CN103996305A - Method and system for correcting key transport vehicle line-pressing illegal behavior - Google Patents
Method and system for correcting key transport vehicle line-pressing illegal behavior Download PDFInfo
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- CN103996305A CN103996305A CN201410162148.5A CN201410162148A CN103996305A CN 103996305 A CN103996305 A CN 103996305A CN 201410162148 A CN201410162148 A CN 201410162148A CN 103996305 A CN103996305 A CN 103996305A
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Abstract
The invention provides a method and system for correcting a key transport vehicle line-pressing illegal behavior. The method comprises the following steps: one camera is utilized to collect pavement images in front of a vehicle to obtain the dotted line position and solid line position front; a safe region is arranged in the acquisition visual field of the camera; when the vehicle runs normally, marker lines at the two sides of the vehicle are not in the safe region; when the position of a solid line image enters the safe region, the current image is shot through the camera and the image is uploaded to a management center; the management center sends a correction command to a driver; and the driver corrects the line-pressing behavior. The position of the vehicle with respect to the marker lines can be judged through the preset safe region; the method is simple; the accuracy in judging the position between the marker lines and the vehicle is improved; the management center is allowed to know the line-pressing illegal information of the vehicle and obtain evidences in time, thereby providing basis for the follow-up management and punishment, enhancing deterrent force for illegal behavior of the driver, and improving the accuracy in traffic management.
Description
Technical field
The present invention relates to the recognition methods of a kind of vehicle line ball, specifically a kind of system and method for correcting the illegal activities of emphasis haulage vehicle line ball.
Background technology
Law on road traffic safety rule regulation, can not be pressed into the special land marks such as two yellow solid lines, single yellow solid line, white solid line when vehicle travels on road, but due to driver's inadvertent or error in judgement, and driver often there will be the line ball behavior of travelling.From violation degree, most of line ball degree violating the regulations is lower, and in most cases driver is not for wish violating the regulations, but for error in judgement or do not recognize and cause.If can carry out pre-tip to driver's line ball act of violating regulations, driver is looked like to the risk that is about to occur line ball, can greatly facilitate driver in driving procedure, to adjust in time vehicle operating track, reduce or avoid the generation of line ball situation.
In order to address the above problem, a kind of vehicle peccancy line ball pre-tip device and reminding method thereof are disclosed in Chinese patent literature CN103057470A, use left front road image or right front road image in two camera collection vehicle operational processs, then vehicle left front road image or vehicle right front road image are transferred to microprocessor, microprocessor utilizes image processing program, by image recognition, obtains track type, the lane line position in road ahead.The lane line that image recognition obtains, through obtaining the type of the place ahead lane line after shape judgement and color judgement.Through how much, calculate and can calculate the horizontal relative distance between vehicle and lane line.When automobile storage is during in line ball trend, can send line ball prompting violating the regulations to driver.Although the line ball pre-tip violating the regulations that this scheme can be to vehicle, but two cameras need to be set respectively in the both sides of vehicle body in this scheme and gather pavement image, the camera quantity needing is many, and the data volume of acquisition and processing is large, so cost is high and arithmetic speed is slow.In addition,, after vehicle line ball, administrative center cannot accurately learn the situation violating the regulations of vehicle and collect evidence in time, be unfavorable for the management of vehicle.
Summary of the invention
For this reason, technical matters to be solved by this invention is line ball pre-tip method violating the regulations of the prior art, the camera quantity data volumes many, that gather that need are large, calculated amount greatly, the problem that cannot collect evidence in time after vehicle line ball, thereby propose camera of a kind of needs and reduced the method and system of correction emphasis haulage vehicle line ball illegal activities of the data volume of acquisition and processing.
For solving the problems of the technologies described above, the invention provides a kind of method of correcting the illegal activities of emphasis haulage vehicle line ball, comprise the steps:
A camera that utilizes vehicle roof to arrange, gathers the image in vehicle operating the place ahead;
In the angular field of view of taking at described camera, a region is set as safety zone, when normal vehicle operation, the markings on road surface can not enter this safety zone;
By graphics processing unit, receive the image of described camera collection, and the markings in road ahead in this image are identified, obtain real diagram picture and dashed line view picture;
The position of described real diagram image position and described safety zone is compared, when solid line enters described safety zone, by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
Preferably, also comprise the position of described dashed line view image position and described safety zone is compared, when dashed line view looks like to enter described safety zone and duration while reaching default time threshold, by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
Preferably, described camera is arranged on the centre position of vehicle roof.
Preferably, described solid line comprises white solid line and yellow solid line, and described dotted line comprises white dotted line and yellow dotted line.
Preferably, in the angular field of view of taking at described camera, a region is set as the process of safety zone, comprises:
When vehicle normally moves ahead, revolver is during near port markers line, this port markers line described camera collection to image in position as the left hand edge of this safety zone; When right, take turns when the starboard markers line, this starboard markers line described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as safety zone.
A system of correcting the illegal activities of emphasis haulage vehicle line ball, comprising:
A camera, is arranged on roof, and the image in vehicle operating the place ahead is gathered;
Safety zone setup unit: in the angular field of view of taking at described camera, a region is set as safety zone, when normal vehicle operation, the markings on road surface can not enter this safety zone;
Graphics processing unit, receives the image of described camera collection, and the markings in road ahead in this image is identified, and obtains real diagram picture and dashed line view picture;
Center processing unit, described real diagram picture and the position of dashed line view picture and the position of described safety zone are compared, when solid line enters described safety zone, by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
Preferably, described center processing unit also comprises the position of described dashed line view image position and described safety zone is compared, when dashed line view looks like to enter described safety zone and duration while reaching default time threshold, by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
Preferably, described solid line comprises white solid line and yellow solid line, and described dotted line comprises white dotted line and yellow dotted line.
Preferably, described camera is arranged on the centre position of vehicle roof.
Technique scheme of the present invention has the following advantages compared to existing technology,
(1) the invention provides a kind of method of correcting the illegal activities of emphasis haulage vehicle line ball, utilize a camera to gather the pavement image of vehicle front, and obtain dotted line position and the solid line position in the place ahead, in the visual field of the collection of camera, a safety zone is set, while normally travelling, the markings of vehicle both sides can not enter this safety zone, when the position of real diagram picture enters in this safety zone, carry out by this camera, current image being taken, upload to administrative center, administrative center sends corrective command to driver, driver corrects line ball behavior.Because the solid line on road surface is divided into yellow solid line and solid white line, the solid line of any type all can not be crossed over, when normal vehicle operation, in this safety zone setting in advance, there will not be markings, when solid line enters this safety zone, illustrate that vehicle pushed down the solid line on road surface or be about to push down solid line, now by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, driver corrects line ball behavior, can allow administrative center learn in time line ball situation the evidence obtaining in time in violation of rules and regulations of vehicle, for follow-up management and punishment provide foundation, to have improved the deterrent force in violation of rules and regulations to driver.Solved the data difference acquisition and processing needing in prior art vehicle both sides, needed two cameras, the problem that data acquisition and processing (DAP) amount is large, has reduced cost.By default safety zone, judge that vehicle is for the position of markings, the method realizes simple, the position of this safety zone is rationally set according to different vehicles and current information of road surface, improve the order of accuarcy of position between judgement symbol line and vehicle, thereby improved the accuracy that line ball is reported to the police.
(2) method of correction emphasis haulage vehicle line ball of the present invention illegal activities, also comprise the position of described dashed line view image position and described safety zone is compared, when dashed line view looks like to enter described safety zone and duration while reaching default time threshold, by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.Because dotted line can be crossed over, but vehicle cannot be pushed down for a long time dotted line and travel, therefore when dotted line enters this safety zone, mean and have cross-line action, because dotted line can be crossed over, therefore do not need to report to the police, but in the time of in dashed line view picture remains on this safety zone for a long time, illustrate that this vehicle is not to cross over this dotted line, but at line ball, travel, therefore take pictures and upload, while so just pressing dotted line to travel for vehicle, provide warning; always driver's act of violating regulations is learnt in time, processed in time.
(3) method of correction emphasis haulage vehicle line ball of the present invention illegal activities, described camera is arranged on the centre position of vehicle roof, be convenient to this camera gathers the image of vehicle front both sides simultaneously, also facilitate the design of this safety zone in the visual angle of camera, improved the order of accuarcy of this line ball identification.
(4) method of correction emphasis haulage vehicle line ball of the present invention illegal activities, when vehicle normally moves ahead, revolver is during near port markers line, this port markers line described camera collection to image in position as the left hand edge of this safety zone; When right, take turns when the starboard markers line, this starboard markers line described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as safety zone.When setting up behind safety zone according to which, in normal vehicle operation, the markings of both sides can not enter this safety zone, but, when vehicle is amesiality, travel, especially during live conductor behavior, markings have appeared at this safety zone, for follow-up line ball judgement provides basis for estimation.
Accompanying drawing explanation
For content of the present invention is more likely to be clearly understood, below according to a particular embodiment of the invention and by reference to the accompanying drawings, the present invention is further detailed explanation, wherein
Fig. 1 is the process flow diagram of an embodiment of the method for correction emphasis haulage vehicle line ball of the present invention illegal activities;
Fig. 2 is the process flow diagram of another embodiment of the method for correction emphasis haulage vehicle line ball of the present invention illegal activities;
Figure 3 – Fig. 5 are vehicle road operation schematic diagram of the method for correction emphasis haulage vehicle line ball of the present invention illegal activities;
Fig. 6 is the structured flowchart of the system of correction emphasis haulage vehicle line ball of the present invention illegal activities.
Embodiment
embodiment 1:
A kind of method of correcting the illegal activities of emphasis haulage vehicle line ball is provided in the present embodiment, and process flow diagram as shown in Figure 1, comprises the steps:
(1) camera that utilizes vehicle roof to arrange, gathers the image in vehicle operating the place ahead.Described camera is arranged on certain position of vehicle roof, and when vehicle travels on road, camera is taken the road surface situation in the place ahead, comprises the markings of vehicle both sides, all passes through this camera collection to its image information.Markings on road surface generally comprise solid line and dotted line, and solid line is not allow to cross over, and dotted line allows to cross over.
Markings on road surface are divided into yellow line and white line.Yellow line is used for distinguishing the track of different directions, is generally drawn in road center, as an isolation strip, road is divided into both direction.No matter single yellow line or double amber lines, so long as solid line, just forbid to cross over, such as overtaking other vehicles, turn, turn around etc.During driving, do not have particular case just should not get over line.No matter single yellow line or double amber lines, so long as dotted line, allow cross-domainly, just can overtake other vehicles or turn around guaranteeing safe in the situation that.Single yellow line is generally used on the road of two-way 4 tracks with interior (comprising cycle track), and double amber lines is generally used for compared with broad way face.White line is used for distinguishing equidirectional different track, and dotted line is can doubling, transposing track, and solid line is cannot doubling, can not arbitrarily change track.Generally speaking, any solid line all cannot be crossed over, and dotted line can be crossed over.
(2) in the angular field of view of taking at described camera, a region is set as safety zone, when normal vehicle operation, the markings on road surface can not enter this safety zone.As shown in figure (3)-Tu (5), this safety zone is arranged on a fixed area in the angular field of view that camera takes, and when vehicle travels in different positions, the scene belonging in this safety zone is different.As shown in Figure 3, when vehicle normally travels in the position in the middle of track, the markings that are positioned at both sides, track can not enter this safety zone.When vehicle deflection is travelled for one time, as shown in Figure 4, when vehicle is pressed onto the markings in left side, in the image now collecting, the port markers line in the place ahead enters this safety zone.As shown in Figure 5, when vehicle is pressed onto the markings on right side, in the image that the place ahead collects, the markings on right side enter this safety zone.Safety zone is herein to determine according to the setting position of different automobile types, camera and visual angle, the principle of its setting is: when normal vehicle operation, markings on road surface can not enter this safety zone, when vehicle is pressed onto or approach markings,, in the image collecting forwardly, these markings enter into this safe distance.
(3) by graphics processing unit, receive the image of described camera collection, and the markings in road ahead in this image are identified, obtain real diagram picture and dashed line view picture.Camera collection to the place ahead image in, there are various types of markings, as dotted line and solid line, now by the image collecting is carried out to image processing, identify dashed line view picture in this image and the position at real diagram picture and place thereof.Because the meaning of solid line and dotted line is different, identify solid line and dotted line and can facilitate the follow-up type for its markings to process respectively.
(4) position of described real diagram image position and described safety zone is compared, when solid line enters described safety zone, by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.As shown in Figure 4, in the image gathering forwardly, the solid line of this vehicle left side enters into this safety zone, now this vehicle body has been pressed onto on vehicle left side solid line, so time by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, driver corrects line ball behavior, allows driver's act of violating regulations be managed center Real-time Obtaining evidence obtaining, and the management during for vehicle operating provides foundation.
The method of the correction emphasis haulage vehicle line ball illegal activities in the embodiment of the present invention, utilize a camera to gather the pavement image of vehicle front, and obtain dotted line position and the solid line position in the place ahead, in the visual field of the collection of camera, a safety zone is set, while normally travelling, the markings of vehicle both sides can not enter this safety zone, when the position of real diagram picture enters in this safety zone, carry out by this camera, current image being taken, upload to administrative center, administrative center sends corrective command to driver, driver corrects line ball behavior.Because the solid line on road surface is divided into yellow solid line and solid white line, the solid line of any type all can not be crossed over, when normal vehicle operation, in this safety zone setting in advance, there will not be markings, when solid line enters this safety zone, illustrate that vehicle pushed down the solid line on road surface or be about to push down solid line, now by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, driver corrects line ball behavior, can allow administrative center learn in time line ball situation the evidence obtaining in time in violation of rules and regulations of vehicle, for follow-up management and punishment provide foundation, to have improved the deterrent force in violation of rules and regulations to driver.Solved the data difference acquisition and processing needing in prior art vehicle both sides, needed two cameras, the problem that data acquisition and processing (DAP) amount is large, has reduced cost.By default safety zone, judge that vehicle is for the position of markings, the method realizes simple, the position of this safety zone is rationally set according to different vehicles and current information of road surface, improve the order of accuarcy of position between judgement symbol line and vehicle, never improved the accuracy that line ball is reported to the police.
As preferred embodiment, camera in this scheme is arranged on the centre position of vehicle roof, be convenient to this camera the image of vehicle front both sides is gathered simultaneously, also facilitated the design of this safety zone in the visual angle of camera, improved the order of accuarcy of this line ball identification.
embodiment 2:
In the present embodiment, on the basis of above-described embodiment 1, further the dotted line in markings is judged.Due to no matter the dotted line of which kind of type all can be crossed over, therefore, in dotted line enters this safety zone, be not need to point out to report to the police.But, during vehicle operating, cannot travel by line ball, therefore, if dotted line is positioned at this safety zone for a long time, show that vehicle travels at line ball, which is broken rules and regulations, and need to point out.Therefore the method for the correction emphasis haulage vehicle line ball illegal activities in the present embodiment, process flow diagram as shown in Figure 2, also comprise the position of described dashed line view image position and described safety zone is compared, when dashed line view looks like to enter described safety zone and duration while reaching default time threshold, by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.Time herein can be set to 1-10 minute as required, as be set to 3 minutes, 5 minutes or 8 minutes, when the duration of dashed line view picture in safety zone exceeds this time range, take pictures and upload, allow driver's the line ball behavior of travelling be managed in time center and know.
In the present embodiment, because dotted line can be crossed over, but vehicle cannot be pushed down for a long time dotted line and travel, therefore when dotted line enters this safety zone, mean and have cross-line action, because dotted line can be crossed over, therefore do not need to report to the police, but in the time of in dashed line view picture remains on this safety zone for a long time, illustrate that this vehicle is not to cross over this dotted line, but at line ball, travel always, therefore take pictures and upload, while so just pressing dotted line to travel for vehicle, provide warning, driver's act of violating regulations is learnt in time, process in time.
embodiment 3:
In the present embodiment, for the method for above-mentioned correction emphasis haulage vehicle line ball illegal activities, provide a kind of mode of definite safety zone.It is whether suitable that safety zone arranges, and directly has influence on the follow-up relation to vehicle and markings position.When vehicle normally moves ahead, revolver is during near port markers line, this port markers line described camera collection to image in position as the left hand edge of this safety zone; When right, take turns when the starboard markers line, this starboard markers line described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as safety zone.
According to which, set up behind safety zone, in normal vehicle operation, the markings of both sides can not enter this safety zone, but, when vehicle is amesiality, travel, especially near or during live conductor behavior, markings have appeared at this safety zone, for follow-up line ball judgement provides basis for estimation.
embodiment 4:
A kind of system of correcting the illegal activities of emphasis haulage vehicle line ball is provided in the present embodiment, and structure as shown in Figure 6, comprising:
A camera, is arranged on the centre position of roof, and the image in vehicle operating the place ahead is gathered.
Graphics processing unit, receives the image of described camera collection, and the markings in road ahead in this image is identified, and obtains real diagram picture and dashed line view picture.Described real diagram looks like to comprise white solid line and yellow solid line, and described dashed line view looks like to comprise white dotted line and yellow dotted line.
Safety zone setup unit: in the angular field of view of taking at described camera, a region is set as safety zone, when normal vehicle operation, the markings on road surface can not enter this safety zone;
Center processing unit, described real diagram picture and the position of dashed line view picture and the position of described safety zone are compared, when solid line enters described safety zone, by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.。
As further embodiment, described center processing unit also comprises the position of described dashed line view image position and described safety zone is compared, by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
In other embodiment, above-mentioned safety zone setup unit also comprises that first arranges submodule, in this module, when vehicle normally moves ahead, revolver is during near port markers line, this port markers line described camera collection to image in position as the left hand edge of this safety zone; When right, take turns when the starboard markers line, this starboard markers line described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as safety zone.
As the embodiment that can replace, above-mentioned safety zone setup unit also comprises that second arranges submodule, in this module, when vehicle normally moves ahead, revolver is during apart from port markers line 1-2 rice, this port markers line described camera collection to image in position as the left hand edge of this safety zone; When right while taking turns apart from starboard markers line 1-2 rice, this starboard markers line described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as safety zone.
Obviously, above-described embodiment is only for example is clearly described, and the not restriction to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without also giving all embodiments.And the apparent variation of being extended out thus or change are still among the protection domain in the invention.
Claims (9)
1. a method of correcting the illegal activities of emphasis haulage vehicle line ball, is characterized in that, comprises the steps:
A camera that utilizes vehicle roof to arrange, gathers the image in vehicle operating the place ahead;
In the angular field of view of taking at described camera, a region is set as safety zone, when normal vehicle operation, the markings on road surface can not enter this safety zone;
By graphics processing unit, receive the image of described camera collection, and the markings in road ahead in this image are identified, obtain real diagram picture and dashed line view picture;
The position of described real diagram image position and described safety zone is compared, when solid line enters described safety zone, by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
2. the method for correction emphasis haulage vehicle line ball according to claim 1 illegal activities, it is characterized in that, also comprise the position of described dashed line view image position and described safety zone is compared, when dashed line view looks like to enter described safety zone and duration while reaching default time threshold, by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
3. the method for correction emphasis haulage vehicle line ball according to claim 1 and 2 illegal activities, is characterized in that, described camera is arranged on the centre position of vehicle roof.
4. according to the method for the arbitrary described correction emphasis haulage vehicle line ball illegal activities of claim 1-3, it is characterized in that, described solid line comprises white solid line and yellow solid line, and described dotted line comprises white dotted line and yellow dotted line.
5. according to the method for the arbitrary described correction emphasis haulage vehicle line ball illegal activities of claim 1-4, it is characterized in that, in the angular field of view of taking at described camera, a region be set as the process of safety zone, comprising:
When vehicle normally moves ahead, revolver is during near port markers line, this port markers line described camera collection to image in position as the left hand edge of this safety zone; When right, take turns when the starboard markers line, this starboard markers line described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as safety zone.
6. a system of correcting the illegal activities of emphasis haulage vehicle line ball, is characterized in that, comprising:
A camera, is arranged on roof, and the image in vehicle operating the place ahead is gathered;
Safety zone setup unit: in the angular field of view of taking at described camera, a region is set as safety zone, when normal vehicle operation, the markings on road surface can not enter this safety zone;
Graphics processing unit, receives the image of described camera collection, and the markings in road ahead in this image is identified, and obtains real diagram picture and dashed line view picture;
Center processing unit, described real diagram picture and the position of dashed line view picture and the position of described safety zone are compared, when solid line enters described safety zone, by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
7. the system of correction emphasis haulage vehicle line ball according to claim 6 illegal activities, it is characterized in that, described center processing unit also comprises the position of described dashed line view image position and described safety zone is compared, when dashed line view looks like to enter described safety zone and duration while reaching default time threshold, by this camera, current image is taken, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
8. according to the system of the correction emphasis haulage vehicle line ball illegal activities described in claim 6 or 7, it is characterized in that, described solid line comprises white solid line and yellow solid line, and described dotted line comprises white dotted line and yellow dotted line.
9. according to the system of the arbitrary described correction emphasis haulage vehicle line ball illegal activities of claim 6-8, it is characterized in that, described camera is arranged on the centre position of vehicle roof.
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| CN111798668A (en) * | 2020-07-04 | 2020-10-20 | 绍兴市小陆科技服务有限公司 | Road condition early warning method and road condition early warning device for safe driving of vehicle |
| CN111798668B (en) * | 2020-07-04 | 2022-04-15 | 上海筱启数字科技集团有限公司 | Road condition early warning method and road condition early warning device for safe driving of vehicle |
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