CN101264755B - Vehicle running safety intelligent monitoring and controlling device - Google Patents
Vehicle running safety intelligent monitoring and controlling device Download PDFInfo
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- CN101264755B CN101264755B CN2008100342906A CN200810034290A CN101264755B CN 101264755 B CN101264755 B CN 101264755B CN 2008100342906 A CN2008100342906 A CN 2008100342906A CN 200810034290 A CN200810034290 A CN 200810034290A CN 101264755 B CN101264755 B CN 101264755B
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Abstract
The invention relates to an intelligent monitor device for vehicle driving safety, wherein, a main control chip is connected with a lane departure early warning module and a CF card, storing road image information and lane departure early warning; the main control chip is connected with an early warning information display module by a serial signal wire, displaying various early warning information; the main control chip is connected with a phonetic early warning module by a SPI bys, giving phonetic early warning information; the main control connected with a GPS module and a GSM module by a serial port, obtaining the information about the position and speed of vehicles and realizing the communication with a monitor center; the main control chip is connected with a safety belt buckle sensor by an I/O port, judging whether the safety belt is well tied or not; a voltage conversion chip output is connected with all modules, providing energy for all modules. The intelligent monoitor device for vehicle driving safety has the advantages of strong real-time performance, good stablity, low cost, good expansion and strong anti-interference performance.
Description
Technical field
The present invention relates to the device in a kind of vehicle technology field, specifically is a kind of vehicle running safety intelligence monitoring and controlling device.
Background technology
Driving safety is the eternal theme of automotive traffic development, along with increasing sharply of automobile pollution, and the traffic accident on the highway, particularly pernicious traffic accident incidence is high, and traffic safety problem becomes increasingly conspicuous.The generation of motor traffic accidents is because due to the joy riding of chaufeur or the carelessness to a great extent, and therefore exploitation has the important leverage that the vehicle running safety intelligence monitoring and controlling device of active safety technology is the assurance vehicle occupant safety.At present, more existing device for monitoring vehicle come out, and many real system place in operations have been arranged, but these equipment great majority only have track and localization or fixing vehicle service functions such as monitoring vehicles peccancy, do not have the function of this active safety technology of vehicle running safety intelligence monitoring and controlling.
Find by prior art documents, Chinese invention patent " based on the device for monitoring vehicle breaking regulation of omnibearing vision sensor ", application number 200610053154.2, notification number are 1912950A.This patent of invention discloses a kind of device for monitoring vehicle breaking regulation based on omnibearing vision sensor, belongs to the vehicle peccancy field of monitoring devices, comprises microprocessor, is used for the monitoring sensor and the traffic signal of monitor road situation.Though this device for monitoring vehicle breaking regulation also can be monitored the behavior of driving against traffic regulations of travels down vehicle, but this device only is suitable for being fixedly installed in the travel conditions that car is monitored in certain suitable position of road, can not be applied to the travel monitoring and the early warning of moving vehicle itself.This device belongs to the invention of passive security technical field, does not possess the active safety safeguard function.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of vehicle running safety intelligence monitoring and controlling device is provided, make it have two kinds of route deviation early warning patterns, adopt the GPRS (general packet radio service) communication modes, real-time, good stability, vehicle running safety intelligence monitoring and controlling that cost is low.
The present invention is achieved by the following technical solutions, the present invention includes master control chip, lane departure warning module, early warning information display module, phonetic warning module, CPLD (complex logic square) chip, CF (data storage device that is used for portable electric appts) card, GSM (global system for mobile communications) module, GPS (global positioning system) module and voltage transitions chip.Described lane departure warning module links by CPLD chip and master control chip, and the CPLD chip mainly is responsible for the data interaction between address decoding, control logic and the high-revolving digital signal processing chip of each module port and master control chip, SDRAM (Synchronous Dynamic Random Access Memory) the high speed dynamic memory; The chip of master control simultaneously links by CPLD chip and CF card, realizes the real-time storage of road image information in emergency circumstances, and guarantees the real time information communication between lane departure warning module and the master control chip; Described early warning information display module links by serial signal line and master control chip, is used for the various early warning information that real-time demonstration vehicle driving safety intelligent apparatus detects.Described phonetic warning module links by SPI (high-speed synchronous serial port) bus and master control chip, is used for real-time sending various early warning information with speech form, reminds the chaufeur driving of taking care.The master control chip is connected with gsm module by serial ports, the communication of control vehicle running safety intelligence monitoring and controlling device and monitoring and control centre; The master control chip is connected with the GPS module by serial ports, receives the location information and the velocity information of vehicle by gps antenna, and judges by receiving velocity information whether vehicle drives over the speed limit; The master control chip links with seat belt buckle sensors by I/O (I/O) mouthful, and whether as prescribed is fastened seat belts to judge chaufeur in conjunction with the velocity information that the GPS module is obtained.The output of voltage transitions chip links with all modules, for all modules provide the energy.
Described lane departure warning module comprises: camera, A/D (D/A) conversion chip, digital signal processing chip, dual port RAM (random access memory) storage chip, SDRAM (Synchronous Dynamic Random Access Memory) high speed dynamic memory and early warning mode conversion switch.Camera and A/D conversion chip link, and the A/D conversion chip links with digital signal processing chip again; Dual port RAM storage chip and A/D conversion chip link, and SDRAM high speed dynamic memory links by DMA (direct memory access (DMA)) mode and digital signal processing chip, and digital signal processing chip links by I/O mouth and early warning mode conversion switch.The A/D conversion chip with camera collection to analog picture signal be converted to data image signal, pass to the dual port RAM storage chip again, digital signal processing chip again by dma mode with picture signal from the dual port RAM memory chip stores to SDRAM high speed dynamic memory; Digital signal processing chip is selected the current images tupe according to the mode conversion switch incoming signal again, and judges by image is handled whether vehicle ' departs from.The external interrupt signal port of digital signal processing chip and main control chip links, main control chip triggers corresponding early warning processing with the early warning signal that departs from that digital signal processing chip sends as external interrupt signal, comprises that the storage of Real-time Road image, early warning information show and audio alert.
Described early warning signal display module comprises: Liquid Crystal Display (LCD), LCD device drive chip, two light-emitting diodes and light-emitting diodes pipe driving chip.Liquid Crystal Display (LCD) links by LCD device drive chip and master control chip, reminds chaufeur in time to fasten seat belts when speed surpasses certain value by flicker safety strap sign on Liquid Crystal Display (LCD), guarantees the personal safety of chaufeur self.Two light-emitting diodes link by light-emitting diodes pipe driving chip and master control chip, two light-emitting diodes lay respectively at the two ends of Liquid Crystal Display (LCD), left and right deviation takes place in corresponding expression track in the process of moving, when flicker takes place in the red light emitting diodes on the Liquid Crystal Display (LCD) left side, the expression vehicle taken place left avertence from, the LED flash on same the right represent vehicle right avertence from.
Described audio alert module comprises: speech chip, power amplifier, loudspeaker and buzzer phone.Speech chip and master control chip link, synthetic various voice signals.Speech chip and power amplifier link, and aud. snl. is carried out processing and amplifying.Power amplifier links with loudspeaker and buzzer phone again, by the sound of loudspeaker and buzzer phone the violation of chaufeur is driven and carries out real-time alerting.
Compared with prior art, advantage of the present invention is: 1. real time and on line monitoring vehicle running state, provide lane departure warning and alert service according to the machine vision sensor, and improve vehicle driving safety; 2. when vehicle lane departure warning occurs in the process of moving, preserve current road image information in real time, the CF card has made things convenient for reading of violation data, helps the analysis of accident causation; 3. can select different road early warning patterns according to different road conditionss, enlarge field of application of the present invention, improve the accuracy of lane departure warning; 4. the present invention reduces the traffic accident incidence to improve the driving safety of vehicle from the active safety aspect, and all there is realistic meaning aspects such as traffic accident investigation.
Description of drawings
Fig. 1 is a system architecture diagram of the present invention
Fig. 2 is a workflow block diagram of the present invention
Fig. 3 is a lane departure warning module workflow diagram of the present invention
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, be present embodiment vehicle running safety intelligence monitoring and controlling device structured flowchart, described vehicle running safety intelligence monitoring and controlling device is made up of master control chip 1, lane departure warning module, early warning information display module, phonetic warning module, CF card 2, gsm module 3, GPS module 4, voltage transitions chip 5 and seat belt buckle sensors 6.
Described lane departure warning module links by CPLD chip 7 and master control chip 1, wherein master control chip 1 is the LPC2129 series A RM chip of PHILIPS Co., have a plurality of serial data interfaces, comprise 2 16C550 industrial standard UART (universal asynchronous reception/sending set), High Speed I IC (Inter-IC) bus interface (400kHz) and 2 SPI interfaces.The chip of master control simultaneously links by CPLD chip 7 and CF card 2, realizes the real-time storage of road image information in emergency circumstances, and guarantees the real time information communication between lane departure warning module and the master control chip 1.
Described early warning information display module links by serial signal line and master control chip 1, is used for the various early warning information that real-time demonstration vehicle driving safety intelligent apparatus detects.
Described phonetic warning module links by spi bus and master control chip 1, is used for real-time sending various early warning information with speech form, reminds the chaufeur driving of taking care.
Described master control chip is connected with gsm module 3 by serial ports, and gsm module 3 is the GTM900 of Huawei, the communication of control vehicle running safety intelligence monitoring and controlling device and monitoring and control centre.
Described master control chip 1 is connected with GPS module 4 by serial ports, and GPS module 4 is the GPS receiving terminal of U.S. Trimble, receives the location information and the velocity information of vehicle by gps antenna, and judges by receiving velocity information whether vehicle drives over the speed limit.
Described master control chip 1 links by I/O mouth and seat belt buckle sensors 6, and whether as prescribed is fastened seat belts to judge chaufeur in conjunction with the velocity information that GPS module 4 is obtained.
Described voltage transitions chip 5 outputs link with all modules, and for all modules provide the energy, working power direct current 7V can directly adopt vehicle power to 36V.
Described lane departure warning module comprises: camera 17, A/D conversion chip 8, digital signal processing chip 9, dual port RAM storage chip 10, SDRAM high speed dynamic memory 11 and early warning mode conversion switch 18.Camera 17 links with A/D conversion chip 8, and A/D conversion chip 8 links with digital signal processing chip 9 again; Dual port RAM storage chip 10 links with A/D conversion chip 8, and SDRAM high speed dynamic memory 11 links by dma mode and digital signal processing chip 9, and digital signal processing chip 9 links by I/O mouth and early warning mode conversion switch 18.A/D conversion chip 8 is converted to data image signal with the analog picture signal that camera 17 collects, pass to dual port RAM storage chip 10 again, digital signal processing chip 9 stores picture signal into SDRAM high speed dynamic memory 11 from dual port RAM storage chip 10 by dma mode again; Digital signal processing chip 9 is selected the current images tupe according to mode conversion switch 18 incoming signals again, and judges by image is handled whether vehicle ' departs from.Digital signal processing chip 9 links with the external interrupt signal port of main control chip 1, main control chip 1 triggers corresponding early warning processing with the early warning signal that departs from that digital signal processing chip 9 sends as external interrupt signal, comprises that the storage of Real-time Road image, early warning information show and audio alert.
Digital signal processing chip 9 is cores of whole hardware system.Its task is the core algorithm of operation total system, promptly handle to camera collection and through the DID that obtains after the A/D conversion, after Road Detection, detection of obstacles and obstacle range finding, obtain the corresponding results data, the core algorithm procedure stores is in program storage area.Digital signal processing chip 9 is the TMS320C6201 chip of TIX, is a fixed-point processor.It can adopt the frequency of operation of 50Hz, rises to 200Hz after inner frequency multiplication, at most can 8 instructions of executed in parallel in each clock period, thus can realize the fixed point operation ability of 1600MIPS, its times of finishing 1024 fixed point FFT have only 70 μ s.
The lane departure warning module can be handled the road information of two kinds of patterns, when on the road of vehicle ' at regular lane mark, early warning mode conversion switch 18 is chosen as standard road; When vehicle ' is not having on the road of lane mark, then early warning mode conversion switch 18 is chosen as non-standard road.When vehicle ' was on standard road, what extracted the road image processing section was Lane Mark, and the border of vehicle ' is the border with the Lane Mark; When vehicle ' was on non-standard road, what extracted the road image processing section was lane boundary line.
Described early warning signal display module comprises: liquid crystal display device module 12, LCD device drive chip 13, three light-emitting diodes and light-emitting diodes pipe driving chips 14.Liquid crystal display device module 12 links by LCD device drive chip 13 and master control chip 1, remind chaufeur when speed surpasses certain value, in time to fasten seat belts by flicker safety strap sign on liquid crystal display device module 12, guarantee the personal safety of chaufeur self.Two light-emitting diodes link by light-emitting diodes pipe driving chip 14 and master control chip 1, two light-emitting diodes lay respectively at the two ends of liquid crystal display device module 12, left and right deviation takes place in corresponding expression track in the process of moving, when flicker takes place in the red light emitting diodes 21 on liquid crystal display device module 12 left sides, the expression vehicle taken place left avertence from, the light-emitting diode 22 flicker expression vehicle right avertence on same the right from.
Described audio alert module comprises: speech chip 15, power amplifier 16, loudspeaker 19 and buzzer phone 20.Speech chip 13 and master control chip 1 link, synthetic various voice signals.Speech chip 15 links with power amplifier 16, and aud. snl. is carried out processing and amplifying.Power amplifier 16 links with loudspeaker 19 and buzzer phone 20 again, by the sound of loudspeaker 19 and buzzer phone 20 violation of chaufeur is driven and carries out real-time alerting.
Described vehicle running safety intelligence monitoring and controlling device, the task diagram of circuit is as shown in Figure 2: this control system adopts task module design, use μ C/OS-II (a kind of embedded OS) real time operating system (RTOS), system is divided into the mission function that a plurality of independent operatings connect each other simultaneously according to functional module, comprises that master control task, field data store tasks, voice signal warning task, early warning information show task, Vehicle Condition Monitoring task, six big mission functions such as location tracing task, lane departure warning task and road image Processing tasks.When starting working, at first the toggle switch by module powers on, the location tracing task obtains the location information and the velocity information of vehicle by the gps antenna of control GPS module 4, judge by receiving velocity information whether vehicle drives over the speed limit, and the pitch time that GPS module 4 receives data is set by main control chip 1; When the location tracing task detects specific Vehicle Speed, can send the vehicle condition semaphore to the Vehicle Condition Monitoring task, the Vehicle Condition Monitoring task reads the signal of seat belt buckle sensors 6, whether as prescribed is fastened seat belts to judge chaufeur, and the Vehicle Condition Monitoring task is early warning signal sign writing events set of landmarks simultaneously; The road image Processing tasks is handled accordingly by 9 pairs of images that obtained by camera 17 of digital signal processing chip, obtains needed road information; The lane departure warning task is at first selected the early warning pattern of current road according to early warning mode conversion switch 18 signals, and judge according to the image processing signal whether vehicle has the danger of deviation, in case this danger is arranged, with lane departure warning signal identification writing events set of landmarks; The master control task judges to send which kind of early warning signal to chaufeur by reading the event flag group, when the master control task reads the overspeed warning marker, by sending the voice signal amount to the voice signal task of reporting to the police, voice signal warning task is sent overspeed warning by control speech chip 15 by loudspeaker 19 and buzzer phone 20; When the master control task reads when fastening seat belts the early warning signal sign, show task by the mailbox photos and sending messages to early warning information, remind chaufeur when speed surpasses certain value, in time to fasten seat belts by flicker safety strap sign on liquid crystal display device module 12; When the master control task reads the lane departure warning marker, show task by the mailbox photos and sending messages to early warning information, early warning information show task by control light-emitting diode 21 or light-emitting diode 22 flickers remind the chaufeur vehicle have left avertence from or right avertence from danger, the task of master control simultaneously sends to the field data store tasks by message queue with present image information, the field data store tasks is by control CPLD chip 7, store graphicinformation into CF card 2 the insides, realize the real-time storage of road image information in emergency circumstances.
Described lane departure warning module, workflow diagram is as shown in Figure 3: when starting working, at first power on to module, digital signal processing chip 9 detects early warning mode conversion switch 18 mode signals, when mode signal is high level, choice criteria road early warning pattern, operation is based on the line detection algorithm of Zemike matrix in digital signal processing chip 9, utilize then the Lane Mark feature extraction publish picture the picture in the Lane Mark unique point, adopt the method for linear regression to extract the Lane Mark parameter again.Utilize the Hough conversion directly the point that the straight line in the image space is mapped in the navigation early-warning parameters space to be judged whether to send early warning signal; When mode signal is low level, select non-standard road early warning pattern, this moment, image processing algorithm judged whether to send early warning signal by extracting road boundary.
The vehicle running safety intelligence monitoring and controlling device of present embodiment has adopted the safety monitoring that realizes vehicle based on the mode of Multi-sensor Fusion such as machine vision sensor, seat belt buckle sensors and GPS device, have the track and break away from functions such as warning, vehicle route real-time tracking, driving behavior monitoring and electronic data record, have stable, real-time, high reliability features.
Claims (5)
1. vehicle running safety intelligence monitoring and controlling device, comprise master control chip, early warning information display module, phonetic warning module, gsm module, GPS module and voltage transitions chip, it is characterized in that, also comprise lane departure warning module, CPLD chip, CF card, wherein:
Described lane departure warning module links by CPLD chip and master control chip, the CPLD chip is responsible for the data interaction between address decoding, control logic and the high-revolving digital signal processing chip of each module port and master control chip, the SDRAM high speed dynamic memory, the chip of master control simultaneously links by CPLD chip and CF card, realize the real-time storage of road image information in emergency circumstances, and guarantee the real time information communication between lane departure warning module and the master control chip;
Described early warning information display module links by serial signal line and master control chip, is used for the various early warning information that real-time demonstration vehicle driving safety intelligent apparatus detects;
Described phonetic warning module links by spi bus and master control chip, is used for real-time sending various early warning information with speech form, reminds the chaufeur driving of taking care;
Described master control chip is connected with gsm module by serial ports, the communication of control vehicle running safety intelligence monitoring and controlling device and monitoring and control centre;
Described master control chip is connected with the GPS module by serial ports, receives the location information and the velocity information of vehicle by gps antenna, and judges by receiving velocity information whether vehicle drives over the speed limit;
Described master control chip links by I/O mouth and seat belt buckle sensors, and whether as prescribed is fastened seat belts to judge chaufeur in conjunction with the velocity information that the GPS module is obtained;
Described voltage transitions chip output links with all modules, for all modules provide the energy;
Described lane departure warning module comprises: camera, the A/D conversion chip, digital signal processing chip, the dual port RAM storage chip, SDRAM high speed dynamic memory and early warning mode conversion switch, wherein: camera and A/D conversion chip link, the A/D conversion chip links with digital signal processing chip again, dual port RAM storage chip and A/D conversion chip link, SDRAM high speed dynamic memory links by dma mode and digital signal processing chip, digital signal processing chip links by I/O mouth and early warning mode conversion switch, the A/D conversion chip with camera collection to analog picture signal be converted to data image signal, pass to the dual port RAM storage chip again, digital signal processing chip again by dma mode with picture signal from the dual port RAM memory chip stores to SDRAM high speed dynamic memory, digital signal processing chip is selected the current images tupe according to the mode conversion switch incoming signal again, and, image judges whether vehicle ' departs from by being handled, the external interrupt signal port of digital signal processing chip and main control chip links, main control chip triggers corresponding early warning processing with the early warning signal that departs from that digital signal processing chip sends as external interrupt signal, comprises the storage of Real-time Road image, early warning information shows and audio alert.
2. vehicle running safety intelligence monitoring and controlling device according to claim 1, it is characterized in that, after described lane departure warning module powers on, digital signal processing chip detects early warning mode conversion switch mode signal, when mode signal is high level, choice criteria road early warning pattern, operation is based on the line detection algorithm of Zemike matrix in digital signal processing chip, utilize then the Lane Mark feature extraction publish picture the picture in the Lane Mark unique point, adopt the method for linear regression to extract the Lane Mark parameter again, utilize the Hough conversion directly the point that the straight line in the image space is mapped in the navigation early-warning parameters space to be judged whether to send early warning signal, when mode signal is low level, select non-standard road early warning pattern, this moment, image processing algorithm judged whether to send early warning signal by extracting road boundary.
3. vehicle running safety intelligence monitoring and controlling device according to claim 2, it is characterized in that, the road information of two kinds of patterns of lane departure warning resume module when on the road of vehicle ' at regular lane mark, is chosen as standard road with the early warning mode conversion switch; When vehicle ' is not having on the road of lane mark, then the early warning mode conversion switch is chosen as non-standard road; When vehicle ' was on standard road, what extracted the road image processing section was Lane Mark, and the border of vehicle ' is the border with the Lane Mark; When vehicle ' was on non-standard road, what extracted the road image processing section was lane boundary line.
4. vehicle running safety intelligence monitoring and controlling device according to claim 1, it is characterized in that, described early warning signal display module comprises: Liquid Crystal Display (LCD), LCD device drive chip, two light-emitting diodes and light-emitting diodes pipe driving chip, Liquid Crystal Display (LCD) links by LCD device drive chip and master control chip, remind chaufeur when speed surpasses setting value, in time to fasten seat belts by flicker safety strap sign on Liquid Crystal Display (LCD), two light-emitting diodes link by light-emitting diodes pipe driving chip and master control chip, two light-emitting diodes lay respectively at the two ends of Liquid Crystal Display (LCD), left and right deviation takes place in corresponding expression track in the process of moving, when flicker takes place in the red light emitting diodes on the Liquid Crystal Display (LCD) left side, the expression vehicle taken place left avertence from, the LED flash on same the right represent vehicle right avertence from.
5. vehicle running safety intelligence monitoring and controlling device according to claim 1, it is characterized in that, described audio alert module comprises: speech chip, power amplifier, loudspeaker and buzzer phone, speech chip and master control chip link, synthetic various voice signals, speech chip and power amplifier link, and various voice signals are carried out processing and amplifying, power amplifier links with loudspeaker and buzzer phone again, by the sound of loudspeaker and buzzer phone the violation of chaufeur is driven and carries out real-time alerting.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103003854A (en) * | 2010-07-29 | 2013-03-27 | 福特全球技术公司 | Systems and methods for scheduling driver interface tasks based on driver workload |
| CN102646274A (en) * | 2011-02-16 | 2012-08-22 | 日产自动车株式会社 | Lane boundary detecting device and lane boundary detecting method |
| CN102646274B (en) * | 2011-02-16 | 2014-11-05 | 日产自动车株式会社 | Lane boundary detecting device and lane boundary detecting method |
| CN102874260A (en) * | 2011-07-14 | 2013-01-16 | 上海博泰悦臻电子设备制造有限公司 | Driving safety detection method and system |
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| CN101264755A (en) | 2008-09-17 |
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