CN103569110A - Machine vision based forward vehicle collision warning system and method for realizing front vehicle collision warning by system - Google Patents
Machine vision based forward vehicle collision warning system and method for realizing front vehicle collision warning by system Download PDFInfo
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- CN103569110A CN103569110A CN201210266227.1A CN201210266227A CN103569110A CN 103569110 A CN103569110 A CN 103569110A CN 201210266227 A CN201210266227 A CN 201210266227A CN 103569110 A CN103569110 A CN 103569110A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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Abstract
The invention discloses a machine vision based forward vehicle collision warning system and a method for realizing front vehicle collision warning by the system. An advanced machine vision pattern recognition algorithm is adopted, a high-speed digital signal processor is combined to analyze traffic road conditions acquired by a forward vision camera mounted on a vehicle in real time, a warning in the vision, audition or touch aspect is given out to a driver on the condition that the vehicle is predicted to be about to collide with a forward vehicle so as to remind the driver of safety driving, and accordingly rear-end collision is reduced effectively.
Description
Technical field
The present invention discloses a kind of collision-warning system and implementation method, particularly a kind of front truck collision-warning system based on machine vision and adopt this system to realize the method for front truck collision warning.
Background technology
Along with scientific and technological development and the raising of people's living standard, the recoverable amount of automobile in people's daily life is more and more, the flourish of auto trade brings very large contribution to social economy, but also produces a series of social concerns simultaneously, and wherein traffic accident is the most serious problem.Data according to statistics, in 2011, Kuomintang-Communist generation traffic accident is 210812, death toll wherein: 62387 people, country also puts into effect legislation for traffic accident, wants to use legal restraint driver, to reduce the generation of traffic accident, then, or officials' chance leaves things to chance, and wherein the cause of most accidents is that driver drives rashly, due to not observing traffic rules and regulations, how to reduce traffic accident and become a social concern.
Summary of the invention
For the above-mentioned shortcoming that cannot reduce the generation of traffic accident of the prior art of mentioning, the invention provides a kind of new front truck collision-warning system based on machine vision and adopt this system to realize the method for front truck collision warning, it adopts advanced computer vision algorithm for pattern recognition, driving road-condition real-time analysis in conjunction with high speed digital signal processor to vehicle-mounted forward sight camera collection, can to chaufeur, send vision by collide with front truck in the situation that predicting, the warning of the sense of hearing or sense of touch aspect, with prompting driver, take care and travel, effectively reducing rear-end collision occurs.
The technical scheme that the present invention solves its technical matters employing is: a kind of front truck collision-warning system based on machine vision, this system comprises forward sight camera, warning panel, control circuit and power module, forward sight camera is arranged on the position that vehicle front does not block driver's sight line, forward sight camera output image information is to control circuit, control circuit is controlled the work of warning panel, and power module is given other part power supplies.
The above-mentioned front truck collision-warning system based on machine vision realizes a method for front truck collision warning, and the method comprises the steps:
A, forward sight camera send vision signal with the speed of 25 frames per second (pal mode) or 30 frames (TSC-system formula) to high speed digital signal processor;
B, high speed digital signal processor are converted into vision signal the colour picture of rgb format;
C, YUV coding: the colour picture through obtaining after transforming through color separation, obtain RGB after amplification correction respectively, through matrixer, obtain brightness signal Y and two colour difference signal R-Y are that U, B-Y are V again, finally brightness and three signals of aberration are encoded respectively, with same channel, send;
D, according to image, carry out Rear lamp for vehicle identification or vehicle body housing shape recognition, if carry out Rear lamp for vehicle identification, skip to step e, if carry out vehicle body housing shape recognition, skip to step G;
If during the identification of E Rear lamp for vehicle: whether the region of the high brightness in the vision signal of identification forward sight camera collection is red;
F, the redness balanced, symmetrical whether of identifying this high-brightness region, if balanced, symmetrical, and think that for redness objects in front is vehicle, directly jump to step I;
When G, vehicle body housing shape recognition: image is carried out to Hough conversion, to Image Edge-Detection, whether similarly to vehicle body housing shape analyze;
Whether the edge housing that H, matching identification go out balanced, symmetrical, if balanced, symmetrical and similarly to body shell think objects in front vehicle directly jumps to step I;
I, according to car light or car profile, appear at the corresponding table in distance-position that the location lookup of picture is proofreaied and correct in advance, calculate the distance D n of this car and front truck;
J, detect car speed in real time;
K, contrast detected range difference twice, calculate relative velocity Δ V=(D
n-D
n+1)/Δ t, TTC=D
n+1/ Δ V;
L, TTC grade is sent to interface micro controller system, interface micro controller system sends warning signal according to different TTC grades to warning panel, and warning panel is received after signal, sends predetermined warning message.
The technical scheme that the present invention solves its technical matters employing further comprises:
Described control circuit comprises high speed digital signal processor, interface micro controller system and sensor, sensor output car speed information is to interface micro controller system, by interface micro controller system, export to high speed digital signal processor, forward sight camera output image information is to high speed digital signal processor, and after high speed digital signal processor calculates, output alarm information is to interface micro controller system, and interface Single-chip Controlling is warned panel work.
Described sensor comprises for detection of the acceleration pick-up of vehicle acceleration with for detection of the car speed sensor of the speed of a motor vehicle.
Described warning panel comprises one or more in read-out, buzzer phone or loud speaker and centrifugal vibrator.
Described power module adopts automobile power source.
Described forward sight camera vehicle front windshield middle and upper part.
Described interface micro controller system is connected by I/O mouth or CAN Bus bus with high speed digital signal processor.
The invention has the beneficial effects as follows: the present invention adopts advanced computer vision algorithm for pattern recognition, driving road-condition real-time analysis in conjunction with high speed digital signal processor to vehicle-mounted forward sight camera collection, the warning of sending vision, the sense of hearing or sense of touch aspect to chaufeur by collide with front truck in the situation that can predicted, with prompting driver, take care and travel, effectively reduce rear-end collision and occur.
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
Accompanying drawing explanation
Fig. 1 is circuit block diagram of the present invention.
Fig. 2 is mounting structure schematic diagram of the present invention.
Fig. 3 is implementation method diagram of circuit of the present invention.
In figure, 1-vehicle body, 2-front windshield, 3-forward sight camera, 4-warns panel.
The specific embodiment
The present embodiment is the preferred embodiment for the present invention, and other all its principles are identical with the present embodiment or approximate with basic structure, all within protection domain of the present invention.
Incorporated by reference to referring to accompanying drawing 1 and accompanying drawing 2, the present invention mainly comprises forward sight camera, warning panel, control circuit and power module, wherein, the position of driver's sight line is not blocked in the place ahead that forward sight camera 3 is arranged on automobile body 1, be preferably mounted at the middle and upper part of the front windshield 2 of vehicle body 1, forward sight camera output image information is to control circuit, control circuit is controlled 4 work of warning panel, in the present embodiment, warning panel 4 is arranged in vehicle body 1, power module is given other part power supplies, in the present embodiment, power module adopts automobile batteries (12V or 24V) power supply to other part power supplies.In the present embodiment, control circuit comprises high speed digital signal processor (being DSP), interface micro controller system (being MCU) and sensor, sensor output car speed information is to interface micro controller system, in the present embodiment, sensor comprises for detection of the acceleration pick-up of vehicle acceleration with for detection of the car speed sensor of the speed of a motor vehicle, acceleration pick-up and car speed sensor are by I/O mouth, or CAN Bus bus is transferred to interface micro controller system by automobile speed signal, by interface micro controller system, export to high speed digital signal processor, in the present embodiment, interface micro controller system is by I/O mouth, or CAN Bus bus is connected with high speed digital signal processor, carry out data transmission.Forward sight camera output image information is to high speed digital signal processor, and calculate through high speed digital signal processor, high speed digital signal processor is processed the road map obtaining is looked like to process and pattern-recognition, distance to object before this car, size, shape, it is vehicle or other objects that color and speed etc. are distinguished, high speed digital signal processor is according to the range data obtaining in image recognition algorithm, and this vehicle speed, can calculate the time (TTC:Time to Collision) that will collide with front truck according to present speed, according to the different value classes of TTC, system goes out hazard level by classifying intelligently, and send the warning signal of different brackets.After high speed digital signal processor calculates, output alarm information is to interface micro controller system, and interface Single-chip Controlling is warned panel work.In the present embodiment, high speed digital signal processor obtains the road conditions image in driving by being arranged on the forward sight camera at front windshield place, in conjunction with speed information, carry out complicated Machine Vision Recognition, whether intelligent decision vehicle will collide with front truck, and calculate the time that will collide, high speed digital signal processor can send according to the probability that will collide the warning message of different brackets to interface micro controller system, by interface micro controller system, to warning panel, send warning message, independently warn panel will on panel, to chaufeur, to show different warning messages after receiving warning message.In the present embodiment, warning panel comprises one or more in read-out, buzzer phone or loud speaker and centrifugal vibrator.
Please refer to accompanying drawing 3, in the present invention, the method that adopts said system to realize front truck collision warning comprises following several step:
A, forward sight camera send vision signal with the speed of 25 frames per second (pal mode) or 30 frames (TSC-system formula) to high speed digital signal processor;
B, high speed digital signal processor are converted into vision signal the colour picture of rgb format;
C, YUV coding: the colour picture through obtaining after transforming through color separation, obtain RGB after amplification correction respectively, treating process in the present embodiment is for to resolve into RGB tri-looks colour element, be enlarged into RGB intensity is carried out to multiplication reinforcement, the CMOS that signal is different or ccd sensor have different coefficient of corrections, according to the principle of three primary colours, any one coloured light F can add and mix by R, G, B tri-form and aspect of different components.
F＝r[R]+g[G]+b[B]
Wherein, r, g, b are respectively three primary colours and participate in the coefficient mixing.When being all 0 (the most weak), three primary colours component is mixed into black light; And when being all k (the strongest), three primary colours component is mixed into white light.The value of adjusting r, g, tri-coefficients of b, can blend the various coloured light between black light and white light.Through matrixer, obtain brightness signal Y and two colour difference signal R-Y are that U, B-Y are V again, finally brightness and three signals of aberration are encoded according to the YUV coded system of unified standard respectively, with same channel, send, the method for expressing of this color is exactly that so-called YUV color space represents;
The formula following (RGB span is 0-255) that YUV and RGB change mutually:
Y＝0.299R+0.587G+0.114B
U＝-0.147R-0.289G+0.436B
V＝0.615R-0.515G-0.100B
R＝Y+1.14V
G＝Y-0.39U-0.58V
B＝Y+2.03U
YUV coding: have unification, the coded system of standard
YUV420 form is more common in DV data, for PAL-system
YUV4:2:0
4:2:0 does not also mean that to only have Y, Cb and there is no Cr component.It refers to such an extent that be concerning every horizontal scanning line, only has a kind of chromatic component to store with the sampling fraction of 2: 1.Adjacent baseline is stored different chromatic components, that is to say, if a line is 4:2:0, next line is exactly 4:0:2, then next line is 4:2:0 ... by that analogy.Concerning each chromatic component, the sampling fraction of horizontal direction and vertical direction is all 2: 1, so can say that the sampling fraction of colourity is 4: 1.Concerning the video of incompressible 8 bit quantizations, each grand pixel being comprised of 2 * 2 adjacent pixels of 2 row 2 row need to take 6 byte of memorys.
Below eight pixels be:
[Y0?U0?V0][Y1?U1?V1][Y2?U2?V2][Y3?U3?V3]
[Y5?U5?V5][Y6?U6?V6][Y7?U7?V7][Y8?U8?V8]
The code stream of depositing is:
Y0?U0?Y1?Y2?U2?Y3?Y5?V5?Y6?Y7?V7?Y8
The pixel mapping out is:
[Y0?U0?V5][Y1?U0?V5][Y2?U2?V7][Y3?U2?V7]
[Y5?U0?V5][Y6?U0?V5][Y7?U2?V7][Y8?U2?V7]
D, graphics decomposition is become to 4 parts, only to wherein one carry out data processing, to reduce internal memory and CPU calculated amount;
E, according to image, carry out Rear lamp for vehicle identification or vehicle body housing shape recognition, if carry out Rear lamp for vehicle identification, skip to step F, if carry out vehicle body housing shape recognition, skip to step H, two kinds of recognition methods select one;
If during the identification of F Rear lamp for vehicle: the region of the high brightness in the vision signal of identification forward sight camera collection is (in the present embodiment, when being greater than certain setting value, the value of brightness signal Y UV can think that this pixel is highlight bar, this setting value need regulate according to actual environment, on-fixed value) whether be red;
G, the redness balanced, symmetrical whether of identifying this high-brightness region, if balanced, symmetrical, and think that for redness objects in front is vehicle, directly jump to step I;
When H, vehicle body housing shape recognition: image is carried out to Hough conversion, obtain image border characteristic, whether similarly to vehicle body housing shape analyze;
Whether the edge housing that I, matching identification go out balanced, symmetrical, if balanced, symmetrical and similarly to body shell think objects in front vehicle directly jumps to step I;
J, according to car light or car profile, appear at the corresponding table in distance-position that the location lookup of picture is proofreaied and correct in advance, calculate the distance D n of this car and front truck;
K, detect car speed in real time;
L, contrast detected range difference twice, calculate relative velocity Δ V=(D
n-D
n+1)/Δ t, TTC=D
n+1/ Δ V;
M, TTC grade is sent to interface micro controller system, interface micro controller system sends warning signal according to different TTC grades to warning panel, and warning panel is received after signal, sends predetermined warning message.
The present invention adopts advanced computer vision algorithm for pattern recognition, driving road-condition real-time analysis in conjunction with high speed digital signal processor to vehicle-mounted forward sight camera collection, the warning of sending vision, the sense of hearing or sense of touch aspect to chaufeur by collide with front truck in the situation that can predicted, with prompting driver, take care and travel, effectively reduce rear-end collision and occur.
Claims (9)
1. the front truck collision-warning system based on machine vision, it is characterized in that: described system comprises forward sight camera, warning panel, control circuit and power module, forward sight camera is arranged on the position that vehicle front does not block driver's sight line, forward sight camera output image information is to control circuit, control circuit is controlled the work of warning panel, and power module is given other part power supplies.
2. the front truck collision-warning system based on machine vision according to claim 1, it is characterized in that: described control circuit comprises high speed digital signal processor, interface micro controller system and sensor, sensor output car speed information is to interface micro controller system, by interface micro controller system, export to high speed digital signal processor, forward sight camera output image information is to high speed digital signal processor, and after high speed digital signal processor calculates, output alarm information is to interface micro controller system, and interface Single-chip Controlling is warned panel work.
3. the front truck collision-warning system based on machine vision according to claim 2, is characterized in that: described sensor comprises for detection of the acceleration pick-up of vehicle acceleration with for detection of the car speed sensor of the speed of a motor vehicle.
4. the front truck collision-warning system based on machine vision according to claim 1, is characterized in that: described warning panel comprises one or more in read-out, buzzer phone or loud speaker and centrifugal vibrator.
5. the front truck collision-warning system based on machine vision according to claim 1, is characterized in that: described power module adopts automobile power source.
6. the front truck collision-warning system based on machine vision according to claim 1, is characterized in that: described forward sight camera vehicle front windshield middle and upper part.
7. the front truck collision-warning system based on machine vision according to claim 2, is characterized in that: described interface micro controller system is connected by I/O mouth or CAN Bus bus with high speed digital signal processor.
8. adopt the front truck collision-warning system based on machine vision as claimed in claim 1 to realize a method for front truck collision warning, it is characterized in that: described method comprises the steps:
A, forward sight camera send vision signal with the speed of 25 frames per second (pal mode) or 30 frames (TSC-system formula) to high speed digital signal processor;
B, high speed digital signal processor are converted into vision signal the colour picture of rgb format;
C, YUV coding: the colour picture through obtaining after transforming through color separation, obtain RGB after amplification correction respectively, through matrixer, obtain brightness signal Y and two colour difference signal R-Y are that U, B-Y are V again, finally brightness and three signals of aberration are encoded respectively, with same channel, send;
D, according to image, carry out Rear lamp for vehicle identification or vehicle body housing shape recognition, if carry out Rear lamp for vehicle identification, skip to step e, if carry out vehicle body housing shape recognition, skip to step G;
If during the identification of E Rear lamp for vehicle: whether the region of the high brightness in the vision signal of identification forward sight camera collection is red;
F, the redness balanced, symmetrical whether of identifying this high-brightness region, if balanced, symmetrical, and think that for redness objects in front is vehicle, directly jump to step I;
When G, vehicle body housing shape recognition: image is carried out to Hough conversion, to Image Edge-Detection, whether similarly to vehicle body housing shape analyze;
Whether the edge housing that H, matching identification go out balanced, symmetrical, if balanced, symmetrical and similarly to body shell think objects in front vehicle directly jumps to step I;
I, according to car light or car profile, appear at the corresponding table in distance-position that the location lookup of picture is proofreaied and correct in advance, calculate the distance D n of this car and front truck;
J, detect car speed in real time;
K, contrast detected range difference twice, calculate relative velocity Δ V=(D
n-D
n+1)/Δ t, TTC=D
n+1/ Δ V;
L, TTC grade is sent to interface micro controller system, interface micro controller system sends warning signal according to different TTC grades to warning panel, and warning panel is received after signal, sends predetermined warning message.
9. method according to claim 8, is characterized in that: after described step C, also comprise step C ', step C ' is for to become 4 parts by graphics decomposition, only to wherein one carry out data processing.
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| CN109572692A (en) * | 2018-12-29 | 2019-04-05 | 辽宁工业大学 | A kind of electric-controlled vehicle Anti-knocking system and its control method |
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