CN105292122B - The method that road conditions are identified in vehicle travel process - Google Patents
The method that road conditions are identified in vehicle travel process Download PDFInfo
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- CN105292122B CN105292122B CN201510690566.6A CN201510690566A CN105292122B CN 105292122 B CN105292122 B CN 105292122B CN 201510690566 A CN201510690566 A CN 201510690566A CN 105292122 B CN105292122 B CN 105292122B
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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
- 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
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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
- 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
-
- 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
- B60W40/04—Traffic conditions
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses the systems that road conditions are identified in a kind of vehicle travel process, include the following steps：Image information acquisition, image information pretreatment, feature extraction, Path Recognition.The system can accurately by front need by traffic information calculate and feed back, convenient for driver in time take appropriate measures adjustment circuit or slow down avoid, it is safer, prevent unexpected generation.
Description
Technical field
The present invention relates to automotive fields, and in particular, to a kind of method that road conditions are identified in vehicle travel process.
Background technology
Automobile is defined as below：By power drive, there is the vehicle of the non-track carrying of 4 or 4 or more wheels, mainly
For：Carrying personnel and/or cargo；Draw the vehicle of carrying personnel or cargo；Specific use.1879, German engineer card
Er Benci tests a tentative engine of two-stroke successfully for the first time.In October, 1883, he has founded " Ben Ci companies and Lay
Mattress gas motor factory ", 1885, first this thatch patent motor vehicle was made in Mannheim for he, which is three-wheeled motor car, is adopted
With the gasoline engine of 0.9 horsepower of a two-stroke single cylinder, this vehicle has some basic characteristics of Hyundai Motor, as spark ignition,
Water-cooling circulating, steel pipe vehicle frame, Leaf Spring Suspension, rear wheel drive front-wheel steer and binding handle etc..On the January of 1886 29,
This thatch of German engineer karr is its motor vehicle application patent.November in the same year, the three-wheeled motor vehicle of this thatch of karr obtain
Germany patent right.Here it is generally acknowledged first Hyundai Motors in the world.For these reasons, people are generally 1886
Year as the automobile first year, also karr this thatch is made year i.e. 1885 year on first three-wheeled motor car in some scholars, is considered as automobile
It is born year.It is within 1885 1 year that automobile invention obtains decisive breakthrough.Also existed in the Ben Ci of same factory with Daimler at that time
Study automobile.Petrol engine was almost made with Daimler in 1885 in he simultaneously, on automobile, with 12 kilometers per hour
Speed traveling, succeed.Gasoline-powered automobile has also been invented in this year, the Butler of Britain.In addition, meaning is big
Automobile has also been invented in the Claude Bernard of profit, and the general strange love and two human hairs of Fu Luobofu of Russia understand the automobile equipped with internal combustion engine.With
Preceding China does not have auto manufacturing.First automobile is U.S.'s production small vapour of oldsmobile board of input in 1903 on Chinese soil
Vehicle, neck number one running car licence, the owner be Shanghai rich man.It starts building from First Automobile Works in July nineteen fifty-three emerging
It builds, in July, 1956 goes into operation, and July 13 nineteen fifty-seven, China produced the Jiefang brand automobile of first loading, and in May, 1958,
China's First Automobile Works voluntarily Development and design produce first jolt with political wind and cloud fluctuating at that time, share weal or woe it is red
Flag board passenger car is known as " east romantic charm ".In decades, Domestic Automotive Industry has obtained quick development.Particularly reform
Since opening, automobile production employs the safety and amenities of various high-tech and hommization, draws the essence of Foreign Automobile scientific research
China.The gentle and lovely style and features for having multiplied traditional firm moulding, more fashion automobile is not only grasped, the lines flow smoothly, drives comfortable " car "
New lover is constantly born.The end of the year 2001, China have become a full member of the World Trade Organization, and taking this as an opportunity, and Chinese auto industry has welcome one
A new high-speed developing period.2009, Chinese automobile production and marketing was respectively 1379.10 ten thousand and 1364.48 ten thousand, is surmounted at one stroke
The U.S., referred to as the first in the world automobile production and marketing big country.Chinese automobile whole year production and marketing in 2012 be respectively 1927.18 ten thousand and
1930.64 ten thousand, continue to hold a post or title the first in the world within continuous 4 years.Into after passing through 10 years high speed developments, the Chinese riding driving skills of independent brand
Art has obtained significant progress.The first half of the year in 2013, successively a vapour red flag of listing, gentry of Beijing Automobile Workshop be precious, Chang'an it is farsighted gallop, lucky Deidro Deluxe,
BYD think it is sharp and before this successively the upper vapour Roewe of listing, Guangzhou Automobile Workshop pass the high-end passenger car of independent brand for representative such as auspicious to
Joint brand initiates group type and charges, and the present situation in market can only be seized in low and middle-end by independent brand passenger car is gradually rewritten.By
In the complexity of present road, people are in the driving process that drives a car, it is difficult to naked eyes by road conditions it is clear that causing unexpected hair
It is raw.
Invention content
The technical problems to be solved by the invention are to provide a kind of method that road conditions are identified in vehicle travel process,
The system can accurately by front need by traffic information calculate and feed back, taken in time convenient for driver corresponding
Measure adjustment circuit or slow down avoid, it is safer, prevent unexpected generation.
Technical solution is used by the present invention solves the above problems：The side that road conditions are identified in vehicle travel process
Method includes the following steps：
(1) image information acquisition：According to the work schedule of camera, gathering algorithm works as microcontroller using the method interrupted
When detecting field system chronizing impulse, into admission interrupt service subroutine, after being interrupted into admission, clear flag position, row count value is put
Zero, count is incremented for field, and between-line spacing counting is set to 0, and is then shut off field interruption, opens row and interrupts, and microcontroller is enable to receive row and interrupts letter
Number, interrupt needs linage-counter being set to 0 to read the data of new one on the spot when arriving, while also needs to reading pulse and tire out
Add the velocity amplitude of the current intelligent vehicle of the data acquisition in device, close the response that interrupt latency row in field interrupts, in order to distinguish row and row
Between data start meeting there are one row interrupt signal in every row, gradation of image will be completed in interruption by, which being expert at, is worth reading,
It has acquired last column data later again to analyze and process data, white road gray value is larger under normal conditions, black
The edge gray value of color is smaller, and road edge information is extracted by the difference of gray value, then, constantly repeats mistake above
Journey until collecting 180 × 40 list data, is deposited into array and is used in subsequent image procossing；
(2) image information pre-processes：During Image Acquisition, since camera is influenced by light and by itself property
The limitation of energy causes to contain noise in the image that camera acquires, and removes noise using the method for medium filtering, it is first determined one
Then a neighborhood of a point centered on certain pixel sorts the gray value of pixel each in neighborhood, centered on taking median
The new value of point pixel grey scale；
(3) feature extraction：It is the gray level image of a width black and white since routing information is after camera acquisition process, therefore
Using edge detection algorithm, because road black-tape is distributed in both sides, so since first intermediate significant figure strong point successively to
Right progress threshold values judgement, due to black and white object edge in practice it is possible that fuzzy deviation, it is not simple to lead to threshold values
Between two consecutive points or even to be separated by a point, therefore using line as origin, judge line and line+3 difference whether
More than the threshold values, line+3 is if it is denoted as i, is then detected since the center of next line again, if line and
Line+3 is then denoted as j by the difference of line+3 more than the threshold value, in the difference of relatively i and j, illustrates i and j if difference is less than 5
Fore-and-aft distance it is smaller, meet reality, thus note i and j be valid data, repeat this process until by black-tape detection finish；
(4) Path Recognition：At each 4.5 meters of road axis or so, there is two 10 meters long of black guide line, because
Road overall width is 15 meters, and the black guide line of both sides can be obtained by above-mentioned Edge Detection, by left and right side along phase
Add to be averaged and can obtain road axis, the center line of black guide line and center line can be obtained by calculation, i.e., it is left
Heart line and right center line, the necessary black guide line for crossing left and right starting of left and right center line, it is possible to pass through continuous scanning or so
The mode of center line detects start line, when scanning to being to find start line when having hopping edge from white to black, is extracting
On the basis of black guide line, system, which needs to identify, goes off the curve and straight way, the parameter of different bends, by geometric knowledge it is found that by
3 points being not arranged on the same straight line can determine 1 circle, and what arbitrary 3 different points determined on same circle is same
One circle, therefore can determine a circle by 3 points on road, and then calculate the radius of circle that this 3 points determine,
The inverse of radius is curvature, and curvature is calculated using plane triangle area formula：
If 3 points in plane and its coordinate are respectively A (x1, y1), B (x2, y2), C (x3, y3), define S (A, B, C)=
(x1-x3)×(y2-y3)-(y1-y3)×(x2-x3)
Then circumcentre of a triangle is：X=S ((x1 × x1+y1 × y1, y1), (x2 × x2+y2 × y2, y2), (x3 × x3+
Y3 × y3, y3))/2 × S (A, B, C), y=S ((x1, x1 × x1+y1 × y1), (x2, x2 × x2+y2 × y2), (x3, x3 × x3
+y3×y3))/2×S(A,B,C)
After triangle excenter is obtained, and then its circumradius is obtained, curvature is finally obtained；
It equally will appear slope when the winding degree of S is smaller with just same the phenomenon that bearing, therefore three sections of calculating slopes should be divided, so as to
Outbound path can be identified well；
Definition：If 4 points in plane and its coordinate are respectively：A(x1,y1),B(x2,y2),C(x3,y3),D(x4,y4)
Slope be k1=(y2-y1)/(x2-x1), k2=(y3-y2)/(x3-x2), k3=(y4-y3)/(x4-x3), according to k1, k2,
K3 can distinguish different bends.
This programme obtains accurate traffic information according to probe road pavement and vehicle vibration state with algorithmic formula,
Driver is helped to drive.
To sum up, the beneficial effects of the invention are as follows：The system can accurately by front need by traffic information calculate and
It feeds back, take appropriate measures adjustment circuit or avoidance of slowing down in time convenient for driver, safer, prevents accident
Occur.
Specific embodiment
With reference to embodiment, make detailed description further to the present invention, but embodiments of the present invention are not limited to
This.
Embodiment：
The method that road conditions are identified in vehicle travel process, includes the following steps：
(1) image information acquisition：According to the work schedule of camera, gathering algorithm works as microcontroller using the method interrupted
When detecting field system chronizing impulse, into admission interrupt service subroutine, after being interrupted into admission, clear flag position, row count value is put
Zero, count is incremented for field, and between-line spacing counting is set to 0, and is then shut off field interruption, opens row and interrupts, and microcontroller is enable to receive row and interrupts letter
Number, interrupt needs linage-counter being set to 0 to read the data of new one on the spot when arriving, while also needs to reading pulse and tire out
Add the velocity amplitude of the current intelligent vehicle of the data acquisition in device, close the response that interrupt latency row in field interrupts, in order to distinguish row and row
Between data start meeting there are one row interrupt signal in every row, gradation of image will be completed in interruption by, which being expert at, is worth reading,
It has acquired last column data later again to analyze and process data, white road gray value is larger under normal conditions, black
The edge gray value of color is smaller, and road edge information is extracted by the difference of gray value, then, constantly repeats mistake above
Journey until collecting 180 × 40 list data, is deposited into array and is used in subsequent image procossing；
(2) image information pre-processes：During Image Acquisition, since camera is influenced by light and by itself property
The limitation of energy causes to contain noise in the image that camera acquires, and removes noise using the method for medium filtering, it is first determined one
Then a neighborhood of a point centered on certain pixel sorts the gray value of pixel each in neighborhood, centered on taking median
The new value of point pixel grey scale；
(3) feature extraction：It is the gray level image of a width black and white since routing information is after camera acquisition process, therefore
Using edge detection algorithm, because road black-tape is distributed in both sides, so since first intermediate significant figure strong point successively to
Right progress threshold values judgement, due to black and white object edge in practice it is possible that fuzzy deviation, it is not simple to lead to threshold values
Between two consecutive points or even to be separated by a point, therefore using line as origin, judge line and line+3 difference whether
More than the threshold values, line+3 is if it is denoted as i, is then detected since the center of next line again, if line and
Line+3 is then denoted as j by the difference of line+3 more than the threshold value, in the difference of relatively i and j, illustrates i and j if difference is less than 5
Fore-and-aft distance it is smaller, meet reality, thus note i and j be valid data, repeat this process until by black-tape detection finish；
(4) Path Recognition：At each 4.5 meters of road axis or so, there is two 10 meters long of black guide line, because
Road overall width is 15 meters, and the black guide line of both sides can be obtained by above-mentioned Edge Detection, by left and right side along phase
Add to be averaged and can obtain road axis, the center line of black guide line and center line can be obtained by calculation, i.e., it is left
Heart line and right center line, the necessary black guide line for crossing left and right starting of left and right center line, it is possible to pass through continuous scanning or so
The mode of center line detects start line, when scanning to being to find start line when having hopping edge from white to black, is extracting
On the basis of black guide line, system, which needs to identify, goes off the curve and straight way, the parameter of different bends, by geometric knowledge it is found that by
3 points being not arranged on the same straight line can determine 1 circle, and what arbitrary 3 different points determined on same circle is same
One circle, therefore can determine a circle by 3 points on road, and then calculate the radius of circle that this 3 points determine,
The inverse of radius is curvature, and curvature is calculated using plane triangle area formula：
If 3 points in plane and its coordinate are respectively A (x1, y1), B (x2, y2), C (x3, y3), define S (A, B, C)=
(x1-x3)×(y2-y3)-(y1-y3)×(x2-x3)
Then circumcentre of a triangle is：X=S ((x1 × x1+y1 × y1, y1), (x2 × x2+y2 × y2, y2), (x3 × x3+
Y3 × y3, y3))/2 × S (A, B, C), y=S ((x1, x1 × x1+y1 × y1), (x2, x2 × x2+y2 × y2), (x3, x3 × x3
+y3×y3))/2×S(A,B,C)
After triangle excenter is obtained, and then its circumradius is obtained, curvature is finally obtained；
It equally will appear slope when the winding degree of S is smaller with just same the phenomenon that bearing, therefore three sections of calculating slopes should be divided, so as to
Outbound path can be identified well；
Definition：If 4 points in plane and its coordinate are respectively：A(x1,y1),B(x2,y2),C(x3,y3),D(x4,y4)
Slope be k1=(y2-y1)/(x2-x1), k2=(y3-y2)/(x3-x2), k3=(y4-y3)/(x4-x3), according to k1, k2,
K3 can distinguish different bends.
The system can accurately by front need by traffic information calculate and feed back, it is timely convenient for driver
Take appropriate measures adjustment circuit or avoidance of slowing down, safer, prevents unexpected generation.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is every according to
Any simple modification for substantially being made according to the technology of the present invention, method to above example, equivalent variations, each fall within the present invention
Protection domain within.
Claims (1)
1. the method that road conditions are identified in vehicle travel process, which is characterized in that include the following steps：
(1) image information acquisition：According to the work schedule of camera, gathering algorithm is using the method interrupted, when monolithic machine testing
During to field system chronizing impulse, into admission interrupt service subroutine, after being interrupted into admission, clear flag position, row count value zero setting, field
Count is incremented, and between-line spacing counting is set to 0, and is then shut off field interruption, opens row and interrupts, microcontroller is enable to receive row interrupt signal, when
Field is interrupted to be needed linage-counter being set to 0 to read the data of new one when arriving, while also needs to read pulse accumulator
In the current intelligent vehicle of data acquisition velocity amplitude, the response that field interrupt latency row interrupts is closed, in order to distinguish between row and row
Data start meeting there are one row interrupt signal in every row, gradation of image will be completed in interruption by, which being expert at, is worth reading, and is acquiring
Data are analyzed and processed again after complete last column data, white road gray value is larger under normal conditions, black
Edge gray value is smaller, and road edge information is extracted by the difference of gray value, then, continuous repeatedly process above,
Until collecting 180 × 40 list data, it is deposited into array and is used in subsequent image procossing；
(2) image information pre-processes：During Image Acquisition, since camera is influenced by light and by self performance
Limitation cause camera acquire image in contain noise, using medium filtering method remove noise, it is first determined one with
Then neighborhood of a point centered on certain pixel sorts the gray value of pixel each in neighborhood, take and put picture centered on median
The new value of plain gray scale；
(3) feature extraction：It is the gray level image of a width black and white since routing information is after camera acquisition process, therefore uses
Edge detection algorithm, because road black-tape is distributed in both sides, so since first intermediate significant figure strong point successively to the right into
Row threshold decision, due to black and white object edge in practice it is possible that fuzzy deviation, cause threshold value be not simply between
Between two consecutive points or even to be separated by a point, therefore using line as origin, judge whether the difference of line and line+3 is more than
Line+3 is if it is denoted as i by the threshold value, is then detected since the center of next line again, if line and line+
Line+3 is then denoted as j by 3 difference more than the threshold value, then compares the difference of i and j, illustrates that i's and j is vertical if difference is less than 5
To apart from smaller, meet reality, so note i and j is valid data, repeat this process until black-tape detection is finished；
(4) Path Recognition：At each 4.5 meters of road axis or so, there is two 10 meters long of black guide line, because of road
Overall width is 15 meters, and the black guide line of both sides can be obtained by above-mentioned edge detection algorithm, and left and right side is taken along addition
Average value can obtain road axis, and the center line of black guide line and center line, i.e. left center line can be obtained by calculation
With right center line, the necessary black guide line for crossing left and right starting of left and right center line, it is possible to pass through continuous scanning or so center
The mode of line detects start line, when scanning to being to find start line when having hopping edge from white to black, is extracting black
On the basis of guide line, system needs identification is gone off the curve and straight way, the parameter of different bends, by geometric knowledge it is found that by not existing
3 points on same straight line can determine 1 circle, and what arbitrary 3 different points determined on same circle is same
Circle, therefore can determine a circle by 3 points on road, and then calculate the radius of circle that this 3 points determine, radius
Inverse be curvature, using plane triangle area formula calculate curvature：
If 3 points in plane and its coordinate are respectively A (x1, y1), B (x2, y2), C (x3, y3), S (A, B, C)=(x1- is defined
x3)×(y2-y3)-(y1-y3)×(x2-x3)
Then circumcentre of a triangle is：X=S ((x1 × x1+y1 × y1, y1), (x2 × x2+y2 × y2, y2), (x3 × x3+y3 ×
Y3, y3))/2 × S (A, B, C), y=S ((x1, x1 × x1+y1 × y1), (x2, x2 × x2+y2 × y2), (x3, x3 × x3+y3
×y3))/2×S(A,B,C)
After triangle excenter is obtained, and then its circumradius is obtained, curvature is finally obtained；
It equally will appear slope when the winding degree of S is smaller with just same the phenomenon that bearing, therefore three sections of calculating slopes should be divided, so as to
Outbound path is identified well；
Definition：If 4 points in plane and its coordinate are respectively：A (x1, y1), B (x2, y2), C (x3, y3), D (x4, y4) slope
It, can according to k1, k2, k3 for k1=(y2-y1)/(x2-x1), k2=(y3-y2)/(x3-x2), k3=(y4-y3)/(x4-x3)
Distinguish different bends.
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| JP6637400B2 (en) * | 2016-10-12 | 2020-01-29 | 本田技研工業株式会社 | Vehicle control device |
| CN107329471B (en) * | 2017-06-20 | 2018-10-09 | 广州中国科学院软件应用技术研究所 | A kind of intelligent decision system of automatic driving vehicle |
| CN108407815A (en) * | 2018-03-31 | 2018-08-17 | 四川攸亮科技有限公司 | A kind of intelligent travelling crane auxiliary system |
| CN109229012A (en) * | 2018-10-11 | 2019-01-18 | 吉林大学 | A kind of automobile long-and-short distant light automatic switching method based on multiple road conditions intelligent recognition |
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| KR20130006752A (en) * | 2011-06-23 | 2013-01-18 | 주식회사 만도 | Lane recognizing apparatus and method thereof |
| JP5971020B2 (en) * | 2011-08-22 | 2016-08-17 | 日産自動車株式会社 | Lane recognition device |
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