CN104210493A - Linear array image sensor based following vehicle road lane line detection device - Google Patents
Linear array image sensor based following vehicle road lane line detection device Download PDFInfo
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- CN104210493A CN104210493A CN201410470261.XA CN201410470261A CN104210493A CN 104210493 A CN104210493 A CN 104210493A CN 201410470261 A CN201410470261 A CN 201410470261A CN 104210493 A CN104210493 A CN 104210493A
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- image sensor
- vehicle
- scan image
- speeding
- line scan
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- 238000001514 detection method Methods 0.000 title claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 8
- 238000013500 data storage Methods 0.000 claims abstract description 7
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000005693 optoelectronics Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000003079 width control Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a linear array image sensor based following vehicle road lane line detection device, which comprises linear array image sensors which are arranged at both sides of a vehicle are used for detecting a road lane line, a data processing circuit for processing and converting output signals of the linear array image sensors, a control system for controlling the vehicle for following driving and analyzing the driving situation of the vehicle according to lane line information, a positioning device for positioning the driving position of the vehicle, a data storage device for storing the driving information of a vehicle ahead, and a state control device for controlling the driving state of the vehicle under the control of the control system. The road lane line can be detected by the device.
Description
Technical field
The present invention relates to driving field of speeding, specifically, relate to a kind of road track line detector with vehicle of speeding based on line array CCD.
Background technology
automobile is the motoring condition that rear car follows front truck with speeding, and namely front truck and rear car reach information communication, and rear car is according to the information of front truck, and car parameter differences before and after contrast, is scaled rear car and drives scheme and realize automatic Pilot.Automatically with speeding in driving technique, with speeding, the driving parameters of vehicle according to front truck travels.Vehicle, in traveling way, is samely positioned at same lane mark with fleet of speeding, is not only conducive to, with the control of control loop of speeding, being also conducive to control of traffic, is namely convenient to realize all the other fleets and overtakes other vehicles and accelerate vehicular movement amount or realize Duo Dui fleet to drive simultaneously.Thus, with in the middle of driving technique of speeding, to the monitoring in track residing for vehicle, namely very important to the monitoring of terrain vehicle diatom.
Summary of the invention
Technical matters to be solved by this invention be to provide a kind of based on line scan image sensor with road vehicle lane detection device of speeding, it can realize detecting terrain vehicle diatom.
The present invention's adopted technical scheme that solves the problem is:
Based on line scan image sensor with road vehicle lane detection device of speeding, comprising:
The line scan image sensor that the both sides being arranged on vehicle are detected terrain vehicle diatom;
The data processing circuit processing conversion is carried out to the output signal of line scan image sensor;
Control vehicle to carry out driving and the control system analyzed vehicular drive situation according to lane mark information with speeding;
To the registration device that the traveling-position of vehicle positions;
To the data storage apparatus that front truck driving information stores;
The behavior control device under control system controls, vehicle running state controlled.
Line scan image sensor is a kind of photoelectricity transfer optics.The function of existing opto-electronic conversion, has again the function of signal charge, and it can divide other image a secondary spatial domain, is transformed into one and arranges other electric signal of discrete point of temporally territory, meanwhile, it has, and volume is little, noise is low, self-scanning, survey precision advantages of higher.Adopt line scan image sensor to detect terrain vehicle diatom, the view data input control system exported, extract the boundary characteristic of object, calculate the wire diameter size of terrain vehicle diatom, namely accurate Calculation is carried out to the position of vehicle.Realize information interaction front car and rear car between by radio receiver with speeding between vehicle so that rear car according to the information realization of front truck with automatic Pilot of speeding.With speeding in the fleet of vehicle, utilize line scan image sensor realization to the detection of terrain vehicle diatom to realize the detection to position with vehicle of speeding, namely control system can realize according to the position of terrain vehicle diatom measures such as certainly moving, ensures the safety of changing.
As preferably, described line scan image sensor is line array CCD camera.
CCD, charge-coupled device is the main sensing element of camera; It is highly sensitive, it is little to distort, the life-span is long, anti-vibration and without ghost.The image-forming principle of CCD is: under the effect of optical system, the change of certain characteristic of testee is changed into the change of beam angle, light beam irradiates is on the light receiving window face of CCD device, photogenerated charge is produced in the pixel of light receiving window face by light irradiation, and by charge storage in pixel cell, the pixel not being subject to light irradiation does not produce photogenerated charge, then under the readout clock Pulse Width Control in CCD driving circuit, by Charger transfer and shift transport in output circuit, quantity of electric charge is converted into voltage through output circuit and exports.Adopt its structure of line array CCD simple, and with low cost.
As preferably, described registration device is GPS registration device.
As preferably, described data storage apparatus is EEPROM.
As preferably, described behavior control device is bearing circle, throttle, clutch and brake.
To sum up, the invention has the beneficial effects as follows:
The present invention utilizes line scan image sensor to detect terrain vehicle diatom, so that detect with track residing for vehicle of speeding, further ensures the traffic safety with automobile of speeding.
Detailed description of the invention
Below in conjunction with embodiment, to the detailed description further of the present invention's do, but embodiments of the present invention are not limited thereto.
Embodiment 1:
Based on line scan image sensor with road vehicle lane detection device of speeding, comprising:
The line scan image sensor that the both sides being arranged on vehicle are detected terrain vehicle diatom;
The data processing circuit processing conversion is carried out to the output signal of line scan image sensor;
Control vehicle to carry out driving and the control system analyzed vehicular drive situation according to lane mark information with speeding;
To the registration device that the traveling-position of vehicle positions;
To the data storage apparatus that front truck driving information stores;
The behavior control device under control system controls, vehicle running state controlled.
The function of the existing opto-electronic conversion of line scan image sensor, there is again the function of signal charge, its secondary spatial domain divides other image, be transformed into one and arrange other electric signal of discrete point of temporally territory, adopt line scan image sensor to detect terrain vehicle diatom, the view data input control system exported, extract the boundary characteristic of object, calculate the wire diameter size of terrain vehicle diatom, namely accurate Calculation is carried out to the position of vehicle.Realize information interaction front car and rear car between by radio receiver with speeding between vehicle so that rear car according to the information realization of front truck with automatic Pilot of speeding.With speeding in the fleet of vehicle, utilize line scan image sensor realization to the detection of terrain vehicle diatom to realize the detection to position with vehicle of speeding, namely control system can realize according to the position of terrain vehicle diatom measures such as certainly moving, ensures the safety of changing.
Embodiment 2:
In order to strengthen the accuracy of detection to terrain vehicle diatom, the present embodiment has done refinement on the basis of above-described embodiment, and namely described line scan image sensor is line array CCD camera.
Embodiment 3:
The present embodiment has done refinement on the basis of above-described embodiment, and namely described registration device is GPS registration device.
Described data storage apparatus is EEPROM.
Embodiment 4:
The present embodiment has done refinement on the basis of above-described embodiment, and namely described behavior control device is bearing circle, throttle, clutch and brake.
As mentioned above, the present invention can be realized preferably.
Claims (5)
1. based on line scan image sensor with road vehicle lane detection device of speeding, it is characterized in that, comprising:
The line scan image sensor that the both sides being arranged on vehicle are detected terrain vehicle diatom;
The data processing circuit processing conversion is carried out to the output signal of line scan image sensor;
Control vehicle to carry out driving and the control system analyzed vehicular drive situation according to lane mark information with speeding;
To the registration device that the traveling-position of vehicle positions;
To the data storage apparatus that front truck driving information stores;
The behavior control device under control system controls, vehicle running state controlled.
2. according to claim 1 based on line scan image sensor with road vehicle lane detection device of speeding, it is characterized in that: described line scan image sensor is line array CCD camera.
3. according to claim 1 based on line scan image sensor with road vehicle lane detection device of speeding, it is characterized in that: described registration device is GPS registration device.
4. according to claim 1 based on line scan image sensor with road vehicle lane detection device of speeding, it is characterized in that: described data storage apparatus is EEPROM.
5. according to claim 1 based on line scan image sensor with road vehicle lane detection device of speeding, it is characterized in that: described behavior control device is bearing circle, throttle, clutch and brake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410470261.XA CN104210493A (en) | 2014-09-16 | 2014-09-16 | Linear array image sensor based following vehicle road lane line detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410470261.XA CN104210493A (en) | 2014-09-16 | 2014-09-16 | Linear array image sensor based following vehicle road lane line detection device |
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| Publication Number | Publication Date |
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| CN104210493A true CN104210493A (en) | 2014-12-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410470261.XA Pending CN104210493A (en) | 2014-09-16 | 2014-09-16 | Linear array image sensor based following vehicle road lane line detection device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106004863A (en) * | 2015-03-31 | 2016-10-12 | 本田技研工业株式会社 | Driving support device |
| CN107085938A (en) * | 2017-06-08 | 2017-08-22 | 中南大学 | A kind of fault-tolerant planing method of intelligent driving local path followed based on lane line and GPS |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6526352B1 (en) * | 2001-07-19 | 2003-02-25 | Intelligent Technologies International, Inc. | Method and arrangement for mapping a road |
| JP2004118757A (en) * | 2002-09-30 | 2004-04-15 | Jun Sato | Detector for traveling lane on road surface |
| CN101894271A (en) * | 2010-07-28 | 2010-11-24 | 重庆大学 | Visual computing and prewarning method of deviation angle and distance of automobile from lane line |
-
2014
- 2014-09-16 CN CN201410470261.XA patent/CN104210493A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6526352B1 (en) * | 2001-07-19 | 2003-02-25 | Intelligent Technologies International, Inc. | Method and arrangement for mapping a road |
| JP2004118757A (en) * | 2002-09-30 | 2004-04-15 | Jun Sato | Detector for traveling lane on road surface |
| CN101894271A (en) * | 2010-07-28 | 2010-11-24 | 重庆大学 | Visual computing and prewarning method of deviation angle and distance of automobile from lane line |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106004863A (en) * | 2015-03-31 | 2016-10-12 | 本田技研工业株式会社 | Driving support device |
| CN106004863B (en) * | 2015-03-31 | 2019-04-12 | 本田技研工业株式会社 | Drive assistance device |
| CN107085938A (en) * | 2017-06-08 | 2017-08-22 | 中南大学 | A kind of fault-tolerant planing method of intelligent driving local path followed based on lane line and GPS |
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