CN105000016A - Vehicle driving state monitoring method and monitor - Google Patents
Vehicle driving state monitoring method and monitor Download PDFInfo
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- CN105000016A CN105000016A CN201510325478.6A CN201510325478A CN105000016A CN 105000016 A CN105000016 A CN 105000016A CN 201510325478 A CN201510325478 A CN 201510325478A CN 105000016 A CN105000016 A CN 105000016A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000012544 monitoring process Methods 0.000 title claims abstract description 26
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 7
- 238000004458 analytical method Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
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- 238000004364 calculation method Methods 0.000 description 1
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- Automation & Control Theory (AREA)
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Abstract
The invention relates to the vehicle monitoring technology and discloses a vehicle driving state monitoring method and a monitor. The vehicle driving state monitoring method comprises the following steps that a front image generated in the vehicle driving process is captured; at least one lane side boundary of the lane where a vehicle is located is recognized from the front image; a front vehicle head line of the vehicle is recognized from the front image; according to the position relation between the front vehicle head line and the lane side boundary, whether the vehicle is in the lane deviation state or the normal driving state is determined. According to the vehicle driving state monitoring method and the monitor, whether the vehicle deviates from the lane or not is rapidly and accurately determined in advance, and therefore direct and reliable driving prompting messages can be supplied to a driver on the basis of the driving state of the vehicle body.
Description
Technical field
The present invention relates to vehicle monitoring technology, particularly a kind of monitoring method of vehicle running state and monitor.
Background technology
Along with the develop rapidly of economy and the generally raising of living standard, power actuated vehicle is more and more universal, and the pressure of arteries of communication is also increasing.The thing followed, safety traffic also becomes a very severe problem.Most traffic accident is all because the carelessness of chaufeur causes; Especially chaufeur drive for a long time after energy not easily concentrate, easily cause travel time direction of traffic dissociate, even enter adjacent lane.
At present, occurred that some are directed to the equipment of monitoring chaufeur self driving condition on the market; Such as fatigue drive precaution device, by identifying that facial image is differentiated chaufeur and whether is in fatigue state, thus can send prompting.But owing to placing one's entire reliance upon to the graphical analysis of face, and it is analyzed according to being experimental statistics and setting, and for different objects, analysis result must have certain error; And this kind of check implement is only that the state of monitoring chaufeur itself is to play indirectly reminding effect; That is, chaufeur cannot be reminded with the motoring condition of vehicle itself, to provide driving directions.
Summary of the invention
The object of the present invention is to provide a kind of monitoring method and monitor of vehicle running state, fast and accurately anticipation whether can go out vehicle just at run-off-road, thus provide direct failure-free to drive information using the motoring condition of vehicle itself as according to for chaufeur.
For solving the problems of the technologies described above, embodiments of the present invention provide a kind of monitoring method of vehicle running state, comprise following steps: catch the forward image in vehicle travel process; At least one sideline, track in track, described vehicle place is identified from described forward image; The front headstock line of described vehicle is identified from described forward image; According to the position relationship in described front headstock line and this sideline, track, judge that described vehicle is as just at run-off-road state or normal motoring condition.
Embodiments of the present invention additionally provide a kind of monitor of vehicle running state, comprise: image capture unit, for catching the forward image in vehicle travel process; Image identification unit, for the front headstock line at least one sideline, track and described vehicle that identify track, described vehicle place from described forward image; Motoring condition identifying unit, for the position relationship according to described front headstock line and this sideline, track, judges that described vehicle is as just at run-off-road state or normal motoring condition.
Embodiment of the present invention in terms of existing technologies, at least one sideline, track and the front headstock line in track, vehicle place is identified from the forward image caught, and according to the position relationship in front headstock line and this sideline, track, judge that described vehicle is as just at run-off-road state or normal motoring condition.The monitoring method of vehicle running state provided by the invention and monitor, whether fast and accurately anticipation goes out vehicle just at run-off-road, thus direct failure-free can be provided to drive information as according to for chaufeur using the motoring condition of vehicle itself.
In addition, in judging that described vehicle is as just after the step of run-off-road state, also comprise following steps: choose the sideline, track near described front headstock line, using by the headstock line of described front near the end points in this sideline, track to the distance in this sideline, track as current distance; Obtain the current driving speed of described vehicle; Long according to the described countdown calculating described automotive run-off-road when leading angle, described current distance and described current driving speed.That is, when vehicle is just at run-off-road, can also anticipation to go out the countdown of automotive run-off-road long.Thus, by more specific for the current running state of vehicle, be more conducive to chaufeur also adjusts vehicle in time travel direction to the anticipation of vehicle driving trace.
Accompanying drawing explanation
Fig. 1 is the diagram of circuit of the monitoring method of vehicle running state according to first embodiment of the invention;
Fig. 2 A and Fig. 2 B represents in the identification in dotted line track, the schematic diagram in each pixel-intensive region identified when track is respectively straight line and curve;
Fig. 3 is the particular flow sheet of the step S14 according to first embodiment of the invention;
Fig. 4 is the schematic diagram when leading angle according to the calculating front headstock line in first embodiment of the invention and at least one sideline, track;
Fig. 5 is the particular flow sheet of the step S14 according to second embodiment of the invention;
Fig. 6 A and Fig. 6 B represent respectively in second embodiment of the invention when sideline, track be one and many time calculate the schematic diagram of current distance;
Fig. 7 is the diagram of circuit of the monitoring method of vehicle running state according to third embodiment of the invention;
Fig. 8 is the block scheme of the monitor of vehicle running state according to four embodiment of the invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the embodiments of the present invention are explained in detail.But, persons of ordinary skill in the art may appreciate that in each embodiment of the present invention, proposing many ins and outs to make reader understand the application better.But, even without these ins and outs with based on the many variations of following embodiment and amendment, each claim of the application technical scheme required for protection also can be realized.
First embodiment of the present invention relates to a kind of monitoring method of vehicle running state.As shown in Figure 1, the monitoring method of vehicle running state comprises step S11 to step S14 to idiographic flow.
Step S11: catch the forward image in vehicle travel process.
Specifically, vehicle is provided with the monitor of a vehicle running state, this monitor catches the forward image in vehicle travel process, and this forward image is the front picture seen in chaufeur driving process.
Step S12: at least one sideline, track identifying track, vehicle place from forward image.Wherein, step S12 comprises sub-step S121 to sub-step S122.
Sub-step S121: identify at least one pixel-intensive region with pre-set color from forward image.
In reality, sideline, track is solid line or the dotted line with pre-set color, and modal pre-set color is such as white, but the pre-set color of present embodiment to sideline, track does not impose any restrictions.
Specifically, forward image is arranged in a plane coordinate system, and namely each pixel of forward image corresponds to a plane coordinates in this plane coordinate system.The color of each pixel in forward image analyzed by monitor, and record has the doubtful close quarters of the pixel of pre-set color; Monitor judges whether the density in this doubtful close quarters with the pixel of pre-set color is equal to or greater than default density threshold, if so, then this doubtful close quarters is designated pixel-intensive region.Wherein, this density threshold preset is 80%, represents in all pixels of doubtful close quarters, when having at least the pixel of 80% to be pre-set color, thinks that this doubtful close quarters is pixel-intensive region.Such as, doubtful close quarters is the region (totally 100 pixels) of 10*10 pixel, if wherein 98 pixels are pre-set color, then this doubtful close quarters is identified as pixel-intensive region, if wherein 60 pixels are pre-set color, then this doubtful close quarters does not belong to pixel-intensive region.Those skilled in the art can arrange this density threshold according to actual conditions.
Sub-step S122: form at least one sideline, track according at least one pixel-intensive region.
Specifically, when sideline, track is solid line, theoretic, monitor can identify two pixel-intensive regions, and these two pixel-intensive regions represent two tracks, left and right respectively.
When sideline, track is dotted line, monitor will identify multiple pixel-intensive region, as Fig. 2 A, Fig. 2 B represent that track is the situation of straight line or curve respectively, illustrate pixel-intensive region A1 to A6 in figure, but the number of present embodiment to the pixel-intensive region identified in forward image does not impose any restrictions.Monitor obtains the abscissa along the center line L1 to L6 on this zone length direction in each pixel-intensive region, and is coupled together by the center line with approximate abscissa.Wherein, because the horizontal center line of forward image and vertical center line are respectively X-axis and the Y-axis of coordinate plane, therefore, the approximate abscissa described in present embodiment refers to: the abscissa with same-sign.As shown in Fig. 2 A or Fig. 2 B, the abscissa in each pixel-intensive region on the left of Y-axis is all less than zero, and namely the abscissa of the upper each point of the center line L1 to L3 in those pixel-intensive regions is also less than zero, thus, center line center line L1 to L3 coupled together as left-hand lane.Then, those track center lines identified will couple together by monitor) fit to straight line (corresponding to straight way) or arc curve (corresponding to bend).Preferably, the width of the straight line that fits to or arc curve is also expanded as reference width by monitor, and be the straight line of reference width or Curves Recognition by this expansion is track.Wherein, reference width can be arranged according to actual conditions by those skilled in the art, or can set according to the width in one of them the pixel-intensive region identified.
Step S13: the front headstock line identifying vehicle from forward image.Wherein, step S13 comprises sub-step S131 to sub-step S133.
Sub-step S131: forward image is vertically divided into multiple image section.
Namely the vertical direction of the forward image described in present embodiment refers to the direction perpendicular to front headstock line.Those skilled in the art can need according to realistic accuracy the width arranging each image section.
Sub-step S132: the color difference calculating adjacent image section successively.
That is, the corresponding different color-values of the image section of different colours, the color difference of adjacent image section can represent the color change of these two adjacent image section.Color difference is comparatively large, represents that the color change of these two adjacent image section is obvious.
Sub-step S133: more each color difference and the size of color skip threshold preset, is identified as front headstock line by the demarcation line of the adjacent image section corresponding to the color difference being greater than color skip threshold.
Specifically, monitor inside pre-sets a color skip threshold, using as the basis for estimation whether occurring color change.When color difference is greater than this color skip threshold, represent that these two adjacent image sections corresponding to color difference have obviously color change; The demarcation line of the adjacent image section corresponding to this color difference is identified as front headstock line by monitor.
It should be noted that, in practical application, in order to comparatively be accurately identified the position of color change in forward image, the width of set each image section is less, therefore, even if using two adjacent image sections jointly as front headstock line (namely the width of front headstock line equals the overall width of two adjacent image sections), also subsequent calculations needs can not be affected.
Step S14: according to the position relationship in front headstock line and this sideline, track, judges that vehicle is as just at run-off-road state or normal motoring condition.As shown in Figure 3, step S14 comprises sub-step S141 to sub-step S145.
Sub-step S141: what calculate front headstock line and this sideline, track works as leading angle.That is, according to the front headstock line that sideline, a track and the step S13 of step S12 identification identify, calculate and deserve leading angle.In substantial, deserving leading angle is angle between this front headstock line place straight line and this place, sideline, track straight line.
As shown in Figure 4, sideline, two tracks is M1, M2, calculates work as leading angle in present embodiment for track left side bearing M1.First, obtain the intersection point P1 of front headstock line F and track left side bearing M1, next, front headstock line F selects the first R point P2, and obtains on the left side bearing M1 of track and have the second R point P3 of identical ordinate with this first R point P2; Again, the length of line segment P1P2 and line segment P1P3 is calculated; Finally, calculate as leading angle α according to the leg-of-mutton cosine law.Present embodiment does not limit the number in the sideline, track identified.
What deserves to be explained is, the front headstock line identified in reality may not be straight line, but front headstock line can be approximated to straight line to process by the mode of matching by those skilled in the art; Or, the point near this sideline, track on the headstock line of front can also be selected, and using the angle between the tangent line of this point and this sideline, track as deserving leading angle.
Sub-step S142: judge whether belong to the first preset range when leading angle.If so, sub-step S143 is entered; If not, sub-step S144 is entered.
Specifically, owing to strictly can not keep parallel all the time with sideline, track in vehicle travel process, therefore, monitor interior reservoir has the first preset range, and this first preset range represents front headstock line and the permissible error scope at lane side wire clamp angle when vehicle keeps straight-line travelling.If when leading angle belongs to this first preset range, represent that vehicle and sideline, track can be considered as less parallel, namely judge that vehicle is as normal motoring condition; Otherwise, judge that vehicle is as just in run-off-road state.Wherein, this first preset range is such as 5 °, but present embodiment does not impose any restrictions this, and those skilled in the art can arrange the numerical value of this first preset range according to actual conditions.
Sub-step S143: judge that vehicle is as normal motoring condition.
Sub-step S144: judge that vehicle is as just in run-off-road state.
Sub-step S145: produce alerting signal.
Wherein, this alerting signal is such as audio alert, but present embodiment does not impose any restrictions this.
Second embodiment of the present invention relates to a kind of monitoring method of vehicle running state.Second embodiment is roughly the same with the first embodiment, and key distinction part is: in second embodiment of the invention, as shown in Figure 5, after the sub-step S145 of step S14, also comprises sub-step S146 to sub-step S148.
Sub-step S146: choose the sideline, track near front headstock line, using on the headstock line of front near the end points in the sideline, track chosen to the distance in the sideline, track chosen as current distance.
Specifically, a sideline, track or sideline, many tracks may be identified from the forward image photographed, calculate the distance of two end points to sideline, each bar track of this front headstock line respectively, wherein, the sideline, track of the close front headstock line that two end points of this front headstock line divide the sideline, track corresponding to minor increment in the distance being clipped to sideline, each bar track to be to choose, this minor increment is current distance.
As Fig. 6 A represents the schematic diagram when comprising a sideline, track in forward image, be described to identify a track left side bearing M1 in Fig. 6 A.First, monitor calculates two end points F1, F2 distance │ F1N1 │, the │ F2N2 │ to track left side bearing M1 of front headstock line F respectively.Secondly, monitor compares │ F1N1 │, │ F2N2 │ and obtains smaller wherein; In present embodiment, the left side end points F1 of front headstock line F is closer to track left side bearing M1, and namely │ F1N1 │ is less, monitor using │ F1N1 │ as current distance.
As Fig. 6 B represents the schematic diagram when comprising many sidelines, track in forward image, be described to identify sideline, two tracks M1, M2 in Fig. 6 B.First, the end points F1 that monitor calculates front headstock line F divides the distance │ F1N1 │, the │ F1N3 │ that are clipped to lane side line M1, M2, and the end points F2 of front headstock line F divides the distance │ F2N2 │, the │ F2N4 │ that are clipped to lane side line M1, M2.Secondly, monitor compares │ F1N1 │, │ F1N3 │, │ F2N2 │ and │ F2N4 │, and obtains smaller wherein; In present embodiment, the left side end points F1 of front headstock line F is closer to track left side bearing M1, and namely │ F1N1 │ is less, monitor using │ F1N1 │ as current distance.The number of present embodiment to the sideline, track identified does not impose any restrictions in (sideline, track that also can comprise other tracks beyond track, vehicle place in the forward image photographed).
The concrete account form of present embodiment to this step does not also impose any restrictions, and those skilled in the art can adopt the account form of other equivalence.
Sub-step S147: the current driving speed obtaining vehicle.
Specifically, monitor is also connected to the master controller of vehicle, to obtain the current driving speed V of vehicle.Wherein, the connection mode of the master controller of monitor and vehicle can be wired connection or wireless connections.
Sub-step S148: according to the current driving speed obtained, to calculate the countdown of automotive run-off-road long when leading angle and current distance.
That is, utilize trigonometric function relation, calculate: the long T=current distance of countdown/(current driving speed * is when the cosine value of leading angle) of automotive run-off-road, i.e. T=│ F1N1 │/(V*COS α).
3rd embodiment of the present invention relates to a kind of monitoring method of vehicle running state, as shown in Figure 7.3rd embodiment is roughly the same with the first embodiment, and key distinction part is: in the first embodiment, and step S11 is: catch the forward image in vehicle travel process; Step S14 comprises sub-step S141 to sub-step S145.But, in third embodiment of the invention:
Step S11 is: the forward image in timed capture vehicle travel process.
That is, monitor periodically takes forward image, and wherein, those skilled in the art can need to arrange the shooting cycle according to realistic accuracy.
Step S14 comprises sub-step S241 to sub-step S245.
Sub-step S241: calculate and work as leading angle between front headstock line and this sideline, track.
This step is similar with the sub-step S141 in the first embodiment, is not repeating herein.
Sub-step S242: calculate the angle difference when leading angle and previous angle, wherein, previous angle is the angle in front headstock line and this sideline, track in the forward image that captures of previous moment.The account form of previous angle is similar with the account form when leading angle, repeats no more herein.
Sub-step S243: judge whether angle difference belongs to the second preset range.If so, sub-step S244 is entered; If not, sub-step S245 is entered.
Specifically, owing to strictly can not keep parallel all the time with sideline, track in vehicle travel process, therefore, monitor interior reservoir has second preset range, and this first preset range represents the permissible error scope that vehicle keeps changing in former and later two adjacent moment traveling angle during straight-line travelling.If angle difference belongs to the second preset range, represent that the running route of vehicle in previous moment can be considered as near linear with the running route at current time, namely judge that vehicle is as normal motoring condition; Otherwise, judge that vehicle is as just in run-off-road state.
Sub-step S244: judge that vehicle is as normal motoring condition.
Sub-step S245: judge that vehicle is as just in run-off-road state.
Preferably, when judging that vehicle is as just in run-off-road state, can also produce alerting signal.
The step of various method divides above, just in order to be described clearly, can merge into a step or splitting some step, being decomposed into multiple step, when realizing as long as comprise identical logical relation, all in the protection domain of this patent; To adding inessential amendment in algorithm or in flow process or introducing inessential design, but the core design not changing its algorithm and flow process is all in the protection domain of this patent.
Four embodiment of the invention relates to a kind of monitor of vehicle current running state.Wherein, the monitor 1 of this vehicle running state can be integrated in vehicle body fittings, thus is together arranged on this vehicle with this vehicle body fittings; Such as, the monitor 1 of this vehicle running state can be integrated on rearview mirror navigator, thus is together fixed on the back mirror of vehicle with this rearview mirror navigator.Or the monitor of this vehicle running state also can be designed to a self contained system, and this self contained system can be fixed on vehicle.
As shown in Figure 8, the monitor 1 of vehicle current running state comprises: image capture unit 10, image identification unit 11, motoring condition identifying unit 12 and alarm unit 13, image identification unit 11 is connected to image capture unit 10 and motoring condition identifying unit 12, and alarm unit 13 is connected to motoring condition identifying unit 12.
Image capture unit 10 is for the forward image in timed capture vehicle travel process.Specifically, image capture unit 10 is such as a camera, and this camera is towards vehicle front.
Image identification unit 11 is for the front headstock line at least one sideline, track and described vehicle that identify track, vehicle place from forward image.Specifically, sideline, track is pre-set color, and image identification unit 11 identifies at least one pixel-intensive region with described pre-set color from forward image, and forms at least one sideline, track according to this at least one pixel-intensive region.Further, forward image is vertically divided into multiple image section by image identification unit 11; Calculate the color difference of adjacent image section successively; More each color difference and the size of color skip threshold preset, be identified as front headstock line by the adjacent image section corresponding to the color difference being greater than color skip threshold.
Motoring condition identifying unit 12, for the position relationship according to front headstock line and this sideline, track, judges that vehicle is as just at run-off-road state or normal motoring condition; Further, can also to calculate the countdown of automotive run-off-road long for motoring condition identifying unit 12.When motoring condition identifying unit 12 judges that vehicle is as during just in run-off-road state, alarm unit 13 produces alerting signal to remind chaufeur.
Preferably, the monitor 1 of vehicle current running state can also comprise display unit (not shown), is connected to motoring condition identifying unit, and display unit can show the current running state of vehicle in real time.
Be not difficult to find, present embodiment is the system embodiment corresponding with the first to the 3rd embodiment, and present embodiment can be worked in coordination with the first to the 3rd embodiment and be implemented.The relevant technical details mentioned in first to the 3rd embodiment is still effective in the present embodiment, in order to reduce repetition, repeats no more here.Correspondingly, the relevant technical details mentioned in present embodiment also can be applicable in the first to the 3rd embodiment.
It is worth mentioning that, each module involved in present embodiment is logic module, and in actual applications, a logical block can be a physical location, also can be a part for a physical location, can also realize with the combination of multiple physical location.In addition, in order to outstanding innovative part of the present invention, the unit not too close with solving technical matters relation proposed by the invention is not introduced in present embodiment, but this does not show the unit that there is not other in present embodiment.
Persons of ordinary skill in the art may appreciate that the respective embodiments described above realize specific embodiments of the invention, and in actual applications, various change can be done to it in the form and details, and without departing from the spirit and scope of the present invention.
Claims (9)
1. a monitoring method for vehicle running state, is characterized in that, comprises following steps:
Catch the forward image in vehicle travel process;
At least one sideline, track in track, described vehicle place is identified from described forward image;
The front headstock line of described vehicle is identified from described forward image;
According to the position relationship in described front headstock line and this sideline, track, judge that described vehicle is as just at run-off-road state or normal motoring condition.
2. the monitoring method of vehicle running state according to claim 1, it is characterized in that, according to the position relationship in described front headstock line and this sideline, track, judge that described vehicle is as the step just at run-off-road state or normal motoring condition, comprises following sub-step:
What calculate described front headstock line and this sideline, track works as leading angle;
Judge described when whether leading angle belongs to the first preset range;
If described when leading angle belongs to the first preset range, judge that described vehicle is as normal motoring condition;
Do not belong to the first preset range if described when leading angle, judge that described vehicle is as just in run-off-road state.
3. the monitoring method of vehicle running state according to claim 2, is characterized in that, in judging that described vehicle is as just after the step of run-off-road state, also comprises following steps:
Choose the sideline, track near described front headstock line, using on the headstock line of described front near the end points in the sideline, track chosen to the distance in the sideline, track chosen as current distance;
Obtain the current driving speed of described vehicle;
According to the current driving speed of described acquisition, described when leading angle and described current distance, to calculate the countdown of described automotive run-off-road long.
4. the monitoring method of vehicle running state according to claim 1, is characterized in that,
The step catching the forward image in vehicle travel process is: the forward image in timed capture vehicle travel process;
According to the position relationship in described front headstock line and this sideline, track, judge that described vehicle is as the step just at run-off-road state or normal motoring condition, comprises following sub-step:
Calculate and work as leading angle between described front headstock line and this sideline, track;
Calculate the described angle difference when leading angle and previous angle, the angle in front headstock line and this sideline, track described in the forward image that described previous angle captured for the previous moment;
Judge whether described angle difference belongs to the second preset range;
If described when leading angle belongs to the second preset range, judge that described vehicle is as normal motoring condition;
Do not belong to the second preset range if described when leading angle, judge that described vehicle is as just in run-off-road state.
5. the monitoring method of vehicle running state according to claim 1, is characterized in that, identifies the step at least one sideline, track in track, described vehicle place, comprise following sub-step from described forward image:
At least one pixel-intensive region with pre-set color is identified from described forward image;
Described at least one sideline, track is formed according at least one pixel-intensive region described.
6. the monitoring method of vehicle running state according to claim 1, is characterized in that, identifies the step of the front headstock line of described vehicle, comprise following sub-step from described forward image:
Described forward image is vertically divided into multiple image section;
Calculate the color difference of adjacent image section successively;
More each color difference and the size of color skip threshold preset, be identified as described front headstock line by the demarcation line of the adjacent image section corresponding to the color difference being greater than described color skip threshold.
7. the monitoring method of vehicle running state as claimed in any of claims 1 to 6, is characterized in that, in judging that described vehicle is as just after the step of run-off-road state, also comprises following steps:
Produce alerting signal.
8. a monitor for vehicle running state, is characterized in that, comprises:
Image capture unit, for catching the forward image in vehicle travel process;
Image identification unit, for the front headstock line at least one sideline, track and described vehicle that identify track, described vehicle place from described forward image;
Motoring condition identifying unit, for the position relationship according to described front headstock line and this sideline, track, judges that described vehicle is as just at run-off-road state or normal motoring condition.
9. the monitor of vehicle running state according to claim 8, is characterized in that, the monitor of described vehicle running state also comprises:
Alarm unit, when described motoring condition identifying unit judges that described vehicle is as during just in run-off-road state, described alarm unit produces alerting signal.
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| CN107038895A (en) * | 2017-06-12 | 2017-08-11 | 苏州寅初信息科技有限公司 | A kind of Vehicular intelligent safety protecting method and its system for bridge section |
| WO2018027500A1 (en) * | 2016-08-08 | 2018-02-15 | 深圳市锐明技术股份有限公司 | Lane line detection method and device |
| CN108995648A (en) * | 2018-06-28 | 2018-12-14 | 上海寰钛教育科技有限公司 | Automatic Pilot method and intelligent vehicle |
| CN110001636A (en) * | 2017-12-25 | 2019-07-12 | 丰田自动车株式会社 | Vehicle control system |
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