CN103085716A - Traffic accident preventing system and traffic accident preventing method - Google Patents
Traffic accident preventing system and traffic accident preventing method Download PDFInfo
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- CN103085716A CN103085716A CN2011103372159A CN201110337215A CN103085716A CN 103085716 A CN103085716 A CN 103085716A CN 2011103372159 A CN2011103372159 A CN 2011103372159A CN 201110337215 A CN201110337215 A CN 201110337215A CN 103085716 A CN103085716 A CN 103085716A
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Abstract
A traffic accident preventing system comprises a depth camera, a dynamic object detection module, an object position analysis module, an object speed analysis module, a judgment module and a first warning module, and is capable of judging whether opening a car door at the moment can lead to accidents or not and prompting a person through the first warning unit if so. The invention further provides a traffic accident preventing method.
Description
Technical field
The present invention relates to a kind of traffic accident and prevent system and method.
Background technology
vehicle parking is when the roadside, when vehicular drive personnel or passenger want opening car door and get off, need navigating mate or passenger to be careful voluntarily back car more, the situations such as pedestrian, namely first utilize back mirror or confirm the situation of road in the rear in modes such as range estimations, do not send a car or the pedestrian in the confirmation rear, or back car, in the time that pedestrian and vehicle being separated by a safety distance, can reach opening car door gets off, so comparatively trouble and potential safety hazard are larger, such as the passenger be eager to get off and the situation at rear unconfirmed namely rashly opening car door get off, just easily occur car door wipe encounter through vehicles or pedestrians, even cause back car or pedestrian because dodging not as good as knocking car door or the generation of the personnel's that get off accident.
Summary of the invention
In view of above content, be necessary to provide a kind of traffic accident to prevent the contingency that system and method is caused when avoiding car door opening.
A kind of traffic accident is prevented locking system, comprising:
One depth camera is installed on a vehicle outside, with the image of the scene of taking rear view of vehicle and obtain the range information between each point and depth camera in scene;
One dynamic object detecting module is used for the image and the range information that obtain are analyzed, to judge the object that whether has motion in scene;
One object space analysis module, be used for the image and the range information that obtain are analyzed, and obtain the distance between mobile and depth camera in image according to the mobile that judgement obtains, and the relative position of this mobile and vehicle in corresponding judgement image;
One object speed analysis module, be used for adjacent two image and the range informations that constantly obtain are analyzed, obtaining respectively the distance between mobile and depth camera in two images, and go out the moving velocity of this mobile according to the Time Calculation of taking two images;
One judge module, be used for the mobile that obtains and the relative position of vehicle and the moving velocity of mobile are analyzed, to judge whether mobile is positioned at the open operation scope of car door, perhaps whether the distance between mobile and vehicle is less than a predeterminable range, when within the open operation scope of this mobile at car door and the distance between mobile and vehicle during less than predeterminable range, this judge module sends one first control signal; And
One first warns the unit, is installed on vehicle interior, is used for starting working to point out navigating mate or passenger according to the first control signal.
A kind of traffic accident prevention method comprises:
Take by a depth camera rear view of vehicle scene image and obtain the range information between each point and depth camera in scene;
The image and the range information that obtain are analyzed, to judge the object that whether has motion in scene;
The image and the range information that obtain are analyzed, and obtained the distance between mobile and depth camera in image according to the mobile that judgement obtains, and the relative position of this mobile and vehicle in corresponding judgement image;
Adjacent two image and the range informations that constantly obtain are analyzed, obtaining respectively the distance between mobile and depth camera in two images, and gone out the moving velocity of this mobile according to the Time Calculation of taking two images;
The mobile that obtains and the relative position of vehicle and the moving velocity of mobile are analyzed, whether be positioned at the open operation scope of car door to judge mobile, perhaps whether the distance between mobile and vehicle is less than a predeterminable range; And
When within the open operation scope of this mobile at car door and the distance between mobile and vehicle during less than predeterminable range, send one first control signal and start working to point out navigating mate or passenger to control first a caution unit that is installed on vehicle interior.
Above-mentioned traffic accident prevents that system and method from taking the scene of rear view of vehicle by depth camera, and judges whether rear view of vehicle has mobile object.When rear view of vehicle has mobile object, this traffic accident prevents that system and method from also judging position and the moving velocity of mobile object, and then judgement this moment during opening car door possibility can cause unexpected the generation, in the time may causing unexpected the generation by the first caution unit prompting personnel.
Description of drawings
Fig. 1 is the block scheme of the better embodiment of the anti-locking system of traffic accident of the present invention.
Fig. 2 and Fig. 3 are the work schematic diagrams of the anti-locking system of traffic accident in Fig. 1.
Fig. 4 and Fig. 5 are the diagram of circuits of the better embodiment of traffic accident prevention method of the present invention.
The main element nomenclature
| |
10 |
| The dynamic |
12 |
| The object |
15 |
| The object |
16 |
| |
18 |
| First warns the |
20 |
| Second warns the |
22 |
| |
26 |
The following specific embodiment further illustrates the present invention in connection with above-mentioned accompanying drawing.
The specific embodiment
Below in conjunction with accompanying drawing and better embodiment, the present invention is described in further detail:
See also Fig. 1, the better embodiment of the anti-locking system of traffic accident of the present invention comprises a depth camera (depth-sensing camera) 10, one dynamic object detecting module 12, an object speed analysis module 15, an object space analysis module 16, a judge module 18, one first caution unit 20, one second caution unit 22 and a sensing cell 26.
This depth camera 10 is installed on the shell of vehicle, be used for to take rear view of vehicle scene image and obtain the range information between every bit and this depth camera 10 in scene.In present embodiment, this depth camera 10 can be a TOF(Time-of-flight) pick up camera.This TOF pick up camera will be launched the signal of certain wavelength when taking, can reflex to the TOF pick up camera during object in signal runs into photographed scene, time difference between signal emission and reception has namely represented the range information between object and TOF pick up camera, so this TOF pick up camera can obtain the range information between the interior every bit of scene and TOF pick up camera.Certainly, for the scene to rear view of vehicle is more fully taken, in other embodiment, the anti-locking system of this traffic accident can comprise the some depth camera 10 that are installed on respectively each door outside.Certainly, in other embodiments, this depth camera 10 also can be the pick up camera that other possess depth of field discrimination function.
This dynamic object detecting module 12 is used for the image and the range information that obtain are analyzed, to judge the object that whether has motion in scene.
How the below will judge whether exist the object of motion to be described in scene to this dynamic object detecting module 12.In present embodiment, this depth camera 10 (such as 1 second) at a certain time interval continues scene is taken, and obtains the range information between each point and depth camera 10 in scene.Afterwards, this dynamic object detecting module 12 is converted into pixel value with the range information between each point in the scene that obtains and depth camera 10, and it is stored as the scene array, wherein, range information is converted to pixel value can in distance maxim respective pixel value " 255 ", apart from minimum value the ratio of respective pixel value " 0 " carry out.
After obtaining the scene array, this dynamic object detecting module 12 is about to the adjacent two scene arrays that constantly obtain and compares, and finding the zone that conforms in two scene arrays, and with this, two scene arrays is carried out aligned in position and proofreaies and correct.If alignment the different part of content occurs after proofreading and correct in two scene arrays, think mobile to occur in scene, and this mobile is identified.Whether certainly, in other embodiment, this dynamic object detecting module 12 also can adopt other known algorithm that image and range information are calculated, have mobile to occur in scene to judge.
After this, 16 pairs of images that obtain of this object space analysis module and range information are analyzed, to obtain the distance between mobile and depth camera 10 in image, and the relative position of this mobile and vehicle in corresponding judgement image, such as shown in Figures 2 and 3, this mobile in Fig. 2 X-direction apart from 10 meters, vehicle, in Y direction apart from 1 meter, vehicle, in Fig. 3 X-direction near vehicle, in Y direction apart from 0.5 meter, vehicle.If a depth camera is all installed at each car door place, this object space analysis module 16 will obtain four relative positions, and this relative position can be regarded as the relative position between mobile and corresponding car door.
15 pairs of adjacent two image and range informations that constantly obtain of this object speed analysis module are analyzed, to obtain respectively the distance between mobile and depth camera 10 in two images, and go out the moving velocity of this mobile according to the Time Calculation of taking two images, such as the distance between this mobile and vehicle in the first captured image that obtains of the moment is 10 meters, distance in the second captured image that obtains of the moment between this mobile and vehicle is 9.8 meters, the time gap of depth camera 10 photographic images is 1 second, like this can learn that the moving velocity of this mobile is 0.2 meter of per second.
This judge module 18 is used for the mobile that obtains and the relative position of vehicle and the moving velocity of mobile are analyzed, to judge whether mobile is positioned at the open operation scope of car door, perhaps but whether the distance between mobile and vehicle less than the reaction distance of this mobile, and then judges the caution degree between this mobile and vehicle.In present embodiment, but but when within the opereating specification of this mobile at car door or the distance between mobile and vehicle during less than reaction distance (as shown in Figure 3), 18 of this judge modules think that this mobile this moment is positioned at high alert status, sends the first control signal simultaneously.But but when outside the opereating specification of this mobile at car door or the distance between mobile and vehicle during greater than reaction distance, this judge module 18 thinks that this mobile this moment is positioned at low alert status (as shown in Figure 2), sends the second control signal simultaneously.
This first caution unit 20 is installed on the car door inboard, with prompting navigating mate or passenger.This second caution unit 22 is installed on door outside, with prompting front vehicle or pedestrian.when this judge module 18 sends the second control signal, whether this 26 while of sensing cell sensing navigating mate or passenger touch door opening device, when sensing navigating mate or passenger and touch door opening device, i.e. expression navigating mate this moment or passenger are about to opening car door, at this moment, this the first caution unit 20 is namely opened yellow Warning light and is followed comparatively the alarm song that relaxes to remind the condition of road surface that need first be careful car door opening scope or rear before navigating mate or passenger's opening car door, this the second caution unit 22 is also opened yellow Warning light and is followed comparatively the alarm song that relaxes to remind back car or pedestrian's car door to be about to open simultaneously, back car or pedestrian can be had ample time to be avoided in advance.
When this judge module 18 sends the first control signal, this the first caution unit 20 is directly opened red Warning lights and is followed comparatively rapid alarm song reminding navigating mate or passenger opening car door not this moment, to avoid causing back car, pedestrian because dodging not as good as knocking the unexpected generations such as car door or passenger due to opening car door rashly.When this sensing cell 26 senses navigating mate or passenger and touches door opening device, i.e. expression navigating mate this moment or passenger are about to opening car door, at this moment, these the second caution unit 22 red Warning lights of unlatching also follow comparatively rapid alarm song to remind back car or pedestrian's car door to be about to open, and back car or pedestrian can be dodged.
At this moment, if all install a depth camera and each car door installed inside one first caution unit, each door outside one second caution unit be installed at each car door place, 18 caution degree according to mobile and corresponding car door of this judge module start corresponding the first caution unit and second and warn the unit, so, back car or pedestrian know that namely which fan door of vehicle is about to open.
Please refer to Fig. 4 and 5, the better embodiment of traffic accident prevention method of the present invention comprises the following steps:
Step S1: this depth camera 10 take rear view of vehicle scene image and obtain the range information between every bit and this depth camera 10 in scene.
Step S2: 12 pairs of images that obtain of this dynamic object detecting module and range information are analyzed, to judge the object that whether has motion in scene.If exist without mobile in scene, be back to step S1.If have mobile to exist in scene, execution in step S3.
Step S3: 16 pairs of images that obtain of this object space analysis module and range information are analyzed, obtaining the distance between mobile and depth camera 10 in image, and the relative position of this mobile and vehicle in corresponding judgement image.
Step S4: 15 pairs of adjacent two image and range informations that constantly obtain of this object speed analysis module are analyzed, obtaining respectively the distance between mobile and depth camera 10 in two images, and go out the moving velocity of this mobile according to the Time Calculation of taking two images.
Step S5: 18 pairs of mobiles that obtain of this judge module and the relative position of vehicle and the moving velocity of mobile are analyzed, to judge whether mobile is positioned at the open operation scope of car door, perhaps but whether the distance between mobile and vehicle less than the reaction distance of this mobile, and then judges the caution degree between this mobile and vehicle.But if mobile in the open operation scope of car door and the distance between mobile and vehicle less than the reaction distance of this mobile, think that the caution degree between this mobile and vehicle is high caution degree, and execution in step S6.But if mobile outside the open operation scope of car door or the distance between mobile and vehicle greater than the reaction distance of this mobile, think that the caution degree between this mobile and vehicle is low caution degree, and execution in step S10.
Step S6: this judge module 18 sends the first control signal.
Step S7: this first caution unit 20 is opened red Warning lights and is followed comparatively rapid alarm song reminding navigating mate or passenger opening car door not this moment, to avoid causing back car, pedestrian because dodging not as good as knocking the unexpected generations such as car door or passenger due to opening car door rashly.
Step S8: whether these sensing cell 26 sensing navigating mates or passenger touch door opening device.When these sensing cell 26 sensing navigating mates or passenger touch door opening device, execution in step S9.When these sensing cell 26 sensing navigating mates or passenger do not touch door opening device, finish.
Step S9: these the second caution unit 22 red Warning lights of unlatching also follow comparatively rapid alarm song to remind back car or pedestrian's car door to be about to open, and back car or pedestrian can be dodged.
Step S10: this judge module 18 sends the second control signal.
Step S11: whether these sensing cell 26 sensing navigating mates or passenger touch door opening device.When these sensing cell 26 sensing navigating mates or passenger touch door opening device, execution in step S12.When these sensing cell 26 sensing navigating mates or passenger do not touch door opening device, finish.
Step S12: these the first caution unit 20 yellow Warning lights of unlatching also follow the alarm song that comparatively relaxes to remind navigating mate or passenger's opening car door need first be careful the condition of road surface at car door opening scope or rear before, this the second caution unit 22 is also opened yellow Warning light and is followed comparatively the alarm song that relaxes to remind back car or pedestrian's car door to be about to open simultaneously, back car or pedestrian can be had ample time avoid in advance.
Above-mentioned traffic accident prevents that system and method from passing through depth camera 10 and taking the scene of rear view of vehicle, and judges whether rear view of vehicle has mobile object.When rear view of vehicle has mobile object, this traffic accident prevents that system and method from also judging position and the moving velocity of mobile object, and then judgement this moment during opening car door possibility can cause unexpected the generation, in the time may causing unexpected the generation by first and second caution unit prompting personnel.
Claims (6)
1. a traffic accident is prevented locking system, comprising:
One depth camera is installed on a vehicle outside, with the image of the scene of taking rear view of vehicle and obtain the range information between each point and depth camera in scene;
One dynamic object detecting module is used for the image and the range information that obtain are analyzed, to judge the object that whether has motion in scene;
One object space analysis module, be used for the image and the range information that obtain are analyzed, and obtain the distance between mobile and depth camera in image according to the mobile that judgement obtains, and the relative position of this mobile and vehicle in corresponding judgement image;
One object speed analysis module, be used for adjacent two image and the range informations that constantly obtain are analyzed, obtaining respectively the distance between mobile and depth camera in two images, and go out the moving velocity of this mobile according to the Time Calculation of taking two images;
One judge module, be used for the mobile that obtains and the relative position of vehicle and the moving velocity of mobile are analyzed, to judge whether mobile is positioned at the open operation scope of car door, perhaps whether the distance between mobile and vehicle is less than a predeterminable range, when within the open operation scope of this mobile at car door and the distance between mobile and vehicle during less than predeterminable range, this judge module sends one first control signal; And
One first warns the unit, is installed on vehicle interior, is used for starting working to point out navigating mate or passenger after receiving the first control signal.
2. the anti-locking system of traffic accident as claimed in claim 1 is characterized in that: when outside the open operation scope of this mobile at car door or the distance between mobile and vehicle when being not less than predeterminable range, this judge module sends one second control signal; The anti-locking system of this traffic accident also comprises a sensing cell and one second caution unit, this sensing cell is used for the sensing navigating mate or whether the passenger touches door opening device, when navigating mate or passenger touch door opening device, this the first caution unit also is used for starting working to point out navigating mate or passenger after receiving the second control signal, and this second caution unit also is used for starting working to point out back car or pedestrian after receiving the first or second control signal.
3. traffic accident as claimed in claim 1 is prevented locking system, and it is characterized in that: this depth camera is a TOF pick up camera.
4. traffic accident prevention method comprises:
Take by a depth camera rear view of vehicle scene image and obtain the range information between each point and depth camera in scene;
The image and the range information that obtain are analyzed, to judge the object that whether has motion in scene;
The image and the range information that obtain are analyzed, and obtained the distance between mobile and depth camera in image according to the mobile that judgement obtains, and the relative position of this mobile and vehicle in corresponding judgement image;
Adjacent two image and the range informations that constantly obtain are analyzed, obtaining respectively the distance between mobile and depth camera in two images, and gone out the moving velocity of this mobile according to the Time Calculation of taking two images;
The mobile that obtains and the relative position of vehicle and the moving velocity of mobile are analyzed, whether be positioned at the open operation scope of car door to judge mobile, perhaps whether the distance between mobile and vehicle is less than a predeterminable range; And
When within the open operation scope of this mobile at car door and the distance between mobile and vehicle during less than predeterminable range, send one first control signal so that navigating mate or passenger are started working to point out in first a caution unit that is installed on vehicle interior.
5. traffic accident prevention method as claimed in claim 4 is characterized in that: when outside the open operation scope of this mobile at car door or the distance between mobile and vehicle when being not less than predeterminable range, this judge module sends one second control signal;
Wherein this traffic accident prevention method also comprises:
Whether touch door opening device by a sensing cell sensing navigating mate or passenger;
When navigating mate or passenger touched door opening device, navigating mate or passenger were also started working to point out in this first caution unit after receiving the second control signal; And
One be installed on outside vehicle second the caution unit start working to point out back car or pedestrian according to the first or second control signal.
6. traffic accident prevention method as claimed in claim 4, it is characterized in that: this depth camera is a TOF pick up camera.
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| CN2011103372159A CN103085716A (en) | 2011-10-31 | 2011-10-31 | Traffic accident preventing system and traffic accident preventing method |
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| CN2011103372159A CN103085716A (en) | 2011-10-31 | 2011-10-31 | Traffic accident preventing system and traffic accident preventing method |
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| CN105984376A (en) * | 2015-02-04 | 2016-10-05 | 鸿富锦精密工业（深圳）有限公司 | Vehicular door opening anti-collision control system and control method |
| CN104553983B (en) * | 2013-10-24 | 2017-02-15 | 鸿富锦精密工业（深圳）有限公司 | Vehicle pre-warning system and vehicle pre-warning method |
| CN106485813A (en) * | 2016-09-09 | 2017-03-08 | 北京小米移动软件有限公司 | Car's door controlling method and apparatus |
| CN107415816A (en) * | 2016-05-19 | 2017-12-01 | 大众汽车有限公司 | For exporting the method and lighting control equipment of information warning in a motor vehicle |
| CN108252591A (en) * | 2018-01-22 | 2018-07-06 | 哈尔滨拓博科技有限公司 | A kind of anticollision door device of view-based access control model identification and processing |
| CN111231830A (en) * | 2018-11-29 | 2020-06-05 | 财团法人金属工业研究发展中心 | Method for avoiding all-around obstacles of mobile carrier |
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Application publication date: 20130508 |