CN105857180B - Haze sky vehicle drive assist system and its method - Google Patents
Haze sky vehicle drive assist system and its method Download PDFInfo
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- CN105857180B CN105857180B CN201610298881.9A CN201610298881A CN105857180B CN 105857180 B CN105857180 B CN 105857180B CN 201610298881 A CN201610298881 A CN 201610298881A CN 105857180 B CN105857180 B CN 105857180B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8053—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for bad weather conditions or night vision
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Abstract
The invention discloses haze sky vehicle drive assist system and its methods, are related to vehicle assistant drive field；Including image collecting device, image processing module, display module and the alarm module being mounted on vehicle, the video information of the vehicle front collected is sent in image processing module by image collecting device, and image processing module carries out every frame original image in the video information defogging processing and obtains the mist elimination image of corresponding frame；The display module on vehicle centre console receives and shows the mist elimination image；Image processing module is filtered every frame mist elimination image, and the mist elimination image of adjacent two frame is carried out difference processing, and analysis obtains coming in mist elimination image the mobile location information of vehicle；Image processing module starts the alarm module according to the mobile location information.The present invention can aid in driver to see the environment before and after the vehicle under haze clearly, and carry out vehicle with dynamic tracking, and auxiliary or alerting drivers correctly drive.
Description
Technical field
The present invention relates to vehicle assistant drive field, particularly the present invention relates to by the dark algorithm of field of machine vision
It applies to and is solved the problems, such as in vehicle security drive with the dynamic tracking algorithm based on Kalman filtering, belonged to based on image procossing
Innovative usage technical field.
Background technology
Haze problem has become the serious environmental problem of the social common people of puzzlement, it not only affects the body of the masses
Body health, simultaneously because its low visibility, deep effect is generated to the security of car steering.Due to that can see under haze weather
Degree is not high, and driver's sight hinders, and traffic accident is caused to take place frequently.This just urgently requires a kind of device car assisted can to drive
The person of sailing observes the situation outside vehicle, is judged with making correctly driving, reduces the generation of accident.
The content of the invention
The goal of the invention of the present invention is, in view of the above-mentioned problems, providing a kind of haze sky vehicle drive assist system, to pass through figure
What shape and algorithm process knew vehicle front or rear carrys out vehicle information, and auxiliary driver sees the ring before and after the vehicle under haze clearly
Border, and the light for carrying out vehicle is tracked with dynamic, auxiliary or alerting drivers correctly drive, and improve the security of driving.
In order to achieve the above objectives, the technical solution adopted in the present invention is：Haze sky vehicle drive assist system, including peace
Image collecting device, image processing module, display module and alarm module, described image harvester on vehicle will be adopted
The video information of the vehicle front collected is sent in image processing module, and described image processing module is in the video information
Every frame original image carry out defogging processing and obtain the mist elimination image of corresponding frame；The display on vehicle centre console
Module receives and shows the mist elimination image；Described image processing module is filtered every frame mist elimination image, and by phase
The mist elimination image of adjacent two frames carries out difference processing, and analysis obtains coming in mist elimination image the mobile location information of vehicle；At described image
Manage module and the alarm module started according to the mobile location information, the alarm module to driver send corresponding auxiliary or
Warning information.
In haze sky be traffic accident accident it is occurred frequently when, the observable field range very little of driver in haze sky, and
The irradiation distance of car light also shortens because of weather influence, often only has when such driver has found to come vehicle or barrier very short
Reaction time.Driver is aided in haze by building the DAS (Driver Assistant System) of a vehicle drive in above-mentioned technical proposal
It can accomplish safe driving in it.By the video image of image acquisition device to vehicle front in the system, and pass through
Image processing module carries out defogging processing, more clearly video image can be so obtained, to aid in driver's clear view
The situation in front；Meanwhile image processing module can also change according to the pixel per frame video image in video image, analyze
It whether there is the vehicle of relative motion into image, and accordingly driver reminded to be evaded accordingly or accordingly grasped
Make.Here auxiliary system is the inventive application based on image procossing, including based on algorithm to have the image of haze carry out defogging
Processing to obtain clearly image, refers to so that driver observes；Meanwhile continue through and the image after defogging is filtered,
Difference processing, and therefrom analyze vehicle location and then by voice or other modes driver is reminded to make corresponding action.
Compared with prior art, circuit system is simplified, has broken away from more sensor in traditional auxiliary system, system complex, installation complexity, work(
Can simple deficiency, not only provide clearly the visual field for aiding in driver, but also with monitoring range is come vehicle from
Track function can more quickly find to carry out vehicle, earlier driver be reminded to make a response, so as to reduce the generation of accident.
Further, described image processing module based on dark algorithm to every frame original image in the video information
Carry out defogging processing.Dark algorithm can quickly be handled video image, improve the clear figure of video image, and arrival is gone
The function of haze defogging.
Further, the dark algorithm steps are：1) to original image be odd number L × L rectangular module into
Row scanning, counts the grey scale pixel value in the module；2) minimum grey scale pixel value is extracted, then with minimum pixel gray value
Substitute whole grey scale pixel values in the module；3) step 1) and step 2) are repeated, entire original image is scanned, with regard to energy
Obtain the dark channel image of a secondary dark；4) original image and the pixel value phase of one-to-one dark channel image are used
Subtract, obtain the mist elimination image after defogging.A kind of quick dark algorithm is provided here, optimizes algorithm steps, it can
Quickly haze is carried out to original image to handle, reflect the image information of vehicle front in real time, Computer Vision is avoided to postpone.
Further, described image processing module is filtered place based on Kalman filtering algorithm to every frame mist elimination image
Reason.Kalman filtering algorithm can carry out the data of collection in worksite to update and handle in real time, reduce the noise of tracking target
It influences, provides safeguard for subsequent processing.
Further, the difference processing is grey by the pixel of two width mist elimination images of consecutive frame for described image processing module
Angle value is subtracted each other, and is chosen and subtracted each other the relatively large region of variation of rear pixel value difference in former frame mist elimination image, and from described
Carry out vehicle mobile location information in region of variation so as to analyze to obtain in mist elimination image.Carry out the pixel of the light part of vehicle in the picture
Gray value and the grey scale pixel value of dim background are different, and when opposite automobile is during movement, that shoots is every
In the image of one frame, the position of light is all different, as long as position is deviated, front and rear two field pictures, which are subtracted each other, can just examine
It measures that a part of pixel value and larger change occurs, can thus detect opposite and whether have and carry out vehicle.
Further, the difference processing for described image processing module by the pixel of adjacent former frame mist elimination image one by one
The corresponding pixel for subtracting a later frame mist elimination image, and mark the pixel value difference after subtracting each other in former frame mist elimination image and be more than 150
Region of variation；And analyze the mobile location information for obtaining coming in mist elimination image vehicle.The grey scale pixel value of general picture is from 0
To 255, wherein white is 255, black 0.Tend to white from the light of pixel grey scale vehicle, and background pixel here is grey
Degree tends to grey or black, and the difference of the two is at this moment set to be more than 150, and the light that can distinguish vehicle very well moves what is brought
Difference excludes other disturbing factors, realizes the autotracking to vehicle location.
Further, described image processing module obtains the movement for meeting the light come vehicle according to region of variation shape contour
Information；And analyze the mobile location information for obtaining coming in mist elimination image vehicle.Satisfactory part is marked in mist elimination image,
In come vehicle light position variation cause mark part be generally falcate or circle, the vehicle that can must arrive accordingly is in defogging
Position in image.
Further, described image harvester is high-definition camera, and is kept out the wind mounted on front windshield of vehicle with after
On console under glass.The vehicle that comes on the front-rear direction of vehicle is monitored, driver can preferably be aided in carry out
It drives.
Further, the alarm module is LED display module or voice reminder module.LED display module can lead to
It crosses and the LED light of different colours is set to carry out different situation warnings；Multiple voice information is set in voice reminder module, for not
Same driving situation, sends different voice prompts.
Based on above-mentioned technical proposal, a kind of haze sky vehicle drive assisting method follows the steps below,
1) system is started in haze sky, the video information for the vehicle front that described image harvester collects, concurrently
It is sent in image processing module；
2) described image processing module carries out every frame original image in the video information defogging processing and obtains pair
The mist elimination image of frame is answered, and the mist elimination image is sent in the display module on vehicle centre console；
3) described image processing module is filtered every frame mist elimination image, and the image progress of adjacent two frame is poor
Office is managed, and analysis obtains coming in image the mobile location information of car light；
4) described image processing module starts the alarm module according to the mobile location information, the alarm module to
Driver sends corresponding auxiliary or warning information.
The safety coefficient that vehicle drives in haze sky can be improved by auxiliary system, this is quite a lot of one regard
Wild remote, sensitive, accurate the passenger side, assists driver to understand or tackle emergency situations in advance in haze sky, especially because the visual field
Deficiency brings the various situations of reaction not in time.Changing householder method can apply on various vehicles, strong applicability；Without to vehicle
It is transformed, removes and installs detection device；So greatly reduce the cost used.
Due to the adoption of the above technical scheme, the invention has the advantages that：
Compared with prior art, the present invention simplifying hardware circuit, solves complicated driving environment monitoring problem；Externally
Boundary has broken away from the algorithm using devices such as a large amount of traditional sensors, turned to using camera and image procossing in monitoring field, this
Sample can make the precision higher that extraneous environment is monitored under haze weather, and most image processing work is all by handling
Device chip is completed, and hardware circuit is just very simple, has also simplified the burden of automobile entirety to a certain extent.Meanwhile dynamic tracks
The hypersensitivity of algorithm can be easier to find to always vehicle than human eye, so as to earlier driver be reminded to make a response, to safe driving
There is great benefit.
Description of the drawings
Fig. 1 is operation principle flow chart of the present invention.
Fig. 2 is difference processing computing schematic diagram of the present invention.
Specific embodiment
The present invention includes four parts：Image collecting device, image processing module, display module and alarm module.
Image capture module is vehicular high-definition camera, during camera is mounted under the forward and backward windshield of automobile
It controls on platform, for shooting the situation of automobile front and back.The video image of shooting is sent to image procossing mould by image capture module
In block.
Image processing module is the image processing module based on FPGA, the haze figure that processing image capture module shooting comes
Picture to be handled to obtain clearly mist elimination image to there are the road images of haze by dark algorithm, be then output to vehicle
It carries in display screen and is referred to for driver.When opposite, which has, carrys out vehicle, image processing module is tracked by Kalman filtering algorithm dynamic
Carry out vehicle, analyze the relative position information for the vehicle that must arrive.
Display module is vehicle-carrying display screen, on console.Display module is shown by image processing module defogging
Treated video image.
Alarm module is vehicle-mounted voice equipment, based on image processing module to carrying out the analysis result of vehicle relative position, to driving
The sound bite that the person of sailing exports different warnings or auxiliary drives.Alarm module or LED warning lamps simultaneously, mounted on vapour
On Chinese herbaceous peony console, for reminding driver.
Here the operation logic and mode of system are described further：The vehicle front that image collecting device will collect
Video information be sent in image processing module, image processing module in the video information every frame original image carry out
Defogging handles and obtains the mist elimination image of corresponding frame.The display module on vehicle centre console is received and shown described
Mist elimination image.Described image processing module is filtered every frame mist elimination image, and by the mist elimination image of adjacent two frame into
Row difference processing, analysis obtain coming in mist elimination image the mobile location information of vehicle.Image processing module is according to the shift position
Information starts the alarm module, and alarm module sends corresponding auxiliary or warning information to driver.It is adopted in system by image
Acquisition means collect the video image of vehicle front, and carry out defogging processing by image processing module, can so obtain compared with
For clearly video image, to aid in the situation in front of driver's clear view；Meanwhile image processing module can also according to regarding
Pixel in frequency image per frame video image changes, and analysis obtains whether there is in image the vehicle of relative motion, and carries accordingly
The driver that wakes up is evaded or is carried out corresponding operating accordingly.Here auxiliary system is that the creativeness based on image procossing should
With including carrying out defogging processing to the image for having haze do not known based on algorithm, to obtain clearly image, for driver
Observation reference；It meanwhile continues through and the image after defogging is filtered, difference processing, you can therefrom to analyze vehicle position
It puts and then by voice or other modes driver is reminded to make corresponding action.
As shown in Figure 1, when driver is in haze sky starting automobile, the road conditions feelings before and after observation automobile are first had to
Condition, then just first to open vehicle-mounted front camera and rear camera, camera is placed below the windshield of automobile, is then aligned with front and back
Road surface.After camera is filmed the blurred picture before and after automobile, image processing module, image processing module are transmitted to
In prestore the image preprocessing program based on dark and the dynamic tracking algorithm based on Kalman filtering, when what is sent
Picture reaches clearly road conditions image after dark channel image pretreatment, exports back and drives in indoor display screen, at this moment
Driver is with regard to that can see more clearly load conditions.It is sought after image is apparent from, and by dynamic tracking algorithm
Look for whether front has motor vehicle to next to sailing, if detecting that motor line approaches, driving indoor LED warning lamps will point
Bright, driver sees that LED light is lighted and just has watchful effect, so as to carefully manipulate vehicle starting, so as to what is avoided traffic accident
Occur.
Certainly, image capture module can also be the position recorder or other video equipments installed on vehicle here.
Display module can be mounted on console or facilitate the video display equipment that driver watches, such as be erected at console
Large-size smartphone；Alarm module can be combined with display module or combined with vehicle-mounted stereo set.Image processing module
Can be the processing module unit based on microcontroller, FPGA or DSP etc., naturally it is also possible to be vehicle-mounted computer equipment.
In above-mentioned, image processing module removes every frame original image in the video information based on dark algorithm
Mist processing.Dark algorithm can quickly be handled video image, improve the clear figure of video image, and haze defogging is gone in arrival
Function.
In computer vision and computer graphics, for more fuzzy image can approximation be abstracted as " having mist ",
The effect that camera is taken is similar between camera and material object across one layer of thick fog.
Narasimhan etc. proposes the atmospherical scattering model (Monochrome under " haze " according to theory analysis
atmospheric scattering model):
I (x)=A ρ (x) e-βd(x)+A(1-e-βd(x)) (1)
In formula (1), it is space coordinates, represents sky brightness (Skylight), is scene albedo, is the scene depth of field, is
Atmospheric scattering coefficient.
In fuzzy outdoor picture, some pixels of at least one passage have relatively low pixel value, this rule
Suitable for removing any region outside sky.That is in fuzzy image, in certain local area, always there is one
A little very dark ingredients.Thus the definition of image dark channel is released：
Some Color Channel of expression image in formula (2).Represent a rectangular area centered on pixel, rectangle
The corresponding size in region is.Represent the minimum value of the pixel in this rectangular area, that is, the dark of image, it is also known as above-mentioned
Statistical law be image the preferential rule of dark.
Here dark algorithm steps are：
1) original image with the rectangular module of L × L for odd number is scanned, counts the pixel grey scale in the module
Value.
2) minimum grey scale pixel value is extracted, whole pixels ash in the module is then substituted with minimum pixel gray value
Angle value.
3) step 1) and step 2) are repeated, entire original image is scanned, with regard to helping secretly for a secondary dark can be obtained
Road image.
4) subtracted each other using the original image and the pixel value of one-to-one dark channel image, obtained described after defogging
Mist elimination image.A kind of quick dark algorithm is provided here, algorithm steps is optimized, quickly original image can be gone
Haze processing, reflects the image information of vehicle front, Computer Vision is avoided to postpone in real time.
Here it is to be understood that the dynamic tracking algorithm cardinal principle of Kalman filtering algorithm or Kalman filtering is to pass through
Kalman filtering algorithm is filtered the video image of shooting, obtains new video image, is then separated using frame difference method
Go out moving target, so as to fulfill dynamically tracking.Kalman filtering algorithm can update the data of collection in worksite in real time
And processing, the noise effect of tracking target is reduced, is provided safeguard for subsequent processing.
In above-mentioned, difference processing for described image processing module by the grey scale pixel value of two width mist elimination images of consecutive frame into
Row subtracts each other, and chooses and subtracts each other the relatively large region of variation of rear pixel value difference in former frame mist elimination image, and from the variation zone
Carry out vehicle mobile location information in domain so as to analyze to obtain in mist elimination image.
Carry out the grey scale pixel value of the light part of vehicle in the picture and the grey scale pixel value of dim background be it is different, when
Opposite automobile is during movement, and in the image for shooting each frame come, the position of light is all different, as long as position
It puts and is deviated, front and rear two field pictures are subtracted each other with regard to that can detect that larger change occurs for that a part of pixel value, thus
Opposite can be detected whether have and carry out vehicle.
Difference is carried out to the image of adjacent two frame, and sets a threshold value, if the result of difference is more than the pixel of threshold value
Point is exactly moving target.As shown in Fig. 2, for it is static when the video sequence that shoots, first to fk(x, y) frame picture and fk+1
(x, y) frame picture carries out smoothing denoising, then does frame difference method processing, i.e., with fk(x, y) frame picture subtracts fk+1(x, y) frame figure
Piece obtains bianry image.It is formulated as：
T be setting threshold value, Dk(x, y) is the binary image that detection obtains.
Particularly, T 150, after image processing module subtracts the pixel one-to-one corresponding of adjacent former frame mist elimination image
The pixel of one frame mist elimination image, and the region of variation that the pixel value difference after subtracting each other is more than 150 is marked in former frame mist elimination image
For 1, other zone markers are 0.Image processing module obtains the movement for meeting the light come vehicle according to region of variation shape contour
Information；And analyze the mobile location information for obtaining coming in mist elimination image vehicle.The grey scale pixel value of general picture be from 0 to 255,
Wherein white is 255, black 0.Tend to white from the light of pixel grey scale vehicle, and background pixel gray scale here tends to
At this moment grey or black set the difference of the two to be more than 150, can distinguish the difference that the light movement of vehicle is brought very well,
Other disturbing factors are excluded, realize the autotracking to vehicle location.What is marked in mist elimination image carrys out the light change location of vehicle
Caused by region, generally falcate or circle, can must arrive position of the vehicle in mist elimination image accordingly.And it analyzes and obtains
Carry out the mobile location information of vehicle in mist elimination image.
Based on above-mentioned technical proposal, also disclosed herein is a kind of preferred embodiments：Image collecting device includes being mounted on
Automobile data recorder in vehicle, automobile data recorder corresponds to vehicle front respectively and the area of visual field at rear is set, for shooting vehicle
Front and rear video information simultaneously sends video information to image processing module, and image processing module is to be arranged on vehicle by mounting bracket
The intelligent large-screen mobile phone of console is equipped with to carry out at defogging to stating every frame original image in video information in mobile phone
The Kalman filtering algorithm being filtered based on dark algorithm and to every frame mist elimination image of reason is removed adjacent two frame
Mist image carries out the track algorithm of difference processing.Mobile phone shows mist elimination image by mobile phone screen, for driver's observation compared with
For clearly road conditions video image, i.e. display module is mobile phone screen.Mobile phone, which continues through, simultaneously carries out the image after defogging
Filtering, difference processing, therefrom analyze vehicle location and pass through mobile phone speech ciphering equipment remind driver make corresponding action.
Here by regarding the processing module of smart mobile phone, screen, speech ciphering equipment as image processing module, display module and warning mould
Block can realize entire auxiliary system using existing hardware：Here only need to install on mobile phone in the application at image
The respective algorithms of module are managed, and connect vehicle-mounted video monitoring device, can both complete the installation of the application auxiliary system；It is installed
It is more simple, using with more applicability；The burden of automobile entirety can be simplified significantly, while efficiently improve drive safety.
Based on above-mentioned technical proposal, base discloses a kind of haze sky vehicle drive assisting method here, according to following steps into
Row,
1) system is started in haze sky, the video information for the vehicle front that described image harvester collects, concurrently
It is sent in image processing module.
2) described image processing module carries out every frame original image in the video information defogging processing and obtains pair
The mist elimination image of frame is answered, and the mist elimination image is sent in the display module on vehicle centre console.
3) described image processing module is filtered every frame mist elimination image, and the image progress of adjacent two frame is poor
Office is managed, and analysis obtains coming in image the mobile location information of car light.
4) described image processing module starts the alarm module according to the mobile location information, the alarm module to
Driver sends corresponding auxiliary or warning information.
The safety coefficient that vehicle drives in haze sky can be improved by auxiliary system, this is quite a lot of one regard
Wild remote, sensitive, accurate the passenger side, assists driver to understand or tackle emergency situations in advance in haze sky, especially because the visual field
Deficiency brings the various situations of reaction not in time.Changing householder method can apply on various vehicles, strong applicability；Without to vehicle
It is transformed, removes and installs detection device；So greatly reduce the cost used.
Compared with prior art, the present invention provides a kind of haze weather automobile guide instrument institutes based on machine vision auxiliary
The advantageous effect reached is：The present invention makes every effort to be gone to solve complicated driving environment monitoring problem with the hardware circuit simplified, relatively
In the prior art, the present invention is breaking away from extraneous monitoring field using devices such as a large amount of traditional sensors, is turning to use and take the photograph
As head and the algorithm of image procossing, it can so make the precision higher that extraneous environment is monitored under haze weather, and it is most of
Image processing work be all to be completed by processor chips, hardware circuit is just very simple, has also simplified automobile to a certain extent
Whole burden.Meanwhile the hypersensitivity of dynamic tracking algorithm can be easier to find to always vehicle than human eye, so as to remind earlier
Driver makes a response, and has great benefit to safe driving.
Above description is the detailed description for the present invention preferably possible embodiments, but embodiment is not limited to this hair
Bright patent claim, the equal variation or modification change completed under the technical spirit suggested by all present invention, should all belong to
Cover the scope of the claims in the present invention.
Claims (7)
1. haze sky vehicle drive assist system, including the image collecting device, image processing module, display being mounted on vehicle
Module and alarm module, it is characterised in that：The video information of the vehicle front collected is sent to by described image harvester
In image processing module, described image processing module carries out every frame original image in the video information defogging processing and obtains
To the mist elimination image of corresponding frame；The display module on vehicle centre console receives and shows the mist elimination image；Institute
It states image processing module to be filtered every frame mist elimination image, and the mist elimination image of adjacent two frame is subjected to difference processing,
Analysis obtains coming in mist elimination image the mobile location information of vehicle；Described image processing module starts according to the mobile location information
The alarm module, the alarm module send corresponding auxiliary or warning information to driver；The difference processing is the figure
As processing module subtracts each other the grey scale pixel value of two width mist elimination images of consecutive frame, and choose phase in former frame mist elimination image
Subtract the relatively large region of variation of rear pixel value difference, and carry out vehicle shifting from the region of variation so as to analyze to obtain in mist elimination image
Dynamic location information；The difference processing subtracts the pixel one-to-one corresponding of adjacent former frame mist elimination image for described image processing module
The pixel of a later frame mist elimination image is gone, and the variation that the pixel value difference after subtracting each other is more than 150 is marked in former frame mist elimination image
Region；And analyze the mobile location information for obtaining coming in mist elimination image vehicle；Described image processing module is according to region of variation shape
Profile obtains the mobile message for meeting the light for carrying out vehicle；And analyze the mobile location information for obtaining coming in mist elimination image vehicle.
2. haze sky vehicle drive assist system according to claim 1, it is characterised in that：Described image processing module base
Defogging processing is carried out to every frame original image in the video information in dark algorithm.
3. haze sky vehicle drive assist system according to claim 2, which is characterized in that the dark algorithm steps
For：1）Original image with the rectangular module of L × L for odd number is scanned, counts the grey scale pixel value in the module；2）It carries
Minimum grey scale pixel value is taken out, whole grey scale pixel values in the module are then substituted with minimum pixel gray value；3）It repeats
Step 1）With step 2）, entire original image is scanned, obtains dark channel image；4）Using the original image and one by one
The pixel value of corresponding dark channel image subtracts each other, and obtains the mist elimination image after defogging.
4. haze sky vehicle drive assist system according to claim 1, it is characterised in that：Described image processing module base
Every frame mist elimination image is filtered in Kalman filtering algorithm.
5. haze sky vehicle drive assist system according to claim 1, it is characterised in that：Described image harvester is
High-definition camera, and on the console under front windshield of vehicle and rear seat windscreen.
6. haze sky vehicle drive assist system according to claim 1, it is characterised in that：The alarm module is LED
Display module or voice reminder module.
7. the method for haze sky vehicle drive assist system according to claim 1, it is characterised in that：According to following steps
It carries out,
1）Start the system, the video information for the vehicle front that described image harvester collects in haze sky, and be sent to
In image processing module；
2）Described image processing module carries out every frame original image in the video information defogging processing and obtains corresponding frame
Mist elimination image, and the mist elimination image is sent in the display module on vehicle centre console；
3）Described image processing module is filtered every frame mist elimination image, and the image of adjacent two frame is carried out at difference
Reason, analysis obtain coming in image the mobile location information of car light；
4）Described image processing module starts the alarm module according to the mobile location information, and the alarm module is to driving
Person sends corresponding auxiliary or warning information.
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