described system image processing and Decision Control unit, described system image processing and Decision Control unit carry out analyzing and processing to described pretreatment data image signal, generate threat category and threat level signal, when threat category and threat level arrival alarm standard, send alarm command to described sound and light alarm device, alarm.
The bus of described vehicle-mounted embedded type computer unit can be connected with Vehicular display device, after described system image processing and Decision Control unit receive described pretreatment digital image information, generates the vector digital image information and is sent to described Vehicular display device demonstration.
The bus of described vehicle-mounted embedded type computer unit can connect one or more ECU (Electrical Control Unit) of vehicle self, described system image processing and Decision Control unit are judged the threat category and the level signal of its generation, when threat category and threat level arrival urgent danger prevention automatic guidance standard, send the instruction of urgent danger prevention automatic guidance to the corresponding ECU (Electrical Control Unit) of vehicle, move with control vehicle.
The bus of described vehicle-mounted embedded type computer unit can be connected with the mobile digital communicator, described system image processing and Decision Control unit are judged the threat category and the level signal of its generation, when threat category and threat level arrive when promptly requiring assistance standard, send the instruction of promptly requiring assistance to described mobile digital communicator, start described mobile digital communicator and send urgent Call for assistance according to the mode of subscribing.
Described vehicle-mounted digital image information acquisition unit can be by some digital cameras, buffer circuit, the digital image pre-processing module is formed, described some digital cameras can comprise a High Performance autozoom DV and several digital cameras, described High Performance autozoom DV and digital camera head generally all should have the sunscreen protection cover, wherein said High Performance autozoom DV is positioned in the positive front end of automobile by quakeproof bracket, digital camera head is then by the front both sides of quakeproof bracket stationary distribution at automobile, side and back, described digital image pre-processing module mainly is made up of the digital signal processing chip that is provided with the image pre-processing module, be used to carry out image distortion correction, the smothing filtering noise reduction process, figure image intensifying and sharpening are handled, the edge detects to be handled, with the various interference of effective filtering, reduce image fault, original image signal by autozoom DV and the first-class digital camera generation of digital vedio recording, deliver to the signal of described digital signal processing chip handles by buffer circuit, generate the high-fidelity digital view data, further processing is done in system's image processing and the Decision Control unit of sending into the vehicle-mounted embedded type computer platform by CAN/LIN bus and serial ports RS-232 then.
Described system image processing and Decision Control unit can comprise the video image main processing block, the image display control module, threaten the processed module, system decision-making control module, described video image main processing block returns the vehicle to the garage and knock off by bus interface and carries the pretreatment digital image information of digital image information acquiring unit output, handle the back and generate described vector digital image, and this vector digital image information given the image display control module respectively and threaten the processed module, so that carrying out image demonstration and threat category and threat level judges, threaten the processed module from the vector digital image, to extract threat category and threat level information, and this information one road delivered to the impend demonstration of kind and threat level of described Vehicular display device, one the road delivers to described system decision-making control module handles, described system decision-making control module compares described threat category and threat level data with default threat processing scheme data of database, generate and this threat category and the corresponding described alarm of threat level, the urgent danger prevention automatic guidance and the instruction of promptly requiring assistance.
Described image display control module is provided with based on the Vehicular display device subregion control program of pixel and screen size relation and image display control program.Under the support of described Vehicular display device subregion control program, Vehicular display device is divided into main display space, threatens parameter display area, car icon display space and touch keyboard display space; Under the support of described image display control program, to discerning from video image main processing block and the output data information that threatens the processed module and classifying, the apparent district of master that vector digital image data behind the discriminator is delivered to Vehicular display device carries out the image demonstration, to threaten the priority attribute supplemental characteristic to deliver to and threaten parameter display area to carry out the form demonstration, or shown image be carried out stepless zooming, translation, rolling, arbitrarily angled rotation and/or dynamically updates processing according to the man machine communication order.
Native system can also be provided with the man machine communication device, and described man machine communication device intercoms mutually with described vehicle-mounted embedded type computer platform, to described vehicle-mounted embedded type computer platform input manual command.As a preferred embodiment, described man machine communication device can be made up of one group of software soft-touch control, and these software soft-touch controls and described Vehicular display device become one, and forms the combination of a Vehicular display device and man machine communication device.Described man machine communication device also can adopt other touch-screens or keyboard etc.
A kind of method for supervising of ride safety of automobile monitored control system, this method comprise following several key step:
(1) the vehicle-mounted digital camera with system obtains the real scene image of vehicle periphery road etc. and carries out pretreatment, draws the high-fidelity digital image of vehicle periphery outdoor scene;
(2) the outdoor scene high-fidelity digital of vehicle periphery is led processing, draw this car vector digital image on every side;
(3) extract lane mark, the relative position information of target such as other vehicles or obstacle and this car on every side the vector data image around described the car, with this car edge from every side targeted species and apart from the target image edge be criterion apart from size, present safety provides kind and descriptive grade to this car;
(4) under situation about occur threatening, according to threat category and threat level alarm accordingly, urgent hedging automatically control and/or promptly require assistance.
The detailed process of described step (1) mainly is:
(1.1) adopt vehicle-mounted digital camera to obtain the primary image that this car comprises the object scene of lane line, front and back vehicle and other operation signs on every side;
(1.2) primary image of object scene is handled, comprise that image distortion correction, smothing filtering noise reduction process, figure image intensifying and sharpening processing, edge detect processing etc., with the various interference of effective filtering, reduce image fault, draw the high-fidelity digital image of vehicle periphery outdoor scene.
The detailed process of described step (3) mainly is:
(3.1) from the vector digital image of vehicle periphery target, extract and calculate lane mark, the edge of target such as other vehicles or obstacle and the distance between this car edge on every side, and as criterion, threat category and the threat level present to this car provide quantitative description;
(3.2) the default threat processing scheme data bank of contrast, judgement is under present residing threat category of this car and threat level, whether need to alarm, urgent danger prevention automatic guidance and/or promptly require assistance, as needs, send corresponding instruction, the control corresponding device thereof is done corresponding action, and wherein said alarm, urgent danger prevention automatic guidance and the employing following manner of promptly requiring assistance are carried out:
(a) send threat category and threat level idsplay order to Vehicular display device, demonstrate threat category and threat level information by Vehicular display device;
(b) send the instruction of urgent danger prevention automatic guidance to the corresponding ECU (Electrical Control Unit) of vehicle self, do corresponding urgent danger prevention action by the ECU (Electrical Control Unit) control vehicle;
(c) send the instruction of promptly requiring assistance to the mobile digital communicator, start the mobile digital communicator and send urgent Call for assistance to extraneous (for example, public safety traffic management center) according to default mode.
Because the present invention can be by the automatic processing of system, at the moving traffic lane that departs from oneself for a long time or close under the situation by other vehicles or obstacle, can alarm automatically, and threat is presented on the telltale, chaufeur is averted danger, avoid effectively neglecting the accident that causes, can also carry out urgent danger prevention by the automatic guidance vehicle where necessary simultaneously because of chaufeur, and send urgent Call for assistance automatically, the possibility that accident occurs is even lower.
Description of drawings
Fig. 1 is the rough schematic view of an embodiment of system of the present invention;
Fig. 2 is the scheme drawing of another embodiment of system of the present invention;
Fig. 3 is the scheme drawing of a kind of installation site of system of the present invention digital camera;
Fig. 4 is the composition block scheme of system of the present invention image processing and Decision Control unit;
Fig. 5 threatens the calculating scheme drawing of differentiating parameter under dynamic coordinate system;
Fig. 6 is the process detail flowchart that system formulates control decision.
The specific embodiment
Referring to Fig. 1 and Fig. 2, described vehicle-mounted digital image information acquisition unit 1 comprises the digital camera that it is built-in, described digital camera obtains the real scene image of vehicle periphery, behind pretreatment, give described system image processing and Decision Control unit 5 is handled by bus, therefrom extract on every side target (lane mark for example, restriction such as other vehicles or obstacle on every side or hinder the target of vehicle ') with the relative position information of this car, and the suffered threat level of this car is judged as criterion, then make control decision in view of the above, send corresponding instruction, give described Vehicular display device 3 with the result of decision (instruction or information) by control bus respectively by described vehicle-mounted embedded type computer platform 2, sound and light alarm device 6, ECU (Electrical Control Unit) 7 or vehicle-mounted digital mobile communications device 8, or the grade that impends shows, or send audible and visual alarm, or change car behaviour rapidly by one group of ECU (Electrical Control Unit), so that make this car hightail the dangerous area; When needing, described system decision-making control module will be sent the information of making a request for help to the traffic control center by vehicle-mounted embedded type computer platform direct control vehicle-mounted digital mobile communications device.
Referring to Fig. 3, described DV autozoom DV and the distribution mode of digital camera head on automobile should guarantee to obtain this car complete image on every side, embodiment shown in Figure 2 is provided with a High Performance autozoom DV, be installed in the positive front end of vehicle, this is the main direction that influences vehicle ' (or dangerous source), 5 digital camera heads with low cost 1.2,1.3,1.4,1.5 and 1.6 be distributed in car around.
Owing to security monitoring carried out in driving needed information support, consider that graphicinformation obtains easily, and low cost, so the present invention with the image of road as information generator.Preferably, described vehicle-mounted digital image information acquisition unit 1 can be located module in advance by High Performance autozoom DV, some digital camera heads, buffer circuit, a data image signal and constitute, and autozoom DV and digital camera head all have the sunscreen protection cover; The autozoom DV is positioned in the front end of automobile by quakeproof bracket, and digital camera head is fixed on front, side and the back of automobile respectively then by quakeproof bracket; The digital image pre-processing module is by the special digital signal processing chip, this chip is provided with set of diagrams as pre-processing module software, be used to carry out processing such as image distortion correction, smothing filtering noise reduction process, figure image intensifying and sharpening processing, edge detection processing, its effect is the various interference of effective filtering, reduce image fault, so that provide more accurate, failure-free foundation for security monitoring.
The original image signal of sending here by autozoom DV and the first-class digital camera of digital vedio recording, deliver to the signal input part of described digital signal processing chip by buffer circuit, transferring to described digital image pre-processing module handles, to draw the high-fidelity digital view data, the video image main processing block of giving the vehicle-mounted embedded type computer platform by control bus CAN/LIN and serial ports RS-232 is done further processing then.Incidentally, original image is carried out pretreatment to be very important, this be because, though with the image is that information generator is simple, cheap, but because the position of camera and target relation is easily brought distortion, thermal noise, light pollution and other interference, these factors are very serious sometimes, thereby must remove these useless and even destructive information earlier, and why Here it is will carry out pretreated reason earlier.
Referring to Fig. 4, in system's image processing and Decision Control unit, digital signal processing chip 5 is subjected to the co-operative control of system works coordination service software, comprise video image main processing block 5.1, image display control module 5.2, threaten processed module 5.3, system decision-making control module 5.4, described video image main processing block 5.1 returns the vehicle to the garage and knock off by bus interface and carries the pretreatment image information of digital image information acquiring unit 1 output, after the wherethrough reason draws this car vector digital image on every side, give image display control module 5.2 respectively and threaten processed module 5.3 to carry out the determination processing of image demonstration and threat category and threat level, after threatening processed module 5.3 from the vector digital image, to extract threat level information, one the tunnel send Vehicular display device 3 grade that impends to show, one the tunnel gives described system decision-making control module 5.4 handles, and make the control decision of system according to threat level, send corresponding instruction.
The process that decision-making realizes is: by the control information of vehicle-mounted embedded type computer platform 1 with 5.4 outputs of system decision-making control module, give described Vehicular display device 3, sound and light alarm device 6, ECU (Electrical Control Unit) 7 or vehicle-mounted digital mobile communications device that each is relevant by control bus, or the grade that impends shows or sends audible and visual alarm, or change car behaviour rapidly by one group of ECU (Electrical Control Unit) (make control mechanical device brake, change travel direction and road speed), so that make this car hightail the dangerous area.When needing, system decision-making control module 5.4 will be sent the information of making a request for help to the traffic control center by vehicle-mounted embedded type computer platform 1 direct control vehicle-mounted digital mobile communications device 8.
The mode that described Vehicular display device 3 adopts subregion to show shows different contents, helps like this observing.Described Vehicular display device subregion comprises the main district that shows, threat level attribute and threat icon display area, car icon display space and touch keyboard display space, the main vector digital image that shows the district with background medium demonstration road, threat level attribute and threat icon display area show threat level property parameters (threat category and threat level etc.) with the form stacked system, the car icon display space is presented at (the main district's bottom center that shows) on the background images to car icon to add lustre stacked system, the touch keyboard display space is integrated with touch-screen, in order to carry out man machine communication, like this with the quantity that can reduce Vehicular display device.As one preferred embodiment, the main district that shows is positioned at the right-hand of Vehicular display device, area accounts for 2/3 of full screen, threaten parameter display area to be positioned at the upper left corner of Vehicular display device, area accounts for 1/6 of full screen, and the car icon display space is positioned at main showing within the district, and its area size is decided by icon, the touch keyboard display space is positioned at the lower right corner of Vehicular display device, and area accounts for 1/6 of full screen.
The demonstration of image is mainly finished by image display control module 5.2, and it is provided with an image based on pixel and screen size relation structure and shows the control specific program, is used for to the Vehicular display device subregion with to the image display control processing program.Its embodiment is, at first set up displaing coordinate system, promptly the upper left corner with the Vehicular display device screen is the origin of coordinates, according to the screen size of Vehicular display device, with the corresponding relation of pixel and screen size, draw the full width of cloth and show the due number of picture elements of required number of picture elements and every row/be listed as; Screen is windowed at diverse location according to afore mentioned rules then, and the described display space of difference called after.The so-called demonstration handles and control, at first be based on same method (each district is considered as a little Vehicular display device), wanting content displayed to be sent to this zone, if desired, just with pixel size handle, the page handles and the Data Update technology, shown content is carried out stepless zooming, translation, rolling, arbitrarily angled rotation, is dynamically updated etc.The data that this software receives are video image main processing block 5.1 and the information that threatens 5.3 outputs of processed module; Described image shows control and treatment software, discern sending apparent image digitization information, classification, and will be road vectors digital image data behind the discriminator deliver to the main district that shows and carry out image demonstration, to threaten the priority attribute supplemental characteristic to deliver to the threat parameter display area, carrying out form shows, under the control of man machine communication or described system works coordination service software, described image shows that control and treatment software video image main processing block can also carry out stepless zooming for the main shown content in district that shows, translation, roll, arbitrarily angled rotation, dynamically update processing etc., satisfy different display requirements, to make things convenient for driver observation road conditions image.
As the component part of carrying out control decision, ECU (Electrical Control Unit) group ECU (Electrical Control Unit) also is an important component part, therefore is necessary to do an introduction.Here, ECU (Electrical Control Unit) group ECU (Electrical Control Unit) 7 mainly comprises the brake electric control unit, the tractive force ECU (Electrical Control Unit), the automatic speed changing ECU (Electrical Control Unit), the electrical power steering ECU (Electrical Control Unit), they are under the coordination of system works coordination service software, pass through system's control bus by described vehicle-mounted embedded type computer platform, directly the control information of described system decision-making control module output, delivering to the control information treater of each ECU (Electrical Control Unit) handles, generate the required control signal of corresponding controlled mechanical device with it and make it produce corresponding action, change car behaviour and kinematic parameter.
The present invention gives the method for supervising of ride safety of automobile monitored control system shown in the present, and this method comprises following several key step:
(1) the vehicle-mounted digital camera with system obtains the real scene image of vehicle periphery road etc. and carries out pretreatment, draws the high-fidelity digital image of vehicle periphery outdoor scene;
(2) the outdoor scene high-fidelity digital of vehicle periphery is led processing, draw this car vector digital image on every side;
(3) extract lane mark, the relative position information of target such as other vehicles or obstacle and this car on every side the vector data image around described the car, with this car edge from every side targeted species and apart from the target image edge be criterion apart from size, present safety provides kind and descriptive grade to this car;
(4) under situation about occur threatening, according to threat category and threat level alarm accordingly, urgent hedging automatically control and/or promptly require assistance.
The detailed process of described step (1) mainly is:
(1.1) adopt vehicle-mounted digital camera to obtain the primary image that this car comprises the object scene of lane line, front and back vehicle and other operation signs on every side;
(1.2) primary image of object scene is handled, comprise that image distortion correction, smothing filtering noise reduction process, figure image intensifying and sharpening processing, edge detect processing etc., with the various interference of effective filtering, reduce image fault, draw the high-fidelity digital image of vehicle periphery outdoor scene.
The detailed process of described step (3) mainly is:
(3.1) from the vector digital image of vehicle periphery target, extract and calculate lane mark, the edge of target such as other vehicles or obstacle and the distance between this car edge on every side, and as criterion, threat category and the threat level present to this car provide quantitative description;
(3.2) the default threat processing scheme data bank of contrast, judgement is under present residing threat category of this car and threat level, whether need to alarm, urgent danger prevention automatic guidance and/or promptly require assistance, as needs, send corresponding instruction, the control corresponding device thereof is done corresponding action, and wherein said alarm, urgent danger prevention automatic guidance and the employing following manner of promptly requiring assistance are carried out:
(a) send threat category and threat level idsplay order to Vehicular display device, demonstrate threat category and threat level information by Vehicular display device;
(b) send the instruction of urgent danger prevention automatic guidance to the corresponding ECU (Electrical Control Unit) of vehicle self, do corresponding urgent danger prevention action by the ECU (Electrical Control Unit) control vehicle;
(c) send the instruction of promptly requiring assistance to the mobile digital communicator, start the mobile digital communicator and send urgent Call for assistance to extraneous (for example, public safety traffic management center) according to default mode.
Referring to Fig. 5, system decision-making control unit can adopt what is called " dynamic coordinate system " when threaten formulating alarm and control decision and the vector digital image by Vehicular display device demonstration road.This system of axes is to stipulate like this: the longitudinal axis with this car vehicle body is the positive dirction of the working direction of x axle and vehicle for this, with the transverse axis of vehicle body is that the positive dirction of y axle and this axle meets right-hand screw rule, and the geometric centre of vehicle forever overlaps such system of axes with the initial point of system of axes.This system of axes is convenient to the driver especially by the observation of Vehicular display device to scene image around this car.
In order under this system of axes system to be carried out control decision, Fig. 4 has provided and has threatened the definition of differentiating parameter and calculate scheme drawing under this dynamic coordinate system.ρ among the figure
AMh, ρ
AMvFor arriving the vertical distance ρ of the origin of coordinates in vertical/widthwise edge edge of this car
AMh, ρ
AMv, ρ
Lr, ρ
LlBe the vertical distance of left and right boundary line, track to the origin of coordinates, ρ
Tf, ρ
TbBe the vertical distance of the vehicle before and after this car to the origin of coordinates, d
i=ρ
Li(t)-ρ
AMhBe lateral error, d
j=ρ
Tj(t)-ρ
AMvBe longitudinal error d
j=ρ
Tj(t)-ρ
AMv, (i=r, l; J=f, b).Can calculate under dynamic coordinate system with " distance criterion " discriminant parameter method of calculating when doing criterion according to this figure.
Fig. 6 has provided system and has differentiated the process detailed process that threatens, formulates control decision according to mentioned above principle.In the method for supervising of a kind of ride safety of automobile monitored control system shown in the present, with the safe class present of the threat processed module in the described numeral to this car (because safe class and threat category and threat level are all explained the safety of vehicle ', think that in this manual these two notions are equal to) for sign provides quantitative description, mainly comprise following several concrete steps:
1) extracts lane mark, other vehicles and other obstacles and mark edge location information and the dynamic coordinate [x thereof in dynamic coordinate system on every side
k(t
i), y
k(t
i)], wherein subscript k is used to distinguish vehicle before and after the lane, this car, and other marks, obstacle, and subscript i is used to represent the current time;
2) according to the dynamic position coordinate [x at described target edge
k(t
i), y
k(t
i)], calculate ρ respectively
AMh, ρ
AMv, ρ
Lr, ρ
Ll, ρ
Tf, ρ
Tb, and lateral error d
i=ρ
Li(t)-ρ
AMhWith longitudinal error d
j=ρ
Tj(t)-ρ
AMv, (i=r, l; J=f, b);
3) according to error d
iAnd d
jNumerical value and symbol, in conjunction with the visual image of road,, provide quantitative description for as follows the current safe class of vehicle, and provide Control Countermeasure with threatening processed module, system decision-making control module:
1. as 0≤d
iAnd D
Sf≤ d
jDuring≤∞, (i=r, l; J=f, b) alarming control system does not send warning signal, and the alarm threat level color that Vehicular display device shows is green, and this car can continue safety traffic in the track of oneself;
2. work as d
i≤ 0 but D
Sf≤ d
jDuring≤∞, the alarm threat level color that Vehicular display device shows is yellow, and sound and light alarm device sends soft warning signal, and alarm Ben Che driver makes car return the moving traffic lane driving of oneself rapidly;
3. as 0≤d
iBut d
j≤ D
SfThe time, the threat level signal that Vehicular display device shows is orange, sound and light alarm device Xiang Benche driver sends alarm prompt, and control loudspeaker/illuminating lamp of this car etc., send the audible and visual alarm signal to being positioned at the front/rear vehicle of this car, allow their accelerate or reduce road speed, to avoid collision or knock into the back;
4. work as d
i≤ 0 and d
j≤ D
SfThe time, alarming control system sends loud warning signal, the threat level signal that Vehicular display device shows is red, at this moment, system tells Ben Che driver by sound and light alarm device with special acousto-optic on the one hand, on the other hand then by blowing a whistle, modes such as bright car light, send the audible and visual alarm cue to the vehicle that is positioned at this car front and back, meanwhile, system is under the coordination of described system works coordination service software, give ECU (Electrical Control Unit) with the Decision Control information of system decision-making control module output by bus by described vehicle-mounted embedded type computer platform, size by the automatic guidance throttle changes road speed, make car stop rapidly travelling by drag, or pass through the travel direction that the domain afterburner system changes car, make this car hightail danger;
5. as Ben Che and other vehicles knock into the back, collide, abrade or other major traffic accidents, to such an extent as to when making this car can't continue normally to drive a vehicle, described monitoring warning system can in time send alarm, distress signals to the traffic control center by the in-vehicle wireless communication unit.
Claims (8)
1, a kind of ride safety of automobile monitored control system comprises vehicle-mounted digital image information acquisition unit and vehicle-mounted embedded type computer platform, and the sound and light alarm device that joins by bus and described vehicle-mounted embedded type computer platform, wherein:
Described vehicle-mounted embedded type computer platform is provided with system's image processing and Decision Control unit;
Described vehicle-mounted digital image information acquisition unit obtains the real scene image of vehicle periphery by its built-in digital camera, and generates the pretreatment digital image information and give described system image processing and Decision Control unit;
Described system image processing and Decision Control unit carry out analyzing and processing to described pretreatment data image signal, generate threat category and threat level signal, when threat category and threat level arrival alarm standard, send alarm command to described sound and light alarm device, alarm, it is characterized in that:
The bus of described vehicle-mounted embedded type computer unit is connected with the mobile digital communicator, described system image processing and Decision Control unit are judged the threat category and the level signal of its generation, when threat category and threat level arrive when promptly requiring assistance standard, send the instruction of promptly requiring assistance to described mobile digital communicator, start described mobile digital communicator and send urgent Call for assistance according to the mode of subscribing.
2, ride safety of automobile monitored control system as claimed in claim 1, the bus that it is characterized in that described vehicle-mounted embedded type computer unit is connected with Vehicular display device, after described system image processing and Decision Control unit receive described pretreatment digital image information, generate the vector digital image information and be sent to described Vehicular display device demonstration.
3, ride safety of automobile monitored control system as claimed in claim 1, the one or more ECU (Electrical Control Unit) that it is characterized in that total wire joint vehicle self of described vehicle-mounted embedded type computer unit, described system image processing and Decision Control unit are judged the threat category and the level signal of its generation, when threat category and threat level arrival urgent danger prevention automatic guidance standard, send the instruction of urgent danger prevention automatic guidance to the corresponding ECU (Electrical Control Unit) of vehicle, move with control vehicle.
4, as claim 1,2 or 3 described ride safety of automobile monitored control systems, it is characterized in that described vehicle-mounted digital image information acquisition unit can be by some digital cameras, buffer circuit, the digital image pre-processing module is formed, described digital image pre-processing module mainly is made up of the digital signal processing chip that is provided with the image pre-processing module, be used to carry out image distortion correction, the smothing filtering noise reduction process, figure image intensifying and sharpening are handled, the edge detects to be handled, with the various interference of effective filtering, reduce image fault, original image signal by autozoom DV and the first-class digital camera generation of digital vedio recording, deliver to the signal of described digital signal processing chip handles by buffer circuit, generate the high-fidelity digital view data, further processing is done in system's image processing and the Decision Control unit of sending into the vehicle-mounted embedded type computer platform by CAN/LIN bus and serial ports RS-232 then, described some digital cameras comprise a High Performance autozoom DV and several digital cameras, described High Performance autozoom DV and digital camera head generally all should have the sunscreen protection cover, wherein said High Performance autozoom DV is positioned in the positive front end of automobile by quakeproof bracket, and digital camera head is then by the front both sides of quakeproof bracket stationary distribution at automobile, side and back.
5, ride safety of automobile monitored control system as claimed in claim 4, it is characterized in that described system image processing and Decision Control unit comprise the video image main processing block, the image display control module, threaten the processed module, system decision-making control module, described video image main processing block returns the vehicle to the garage and knock off by bus interface and carries the pretreatment digital image information of digital image information acquiring unit output, handle the back and generate described vector digital image, and this vector digital image information given the image display control module respectively and threaten the processed module, so that carrying out image demonstration and threat category and threat level judges, threaten the processed module from the vector digital image, to extract threat category and threat level information, and this information one road delivered to the impend demonstration of kind and threat level of described Vehicular display device, one the road delivers to described system decision-making control module handles, described system decision-making control module compares described threat category and threat level data with default threat processing scheme data of database, generate and this threat category and the corresponding described alarm of threat level, the urgent danger prevention automatic guidance and the instruction of promptly requiring assistance.
6, ride safety of automobile monitored control system as claimed in claim 5, it is characterized in that described image display control module is provided with Vehicular display device subregion control program and the image display control program based on pixel and screen size relation, under the support of described Vehicular display device subregion control program, Vehicular display device is divided into main display space, threatens parameter display area, car icon display space and touch keyboard display space; Under the support of described image display control program, to discerning from video image main processing block and the output data information that threatens the processed module and classifying, the apparent district of master that vector digital image data behind the discriminator is delivered to Vehicular display device carries out the image demonstration, to threaten the priority attribute supplemental characteristic to deliver to and threaten parameter display area to carry out the form demonstration, or shown image be carried out stepless zooming, translation, rolling, arbitrarily angled rotation and/or dynamically updates processing according to the man machine communication order.
7, a kind of ride safety of automobile method for supervising comprises following several key step:
(1) the vehicle-mounted digital camera with system obtains the real scene image of vehicle periphery road etc. and carries out pretreatment, draws the high-fidelity digital image of vehicle periphery outdoor scene;
(2) the outdoor scene high-fidelity digital of vehicle periphery is led processing, draw this car vector digital image on every side;
(3) extract lane mark, the relative position information of target such as other vehicles or obstacle and this car on every side the vector data image around described the car, with this car edge from every side targeted species and apart from the target image edge be criterion apart from size, generate present threat category of this car and threat level information;
(4) according to threat category and threat level alarm accordingly, urgent hedging automatically control and/or promptly require assistance, it is characterized in that:
The detailed process of described step (1) mainly is:
(1.1) adopt vehicle-mounted digital camera to obtain the primary image that this car comprises the object scene of lane line, front and back vehicle and other operation signs on every side;
(1.2) primary image of object scene is handled, comprise that image distortion correction, smothing filtering noise reduction process, figure image intensifying and sharpening processing, edge detect processing etc., with the various interference of effective filtering, reduce image fault, draw the high-fidelity digital image of vehicle periphery outdoor scene;
The detailed process of described step (3) mainly is:
(3.1) from the vector digital image of vehicle periphery target, extract and calculate lane mark, the edge of target such as other vehicles or obstacle and the distance between this car edge on every side, and as criterion, threat category and the threat level present to this car provide quantitative description;
(3.2) the default threat processing scheme data bank of contrast, judgement is under present residing threat category of this car and threat level, whether need to alarm, urgent danger prevention automatic guidance and/or promptly require assistance, as needs, send corresponding instruction, the control corresponding device thereof is done corresponding action, and wherein said alarm, urgent danger prevention automatic guidance and the employing following manner of promptly requiring assistance are carried out:
(a) send threat category and threat level idsplay order to Vehicular display device, demonstrate threat category and threat level information by Vehicular display device;
(b) send the instruction of urgent danger prevention automatic guidance to the corresponding ECU (Electrical Control Unit) of vehicle self, do corresponding urgent danger prevention action by the ECU (Electrical Control Unit) control vehicle;
(c) send the instruction of promptly requiring assistance to the mobile digital communicator, start the mobile digital communicator and send urgent Call for assistance to the external world according to default mode.
8, ride safety of automobile method for supervising as claimed in claim 7 is characterized in that described analysis to threat category and threat level mainly comprises following several concrete steps:
(3.1) from described vector figure, extract lane mark, other vehicles and other obstacles and mark edge location information and the dynamic coordinate [x thereof in dynamic coordinate system on every side
k(t
i), y
k(t
i)], wherein subscript k is used to distinguish vehicle before and after the lane, this car, and other marks, obstacle, and subscript i is used to represent the current time;
(3.2) according to the dynamic position coordinate [x at described target edge
k(t
i), y
k(t
i)], the vertical/widthwise edge that calculates this car respectively is along the vertical distance ρ to the origin of coordinates
AMh, ρ
AMv, left and right boundary line, track is to the vertical distance ρ of the origin of coordinates
Lr, ρ
Ll, the vehicle before and after this car is to the vertical distance ρ of the origin of coordinates
Tf, ρ
Tb, safety distance w, D between lane width and front and back vehicle
Sf, and lateral error d
i=ρ
Li(t)-ρ
AMhWith longitudinal error d
j=ρ
Tj(t)-ρ
AMv, (i=r, l; J=f, b);
(3.3) according to error d
iAnd d
jNumerical value and symbol, in conjunction with the visual image of road,, provide quantitative description for as follows the current safe class of vehicle, and provide Control Countermeasure with threatening processed module, system decision-making control module:
1. as 0≤d
iAnd D
Sf≤ d
jDuring≤∞, (i=r, l; J=f, b) alarming control system does not send warning signal, and the alarm threat level color that Vehicular display device shows is green, and this car can continue safety traffic in the track of oneself;
2. work as d
i≤ 0 but D
Sf≤ d
jDuring≤∞, the alarm threat level color that Vehicular display device shows is yellow, and sound and light alarm device sends soft warning signal, and alarm Ben Che driver makes car return the moving traffic lane driving of oneself rapidly;
3. as 0≤d
iBut d
j≤ D
SfThe time, the threat level signal that Vehicular display device shows is orange, sound and light alarm device Xiang Benche driver sends alarm prompt, and control loudspeaker/illuminating lamp of this car etc., send the audible and visual alarm signal to being positioned at the front/rear vehicle of this car, allow their accelerate or reduce road speed, to avoid collision or knock into the back;
4. work as d
i≤ 0 and d
j≤ D
SfThe time, alarming control system sends loud warning signal, the threat level signal that Vehicular display device shows is red, at this moment, system tells Ben Che driver by sound and light alarm device with special acousto-optic on the one hand, on the other hand then by blowing a whistle, modes such as bright car light, send the audible and visual alarm cue to the vehicle that is positioned at this car front and back, meanwhile, system is under the coordination of described system works coordination service software, give ECU (Electrical Control Unit) with the Decision Control information of system decision-making control module output by bus by described vehicle-mounted embedded type computer platform, size by the automatic guidance throttle changes road speed, make car stop rapidly travelling by drag, or pass through the travel direction that the domain afterburner system changes car, make this car hightail danger;
5. as Ben Che and other vehicles knock into the back, collide, abrade or other major traffic accidents, to such an extent as to when making this car can't continue normally to drive a vehicle, described monitoring warning system can in time send alarm, distress signals to the traffic control center by the in-vehicle wireless communication unit.
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| CNB2005101167154A CN100429101C (en) | 2005-09-09 | 2005-10-28 | Safety monitoring system for running car and monitoring method |
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| CN200510098347.5 | 2005-09-09 | ||
| CN200510098347 | 2005-09-09 | ||
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| CN100429101C true CN100429101C (en) | 2008-10-29 |
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