CN102556066A - Lane departure warning device for passenger vehicle and judgment method thereof - Google Patents
Lane departure warning device for passenger vehicle and judgment method thereof Download PDFInfo
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Abstract
The invention discloses a lane departure warning device for a passenger vehicle and a judgment method thereof. The lane departure warning device for the passenger vehicle comprises an image acquisition module, a turn signal acquisition module, a liquid crystal display (LCD), an alarm module, a storage hard disk and a high-speed digital signal processor, wherein the high-speed digital signal processor is electrically connected with a CCD (Charge-Coupled Device) sensor of the image acquisition module and a video cable of the LCD respectively through USB (Universal Serial Bus) interfaces, and the high-speed digital signal processor is electrically connected with a singlechip for acquiring turn signals, the storage hard disk and the alarm module through I/O (Input/Output) interfaces. The judgment method comprises the following steps: lane images are acquired through the CCD image sensor; whether the vehicle has departed from a lane or not is judged; if the vehicle has departed from the lane without turning on turn signal lamps, a system device alarms, and meanwhile, the driving violation images of a driver at this time are transmitted to the storage hard disk.
Description
Technical field
The present invention relates to passenger vehicle driving safety field, particularly a kind of passenger vehicle lane departure warning device and determination methods thereof.
Background technology
In recent years, when the highway in China transit industry was fast-developing, road traffic accident was also high, has caused a large amount of personal injuries and property damage to society, and the social influence that the highway passenger transportation traffic accident causes is particularly serious.The driving behavior of bus man is the necessary and sufficient condition that ensures the passenger vehicle driving safety.And the main immediate cause of most of highway passenger transportation traffic accidents is operation against rules, negligence or the fatigue driving of chaufeur, and these behaviors will cause automotive run-off-road accidentally, thereby causes traffic accident.
At present, passenger vehicle only be to use automobile travel recorder, but its shortcoming is to the lane departure warning technology: the non-image technology of first its employing, and accuracy rate is low; The second, it generally will be used in combination with the GPS supervising platform, and use cost is high, and the 3rd, it does not have chaufeur image memory function in violation of rules and regulations, when traffic accident takes place, can not well for traffic control department the judgement foundation be provided.
Summary of the invention
The objective of the invention is to; Be to provide a cover to be fit to the lane departure warning device and the determination methods thereof of passenger vehicle; This lane departure warning device adopts image technique, control accuracy is high, use cost is low, be fit to large-scale promotion; Also has chaufeur image memory function in violation of rules and regulations, for traffic control department provides the judgement foundation.
This device can effectively be managed the driver behavior behavior with standard highway passenger transportation vehicular drive people; Conscientiously improve the scientific and technological content and the ability of highway passenger transportation safety management, and then reach effective purpose of improving highway in China passenger traffic safety property and operating benefit that improves highway passenger transportation and the sustainable development of maintenance industry.
Groundwork of the present invention is through using ccd image sensor to take the instantaneous picture of the place ahead environment at short notice; Pass through then the image decoding chip image signal transmission in the high speed signal digital processor; Whether the high speed signal digital processor judges vehicle run-off-road through program; If run-off-road under the situation that steering indicating light is not opened; System and device will be pointed out to steerman through using light emitting diode and buzzer phone, assists help for the safety traffic of passenger vehicle on road provides; In addition, system and device also can be driven the violation image to the steerman of this moment and be transferred in the storage hard disk, when occurrence of traffic accident, can the judgement foundation be provided for traffic control department.
In order to realize above-mentioned task, the present invention takes following technical solution:
A kind of passenger vehicle lane departure warning device is characterized in that, comprising:
Image capture module mainly is made up of ccd sensor and image decoder, and wherein, ccd sensor is installed in the inboard of front part of vehicle Windshield, tiltedly the track of directed forward;
The turn sign acquisition module, this turn sign acquisition module adopts micro controller system, is used for reading the make-and-break signal that turns in the passenger vehicle CAN bus from the bus of passenger vehicle under-dash;
Liquid Crystal Display (LCD) is connected with high speed digital signal processor through USB interface;
The storage hard disk is used for memory of driving people's violation image;
Alarm module is made up of light-emitting diode and buzzer phone;
High speed digital signal processor is electrically connected the video line of image capture module and Liquid Crystal Display (LCD) respectively through USB interface, be electrically connected turn sign acquisition module, storage hard disk and alarm module through the I/O mouth.
Above-mentioned passenger vehicle lane departure warning device is used for passenger vehicle deviation determination methods, it is characterized in that, may further comprise the steps:
(1) ccd sensor is demarcated:
At first make scaling board, uncalibrated image is set on the scaling board, ccd sensor is taken scaling board, and images acquired is demarcated, and obtains the inner parameter and the ambient parameter of ccd sensor then;
(2) IMAQ:
Ccd sensor is gathered carriageway image, and the road image that collects is transferred in the high speed digital signal processor through image decoder;
(3) image pretreatment:
The road image that collects is carried out filtering, filtering part random noise;
(4) lane mark extracts:
Utilize threshold method that pretreated image is cut apart, utilize the Sobel operator to detect the edge, track, utilize the Hough mapping algorithm to realize the extraction of lane mark again;
(5) deviation is judged:
Whether run-off-road goes to judge vehicle according to horizontal position and the direction parameter of vehicle in current road, reminds the passenger vehicle run-off-road to go through light-emitting diode and buzzer phone, and is saved in the storage hard disk driving image in violation of rules and regulations.
Passenger vehicle route deviation prior-warning device of the present invention, volume is little, simple to operate, the cost of goods manifactured valency is low, has the bigger market competitiveness.Vehicle lane based on above-mentioned passenger vehicle route deviation prior-warning device departs from determination methods; The processing of its road image and the early warning of deviation all are to be accomplished by high speed digital signal processor; Reliability and intelligent height; Can also be transferred to the driving of steerman violation image in the storage hard disk, when occurrence of traffic accident, can the judgement foundation be provided for traffic control department.
Description of drawings
Fig. 1 is a ccd sensor scheme of installation of the present invention.
Fig. 2 is a hardware configuration scheme drawing of the present invention.
Vehicle system of axes scheme drawing in road that Fig. 3 sets up for the present invention.
Mark among the figure is represented respectively: 1, image capture module, 2, metal shell, 3, high speed digital signal processor, 4, micro controller system, 5, Liquid Crystal Display (LCD), 6, alarm module, 7, the storage hard disk.
Below in conjunction with accompanying drawing and embodiment the present invention is done further detailed description.
The specific embodiment
With reference to Fig. 1, in passenger vehicle lane departure warning device, the image capture module of present embodiment comprises ccd sensor and image decoder, and ccd sensor is connected with image decoder.Wherein, ccd sensor relies on support to be fixed on the inboard of front part of vehicle Windshield, and the setting height(from bottom) h of ccd sensor is 1.66 meters, and inclined angle alpha is 15.4 °, and camera lens is (the mark Z ' among Fig. 1) towards the place ahead on the lower side.
High speed digital signal processor 3, micro controller system 4, Liquid Crystal Display (LCD) 5, alarm module 6, storage hard disk 7 are respectively through being bolted in the metal shell 2; Wherein, Alarm module 6 is made up of light-emitting diode and buzzer phone, and metal shell 2 is through support and the top that is bolted to the passenger vehicle gauge panel.
The present embodiment ccd sensor adopts 1/4, and " model of image decoding chip is TVP5145 for the WAT-231S2 industrial camera that the SONY machine vision is special-purpose, valid pixel 6,000,000.The output signal of image decoder is connected with the VP1 mouth of high speed digital signal processor 3 through the USB2.0 data line.
With reference to Fig. 2, in the present embodiment, the model of high-speed digital signal image processor is TMS320DM642.The model of Liquid Crystal Display (LCD) is TVG-800.The model of the light-emitting diode in the early warning module 6 is SMD0805, and the model of buzzer phone is CY-12055.The model of storage hard disk is Seagate ST500DM0027200.
The VP0 mouth of the high speed digital signal processor 3 of device is electrically connected the video line of Liquid Crystal Display (LCD) 5; High speed digital signal processor 3 has a plurality of pins; GP0 wherein [0] pin is electrically connected the PAD0 pin of the micro controller system 4 of gathering turn sign; The GP0 of high speed digital signal processor 3 [15] pin is electrically connected the light emitting diode of alarm module 6; The GP0 of high speed digital signal processor 3 [13] pin is electrically connected the buzzer phone of alarm module 6, and the standard IDE hard-disk interface of high speed digital signal processor 3 extended resources is electrically connected storage hard disk 7.
Turning to make-and-break signal is from the bus of passenger vehicle under-dash, to read; Pass to the MC9S12DG128 micro controller system after the filtering of process signal processing circuit, the amplification, send to the make-and-break signal that turns to that collects in the high speed signal digital processor 5 (TMS320DM642) through the RS232 serial port again.
Use ccd image sensor to take the instantaneous picture of the place ahead environment at short notice in the present embodiment; Arrive image signal transmission in the high speed signal digital processor 5 (TMS320DM642) through image decoder then; Whether high speed signal digital processor 5 judges vehicle run-off-road through program; If run-off-road under the situation that steering indicating light is not opened; Device will be pointed out to steerman through using light emitting diode and buzzer phone, assists help for the safety traffic of passenger vehicle on road provides; In addition, device also can be driven the violation image to the steerman of this moment and be transferred in the storage hard disk, when occurrence of traffic accident, can the judgement foundation be provided for traffic control department.
Adopt said apparatus to realize passenger vehicle deviation determination methods, concrete steps are following:
(1) ccd sensor is demarcated
At first make scaling board, calibration graph is arranged on the scaling board, the conversion calibration position; Utilize these images of ccd sensor collection to demarcate; Calibration graph is selected chequered with black and white square square frame for use, and the foursquare length of side is 10cm, has 5 square frames on each direction; Position at the visual range inner conversion scaling board of ccd sensor; Gather the scaling board image at diverse location, these images are imported among the mathematical treatment software MATLAB2009b of Math Works company demarcate then, obtain the inner parameter and the ambient parameter of ccd sensor.
Ccd sensor is demarcated the inner parameter that obtains and is mainly contained: effective focal length f, and twisting coefficient fc and distortion factor kc, these parameters have been reacted the pattern distortion that pick up camera itself is brought.The ambient parameter that camera calibration obtains has pick up camera apart from floor level h, with car lateral extent d, angle of rotation γ, pitch angle α.
(2) IMAQ
After device was started working, ccd sensor 1 was gathered carriageway image, and the carriageway image that collects is real-time transmitted in the high speed digital signal processor 5 through image decoder and USB2.0 data line, supplied high speed digital signal processor 5 to carry out next step processing.
(3) image pretreatment
Remove useless point and noise spot in the road image.In the image acquisition procedures of reality, because road surface situation more complicated possibly exist stain, foreign material to disturb; The road image that collects is carried out filtering; Therefore filtering part random noise need be carried out the noise processed of image with the Wiener filtering method, and Wiener filtering can realize the self adaptation denoising.
Because the road image contrast ratio that ccd sensor obtains sometimes can be lower; So can adopt the Gray Histogram conversion to improve the contrast ratio of image; A madjust grey level transformation function is arranged in the image processing tool box of Matlab; It can shine upon the gray value of image again, makes it to fill up the scope (0,255) that whole gray value allows.
(4) lane mark extracts
To carrying out binary conversion treatment through the pretreated carriageway image of image; Utilize the threshold segmentation method that pretreated image is cut apart; With of the grey level histogram classification of one or several threshold values, be classified as same object to the pixel of gray value in same scope with image.
Utilize the Sobel operator to detect the edge, track; The Sobel operator is a kind of method that the direction calculus of differences is combined with local average; Have certain noise inhibiting ability, can reach the purpose of fast detecting lane mark, for the track of the left and right sides; Adopt the Sobel operator respectively the level in track, the left and right sides to be detected, it is following to get fixed Sobel operator:
Utilize the Hough mapping algorithm to realize the extraction of lane mark again; The Hough conversion is transformed into curve given in the original image or straight line a point of parameter space; The detection problem of curve in the original image or straight line; Be transformed into the problem of seeking peak dot in the parameter space, the polar equation of straight line is following:
ρ＝xcosθ+ysinθ
(x y) converts two-dimensional space parameter (ρ, a point on θ) to the point on the straight line to utilize the Hough conversion; Be many little lattice then with ρ-θ spatial spreading; The little lattice at maximum some place that fall into little lattice are corresponding to parameter space (ρ, common ground θ), (ρ; θ) be the Straight Line Fitting Parameters of image space; With the Straight Line Fitting Parameters that obtains through suitable transform in the image coordinate system after, promptly be equation of straight line with respect to image coordinate, the equation of the left and right sides lane mark in image coordinate system just.
(5) deviation is judged
With reference to Fig. 3; Present embodiment mainly is to judge vehicle according to horizontal position and the direction parameter of vehicle in current road whether run-off-road goes; As shown in Figure 3, set up actual path coordinate system, the y axle be parallel with left and right sides Lane Mark and with the equidistant straight line of left and right sides Lane Mark; The pairing direction of vehicle head is a positive dirction, and the x axle was vehicle front-wheel wheel shaft mid point P and the straight line vertical with the y axle.Initial point O is the intersection point of x axle and y axle.
The horizontal position parameter x of vehicle in the track
0Be meant the x coordinate figure of vehicle front-wheel wheel shaft center point P point, the P point when y axle right side, x
0For just; The P point is in y axle when left side, x
0For negative.
The direction parameter of vehicle in the track is meant that the angular separation of y axle and longitudinal direction of car axis is θ, when headstock right avertence θ be on the occasion of, θ is a negative value during headstock left avertence.
Parameter x
0Can combine some parameter informations of vehicle-borne CCD sensor to obtain by the Lane Mark parameter that proposes with θ through some conversion.Behind the location parameter and direction parameter of vehicle in current track, can obtain following run-off-road Early-warning Model:
When satisfying formula (1), trigger light-emitting diode and buzzer warning, remind the passenger vehicle run-off-road to go, offset direction is to right avertence, and the violation of a this moment driving image stores in the hard disk.
When satisfying formula (2), trigger light-emitting diode and buzzer warning, remind the passenger vehicle run-off-road to go, offset direction is to left avertence, and the violation of a this moment driving image stores in the hard disk.
In the formula, θ
0Being the threshold values that configures, is 1 in this device
0, b is a vehicle width, x
lBe the warning critical line set distance, x apart from the y axle
lValue selected according to following formula, wherein w is a lane width.
Claims (9)
1. a passenger vehicle lane departure warning device is characterized in that, comprising:
Image capture module mainly is made up of ccd sensor and image decoder, and wherein, ccd sensor is installed in the inboard of front part of vehicle Windshield, tiltedly the track of directed forward;
The turn sign acquisition module, this turn sign acquisition module adopts micro controller system, is used for handling from the make-and-break signal that turns to that the bus of passenger vehicle under-dash reads in the passenger vehicle CAN bus;
Liquid Crystal Display (LCD) is connected with high speed digital signal processor through USB interface;
The storage hard disk is used for memory of driving people's violation image;
Alarm module is made up of light-emitting diode and buzzer phone;
The VP0 mouth of the high speed digital signal processor 3 of device is electrically connected the video line of Liquid Crystal Display (LCD) 5; The GP0 of high speed digital signal processor 3 [0] pin is electrically connected the PAD0 pin of the micro controller system 4 of gathering turn sign; The GP0 of high speed digital signal processor 3 [15] pin is electrically connected the light emitting diode of alarm module 6; The GP0 of high speed digital signal processor 3 [13] pin is electrically connected the buzzer phone of alarm module 6, and the standard IDE hard-disk interface of high speed digital signal processor 3 extended resources is electrically connected storage hard disk 7.
2. passenger vehicle lane departure warning device as claimed in claim 1 is characterized in that, described ccd sensor is selected the WAT-231S2 industrial camera, and the model of described image decoding chip is TVP5145.
3. passenger vehicle lane departure warning device as claimed in claim 1 is characterized in that the micro controller system model of described turn sign acquisition module is MC9S12DG128.
4. passenger vehicle lane departure warning device as claimed in claim 1 is characterized in that the model of described high-speed digital signal image processor is TMS320DM642.
5. passenger vehicle lane departure warning device as claimed in claim 1 is characterized in that the model of described Liquid Crystal Display (LCD) is TVG-800.
6. passenger vehicle lane departure warning device as claimed in claim 1 is characterized in that the model of described storage hard disk is Seagate ST500DM002 7200.
7. passenger vehicle lane departure warning device as claimed in claim 1 is characterized in that the model of the light-emitting diode in the described early warning module is SMD0805, and the model of buzzer phone is CY-12055.
8. the said passenger vehicle lane departure warning of claim 1 device is used for passenger vehicle deviation determination methods, it is characterized in that, may further comprise the steps:
(1) ccd sensor is demarcated:
At first make scaling board, uncalibrated image is set on the scaling board, ccd sensor is taken scaling board, and images acquired is demarcated, and obtains the inner parameter and the ambient parameter of ccd sensor then;
(2) IMAQ:
Ccd sensor is gathered carriageway image, and the road image that collects is transferred in the high speed digital signal processor through image decoder;
(3) image pretreatment:
The road image that collects is carried out filtering, filtering part random noise;
(4) lane mark extracts:
Utilize threshold method that pretreated image is cut apart, utilize the Sobel operator to detect the edge, track, utilize the Hough mapping algorithm to realize the extraction of lane mark again;
(5) deviation is judged:
Whether run-off-road goes to judge vehicle according to horizontal position and the direction parameter of vehicle in current road, reminds the passenger vehicle run-off-road to go through light-emitting diode and buzzer phone, and is saved in the storage hard disk driving image in violation of rules and regulations.
9. method as claimed in claim 8 is characterized in that, described deviation judgement is based on the horizontal position of vehicle in road and the model of direction parameter.
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| WO2017133311A1 (en) * | 2016-02-03 | 2017-08-10 | 武汉极目智能技术有限公司 | Adas technology-based vehicle steering detection system and detection method |
| CN111220197A (en) * | 2016-09-12 | 2020-06-02 | 上海沃尔沃汽车研发有限公司 | Test system and test method for lane line deviation alarm system |
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