CN101811488A - Speed control method and speed control device for automobiles - Google Patents
Speed control method and speed control device for automobiles Download PDFInfo
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- CN101811488A CN101811488A CN 201010164680 CN201010164680A CN101811488A CN 101811488 A CN101811488 A CN 101811488A CN 201010164680 CN201010164680 CN 201010164680 CN 201010164680 A CN201010164680 A CN 201010164680A CN 101811488 A CN101811488 A CN 101811488A
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Abstract
The invention discloses a speed control method for automobiles, which comprises the following steps: acquiring image information in the front or at the back of an automobile, recognizing the pattern of a license plate, and computing the area of the pattern of the license plate; and judging whether the area of the pattern of the license plate is less than the safe spacing or not by judging whether the area of the pattern of the license plate is greater than the preset area value or not so as to control the speed of the automobile; or recording the change time for the area of the pattern of the license plate to change from the first preset area value to the second preset area value, and controlling the speed of the automobile according to the magnitude of the change time. The invention also discloses a speed control device for the automobiles. The invention can be used for judging whether rear-end collision of the automobile occurs or not and reducing the probability of occurrence of an accident caused by delay response of a driver when the following spacing of the automobile is less than or equal to the safe spacing by automatically controlling the speed of the automobile, thereby improving the driving safety of the automobile.
Description
Technical field
The present invention relates to a kind of automobile technical field, specially refer to a kind of automobile control speed method and automobile speed-controlling device.
Background technology
Knocking into the back is meant with the vehicle of lanes and trails and when row, the behavior of rear car front and the collision of the front truck tailstock.Mainly due to the follow-up spacing less than minimal security spacing and chaufeur delay of response or brake system performance bad due to.
Common rear-end collision prior-warning device is to utilize camera to obtain the signal of last automobile tail light, and the taillight signal is handled, and reduces the purpose that rear-end collision takes place thereby reduce the speed of a motor vehicle to reach.Disclosed its camera that utilizes a central processing unit, an EFI ECU and be used to take the front vehicles rear taillight of a kind of rear-end collision prior-warning device and method in the Chinese patent 200610062090.2.Whether adopt image recognition technology, it is shinny to identify the place ahead first car braking indicator lamp, if shinny then light the braking indicator lamp and reduce the speed of a motor vehicle, takes place thereby reduce rear-end collision.
In realizing process of the present invention, the contriver finds that there are the following problems at least in the prior art:
1, can't control speed according to the distance of front and back car, also can reduce because of the shinny back car speed of a motor vehicle that causes of front truck rear taillight even two cars are far;
2, if when running into the accident that front truck do not have enough time to brake, have no idea to realize Anti-bumping protection;
Summary of the invention
The technical problem to be solved in the present invention is in order to overcome above-mentioned shortcoming and defect of the prior art, and providing a kind of can control speed and can control the method and the device of speed according to the relative velocity of front and back car according to the distance of front and back car.
A kind of automobile control speed method comprises:
Gather vehicle front or rear graphicinformation;
Identification car plate figure calculates the car plate area of graph;
When car plate graphics area during more than or equal to the preset area value, the control speed of a motor vehicle;
Described car plate graphics area does not adjust to the speed of a motor vehicle during less than the preset area value.
A kind of automobile control speed method also comprises:
Gather vehicle front or rear graphicinformation;
Identification car plate figure calculates the car plate area of graph;
When described car plate graphics area during, pick up counting more than or equal to the first preset area value;
If described car plate graphics area during more than or equal to the second preset area value, writes down corresponding transformation period;
The size control speed of a motor vehicle according to transformation period;
Method according to the size of the described transformation period control speed of a motor vehicle comprises:
When described transformation period was worth greater than the schedule time, judge that area whether more than or equal to the 3rd preset area value, is then to control the speed of a motor vehicle, otherwise the speed of a motor vehicle is not adjusted;
When described transformation period is less than or equal to the schedule time during value, the control speed of a motor vehicle.
The described control speed of a motor vehicle comprises carries out deceleration control or front truck is quickened control the back car.
Method to front truck acceleration control comprises:
When front truck satisfies acceleration environment, front truck quickens;
When the discontented sufficient acceleration environment of front truck, carry out Anti-bumping protection.
A kind of automobile speed-controlling device comprises:
Image capture module is used to gather the front or rear square graphicinformation of automobile;
Recognition processing module, connect described image capture module, be used for according to described Information Monitoring identification car plate figure, calculate the car plate area of graph, judge that whether described car plate area of graph is greater than preset area, obtain corresponding transformation period by the time record that preset area is changed, and generate control commands corresponding;
Control module connects described recognition processing module, is used to receive control command and the speed of a motor vehicle is carried out corresponding control;
Memory module connects described recognition processing module, is used to store license board information, pre-set velocity value, preset area value and pairing apart from empirical value.
Described recognition processing module also connects an acceleration detection module, and whether the place ahead that described acceleration detection module is used to detect automobile has obstacle and record present speed;
Compared with prior art, a kind of automobile control speed method of the present invention was gathered the front or rear square graphicinformation of automobile before controlling speed, discern the car plate figure then, calculated the car plate graphics area.By judging that whether the car plate graphics area whether greater than preestablishing area value, judge it less than safe spacing, and then the control speed of a motor vehicle; Can also control the speed of a motor vehicle according to the size of transformation period by writing down the transformation period of described car plate graphics area when the first preset area value changes to the second preset area value.The probability that automobile has an accident because of the chaufeur delay of response, the safety that has improved vehicle drive have been reduced by this operation when the follow-up spacing is less than or equal to safe spacing.
Description of drawings
Fig. 1 is embodiment 1 diagram of circuit of automobile control speed method of the present invention.
Fig. 2 is the embodiment 2 diagram of circuit A of automobile control speed method of the present invention;
Fig. 3 is the embodiment 2 diagram of circuit B of automobile control speed method of the present invention;
Fig. 4 is the embodiment diagram of circuit of the method for a kind of front truck control of the present invention speed;
Fig. 5 is a kind of automobile speed-controlling device of the present invention structural representation A;
Fig. 6 is a kind of automobile speed-controlling device of the present invention structural representation B
The specific embodiment
Below in the mode of specific embodiment the present invention program is described in detail.
See also Fig. 1, a kind of embodiment 1 of automobile control speed method, it may further comprise the steps:
S101, collection vehicle front graphicinformation;
At automotive front camera is set, and utilizes the camera collection image information in front;
S102, identification license plate image, the area S of calculating license plate image;
According to the image that collects, judge whether to have the figure of vehicle license plate characteristic, be then to calculate car plate graphics area S.
Paper " based on the car plate identification gordian technique research of digital image processing " (Chen Yang, 2009-Wuhan University of Technology: a kind of license plate image location extraction algorithm analysis of Control Theory and Control Engineering) discussing, it has used the specification of car plate and feature that the border of car plate is determined.And, draw the area (number of pixels) of license plate image in photographic images at last by the definite of border can further be cut apart image.Paper " based on the car plate location and the Character segmentation algorithm research of gray level image " (Meng Jie, 2008-Chang An University: Traffic Information Engineering ﹠ Control) discussed a kind of method of license plate area slant correction, adopted image to rotate the angle tilt of proofreading and correct in the license plate image.If when front truck or back car angle of arrival tilt, can obtain a corrected area value by this method.
S103, when car plate graphics area S more than or equal to preset area value S
0The time, reduce the speed of a motor vehicle;
The size of two spacings has determined to collect the size of the area S of license plate image, and promptly two spacings are big more, and the area S of cooresponding license plate image is then more little, and vice versa; Described preset area value S
0Safe spacing L between corresponding two cars
0, when the distance of two cars less than safe spacing L
0The time, the control speed of a motor vehicle;
Described safe spacing L
0Being the distance empirical value, is by repeatedly gathering the aviation value of measured distance value L when the same area value of same car plate type.
S104, when described car plate graphics area S less than preset area value S
0The time, promptly two spacings do not adjust to the speed of a motor vehicle greater than safe spacing.
The car plate of present domestic use mainly is 1992 formula number plates, and its respective standard is GA36-1992 " People's Republic of China's automotive number plate ".This standard code requirements such as the size of various car plates, color, Applicable scope.And in concrete example, because the car plate area is understood the difference because of the difference of car plate type, so its preset area value S
0Safe spacing L between pairing two cars
0Also can be different.At this situation, can be taken as S
0Definite value, L
0Get different apart from empirical value with the variation of different car plate types; Simultaneously, also desirable L
0Be definite value, S
0Get different area empirical values with the variation of different car plate types.
Described apart from empirical value for by repeatedly gather same car plate type when the same area value, the aviation value of measured distance L; Described area empirical value for by repeatedly gather same car plate type same apart from the time the aviation value of survey area S.By adopting the method for empirical value, can be that same car plate type captured area under same distance is tending towards equal, thereby reduce error.
Yet the car plate area of different car plate types is not too large in the difference of reality, its preset area value S
0With safe spacing L
0The difference of respective value is also not too large, so with a fixing preset area value S
0Corresponding fixing safe spacing L
0Also can obtain comparatively ideal effect.Simultaneously, use a kind of car plate type in the present embodiment, corresponding area identical empirical value when fixing safe spacing.Like this, multiple car plate type is then corresponding, and the multiple area empirical value of correspondence can reduce error when fixing safe spacing.
The mode that present embodiment only adopts the rear automobile that the license board information of front automobile is gathered and handled.In real life, the also mode that can adopt front automobile that the license board information of rear automobile is gathered and handled, if the maintenance safe spacing, front truck judges whether to satisfy acceleration environment, is then to quicken, otherwise carries out Anti-bumping protection.
Described acceleration environment is to utilize millimeter wave radar or coherent infrared radar to survey the obstacle in identification moving vehicle the place ahead, if judge there is not obstacle, then satisfies acceleration environment.
Described Anti-bumping protection is meant that automobile drives anti-collision body and stretches out the protection automobile.
The patent No. is to disclose a kind of automotive automation anti-collision protection device in 03276392.1 " the automotive automation anti-collision protection device ", its petrol storage tank is provided with valve, described valve is by predriver and rearmounted driver control, and described predriver is connected with central process unit with the back set driver; Described central process unit is connected with telltale and driving circuit, sender unit and signal receiving device respectively; The unlatching and the closure of the signal control valve that described central process unit provides according to sending set and receiving device so that the liquid in the petrol storage tank is full of the distribution cylinder, drives anti-collision body and stretch out, the protection automobile, and the multidate information of vehicle delivered to telltale.
See also Fig. 2, Fig. 3, a kind of embodiment 2 of automobile control speed method may further comprise the steps:
S201, collection vehicle front graphicinformation;
S202, identification car plate figure calculate car plate graphics area S;
S203, when described car plate graphics area S more than or equal to the first preset area value S
1The time, pick up counting, if described car plate graphics area S changes to more than or equal to the second preset area value S
2The time, write down corresponding transformation period Δ T;
Because the size of two spacings has determined to collect the size of car plate area of graph S.When described area S more than or equal to the first preset area value S
1The time, i.e. two cars less than the first safe spacing L
1, pick up counting.If the distance of two cars continues to narrow down to the second safe spacing L
2, make described area S equal the second preset area value S
2The time, write down corresponding transformation period Δ T, can draw the relative velocity Δ V=(L of interior two cars during this period of time this moment
1-L
2)/Δ T;
S204, according to the size of the transformation period Δ T control speed of a motor vehicle;
Method according to the size of the described transformation period Δ T control speed of a motor vehicle comprises:
S2041, be worth T greater than the schedule time as described transformation period Δ T
1The time, judge that whether license plate image area S is more than or equal to the 3rd preset area value S
3If,, reduce the speed of a motor vehicle;
Because L
1, L
2Be predefined definite value, when Δ T is worth T greater than the schedule time
1The time, the relative velocity Δ V of two cars is smaller, keeps the speed of a motor vehicle, but because two cars still have a relative velocity, when it arrives the 3rd safe spacing L
3The time, reduce the speed of a motor vehicle;
S2042, be less than or equal to schedule time value T as described transformation period Δ T
1The time, reduce the speed of a motor vehicle;
Present embodiment is implemented on two cars more and more close the time, this moment the described first preset area S
1＜the second preset area value S
2＜the three preset area value S
3, described L
1＞L
2
Present embodiment can also can detect back car license board information with front truck with back car test survey front truck license board information, so the described control speed of a motor vehicle comprises the back car is slowed down or the front truck acceleration; If many cars all adopt the method for present embodiment when travelling, then can utilize its distance or relative velocity to detect simultaneously to car before and after the vehicle, simultaneously many cars are carried out chain control, thereby reach preferable control effect;
See also Fig. 4, a kind of embodiment 3 of method of front truck control speed may further comprise the steps:
S301, collection automobile rear graphicinformation;
S302, identification car plate figure calculate car plate graphics area S;
S303, when license plate image area S more than or equal to pre-the 4th preset area value S
4, be then to enter S304, otherwise return S302;
S304, judge whether to satisfy acceleration environment, be that then front truck quickens, otherwise carry out Anti-bumping protection;
Described acceleration environment is to utilize millimeter wave radar or coherent infrared radar to survey the obstacle in identification moving vehicle the place ahead, if judge there is not obstacle, then satisfies acceleration environment.
Described acceleration environment also comprises judges whether preceding vehicle speed surpasses pre-set velocity V
0, be then not satisfy acceleration environment, front truck does not quicken, otherwise satisfies acceleration environment;
Described Anti-bumping protection is meant that automobile drives anti-collision body and stretches out the protection automobile.
Described pre-set velocity value is the numerical value that system sets in advance, and mainly is situation about also quickening when too high for the speed that prevents front truck;
Because it is to belong to passive acceleration that front truck quickens, and may produce danger in actual controlling, thus must judge whether to satisfy acceleration environment, so just can reduce much owing to after car can't brake or the brake hidden danger of untimely generations.
In addition, if front truck detects back car license board information among the embodiment 2, then also to judge whether to satisfy acceleration environment, and then again front truck be carried out control corresponding.
As shown in Figure 5, a kind of automobile speed-controlling device structural representation A, it comprises:
Image capture module comprises imageing sensor, A/D converter, and described imageing sensor and A/D converter are that employing collection of simulant signal and A/D Transform Sets are the CMOS camera of one, are used to gather vehicle front or rear graphicinformation;
Recognition processing module connects described image capture module, it comprises treater, Embedded ARM9 processor chips of processor adopting or dsp chip, be used for according to described Information Monitoring identification car plate figure, calculate car plate area of graph S, and the time record by preset area is changed, obtain corresponding transformation period Δ T, and (according to automobile control speed method) generates control commands corresponding;
Memory module adopts storage chip, and storage chip adopts one or more in Flash, SRAM, the SDRAM chip.It connects described recognition processing module, is used to store license board information, pre-set velocity value, each preset area value and pairing apart from information such as empirical values;
Control module connects described recognition processing module, and it comprises speed controller, is used for according to control command the speed of a motor vehicle being carried out corresponding control;
Described control module also comprises a predriver and a back set driver, is used to drive anti-collision body and stretches out, with the protection automobile;
Described license board information comprises: the car plate area S of car plate type, car plate figure and corresponding car plate;
Described variation area Δ S is meant that the distance owing to front and back two cars changes and causes the variation of the car plate area taken;
Gather vehicle front information at image capture module described in the embodiment 1, give recognition processing module information transfer.Recognition processing module judges whether image has vehicle license plate characteristic, be then to calculate the car plate area of graph, judge that whether described car plate area of graph is greater than preset area, the regeneration control commands corresponding also is sent to control module with control command, and control module is controlled speed according to the control command of recognition processing module;
Gather vehicle front information at image capture module described in the embodiment 2, and give recognition processing module information transfer.Recognition processing module judges whether image has vehicle license plate characteristic, is then to calculate the car plate area of graph.Then recognition processing module is compared the gained area with the data in the memory module, and the preset area value in the extraction memory module and pairing apart from information such as empirical values, method by timing draws transformation period, calculates the distance of the relative velocity and two cars of two cars again.Recognition processing module generates control commands corresponding and sends control module to according to the relative velocity of two cars and the distance of two cars, and control module is controlled speed according to the control command of recognition processing module;
As shown in Figure 6, a kind of automobile speed-controlling device structural representation B, also comprise: described recognition processing module also connects an acceleration detection module, (recognition processing module) receives the detection data of acceleration detection module and judges whether front truck is quickened, be then to send data to control module, by control module the speed of a motor vehicle controlled at last; Described acceleration detection module, whether the place ahead that is mainly used in the detection automobile has obstacle and record present speed, adopts millimeter wave radar or coherent infrared radar to survey and discern the obstacle in moving vehicle the place ahead, and writes down present speed with a velometer.
Gather automobile rear information at image capture module described in the embodiment 3, and give recognition processing module information transfer.Recognition processing module judges whether image has vehicle license plate characteristic, be then to calculate the car plate area of graph, and judge that whether described car plate area of graph is greater than preset area, if, whether the place ahead that the acceleration detection module detects automobile has obstacle and record present speed, receive the detection data of acceleration detection module and judge whether to meet acceleration environment by recognition processing module again, last recognition processing module generates corresponding control command and sends control module to according to detected data, and control module is controlled speed according to control command.
Described acceleration environment is meant recognition processing module judgement the place ahead clear, and the present speed of institute's record automobile is not more than the pre-set velocity value;
If front truck detects back car license board information in embodiment 2, when judging whether front truck can quicken, whether the place ahead that also can adopt the acceleration detection module to detect automobile has obstacle and whether writes down present speed, receive the detection data of acceleration detection module and judge whether to meet acceleration environment by recognition processing module again, last recognition processing module generates corresponding control command and sends control module to according to detected data, and control module is controlled speed according to control command.
Above-described embodiment of the present invention does not constitute the qualification to protection domain of the present invention.Any modification of being done within the spirit and principles in the present invention, be equal to and replace and improvement etc., all should be included within the claim protection domain of the present invention.
Claims (8)
1. automobile control speed method comprises:
Gather vehicle front or rear graphicinformation;
Identification car plate figure calculates the car plate graphics area;
When detecting the car plate area of graph more than or equal to the preset area value, the control speed of a motor vehicle;
When described car plate area of graph during, the speed of a motor vehicle is not adjusted less than the preset area value.
2. automobile control speed method also comprises:
Gather vehicle front or rear graphicinformation;
Identification car plate figure calculates the car plate graphics area;
When described car plate graphics area during more than or equal to the first preset area value, pick up counting, when described car plate area of graph during, write down corresponding transformation period more than or equal to the second preset area value;
The size control speed of a motor vehicle according to transformation period.
3. according to the method for the described size control speed of a motor vehicle according to transformation period of claim 2, it is characterized in that, comprising:
When described transformation period was worth greater than the schedule time, judge that the car plate area of graph whether more than or equal to the 3rd preset area value, is then to control the speed of a motor vehicle, otherwise the speed of a motor vehicle is not adjusted;
When described transformation period is less than or equal to the schedule time during value, the control speed of a motor vehicle.
4. according to claim 1 or 2 or 3 described a kind of automobile control speed methods, its feature is that also the described control speed of a motor vehicle also comprises carries out deceleration control or front truck is quickened control the back car.
5. the method to front truck acceleration control according to claim 4 is characterized in that, comprising:
When front truck satisfies acceleration environment, then front truck quickens;
When the discontented sufficient acceleration environment of front truck, carry out Anti-bumping protection.
6. the method to front truck acceleration control according to claim 5 is characterized in that, described acceleration environment is to utilize millimeter wave radar or coherent infrared radar to survey and discern the obstacle in moving vehicle the place ahead, if judgement does not have obstacle, then satisfies acceleration environment; Described acceleration environment comprises also whether vehicle speed before judging is surpassed pre-set velocity.
7. automobile speed-controlling device, it comprises:
Image capture module is used to gather the front or rear square graphicinformation of automobile;
Recognition processing module, connect described image capture module, be used for according to described Information Monitoring identification car plate figure, calculate the car plate area of graph, judge that whether described car plate area of graph is greater than preset area, obtain corresponding transformation period by the time record that preset area is changed, and generate control commands corresponding;
Control module connects described recognition processing module, is used to receive control command and the speed of a motor vehicle is carried out corresponding control;
Memory module connects described recognition processing module, is used to store license board information, pre-set velocity value, preset area value and pairing apart from empirical value.
8. according to the described a kind of automobile speed-controlling device of claim 7, its feature is that also described recognition processing module also connects an acceleration detection module, and whether the place ahead that described acceleration detection module is used to detect automobile has obstacle and record present speed.
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|---|---|---|---|
| CN 201010164680 CN101811488A (en) | 2010-04-29 | 2010-04-29 | Speed control method and speed control device for automobiles |
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|---|---|---|---|
| CN 201010164680 CN101811488A (en) | 2010-04-29 | 2010-04-29 | Speed control method and speed control device for automobiles |
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| CN102463951A (en) * | 2011-09-07 | 2012-05-23 | 浙江吉利汽车研究院有限公司 | Automobile longitudinal collision mitigating system and control method |
| CN102616198A (en) * | 2012-04-27 | 2012-08-01 | 湖南赛格导航技术研究有限公司 | Active safety control method and device for automobile based on millimeter wave radar detection and image recognition |
| CN102795184A (en) * | 2012-08-27 | 2012-11-28 | 奇瑞汽车股份有限公司 | Active avoiding system for preventing rear-end collision and control method thereof |
| CN103419737A (en) * | 2013-08-15 | 2013-12-04 | 深圳市赛格导航科技股份有限公司 | Anti-collision control method and system for vehicle |
| CN105984407A (en) * | 2015-05-15 | 2016-10-05 | 李俊 | Monitoring and warning device for condition behind vehicle |
| CN112026700A (en) * | 2020-08-12 | 2020-12-04 | 深圳市森国科科技股份有限公司 | Automobile anti-collision early warning method and system and storage medium |
| CN113879293A (en) * | 2021-10-21 | 2022-01-04 | 奇瑞汽车股份有限公司 | Vehicle obstacle avoidance control method, device, equipment and storage medium |
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| CN102463951A (en) * | 2011-09-07 | 2012-05-23 | 浙江吉利汽车研究院有限公司 | Automobile longitudinal collision mitigating system and control method |
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| CN112026700A (en) * | 2020-08-12 | 2020-12-04 | 深圳市森国科科技股份有限公司 | Automobile anti-collision early warning method and system and storage medium |
| CN113879293A (en) * | 2021-10-21 | 2022-01-04 | 奇瑞汽车股份有限公司 | Vehicle obstacle avoidance control method, device, equipment and storage medium |
| CN113879293B (en) * | 2021-10-21 | 2024-03-26 | 奇瑞汽车股份有限公司 | Vehicle obstacle avoidance control method, device, equipment and storage medium |
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