CN106373218A - Cell phone automobile data recorder with line pressing alarm function - Google Patents
Cell phone automobile data recorder with line pressing alarm function Download PDFInfo
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- CN106373218A CN106373218A CN201610966821.XA CN201610966821A CN106373218A CN 106373218 A CN106373218 A CN 106373218A CN 201610966821 A CN201610966821 A CN 201610966821A CN 106373218 A CN106373218 A CN 106373218A
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- 238000006243 chemical reaction Methods 0.000 claims description 5
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Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
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Abstract
The invention discloses a cell phone automobile data recorder with a line pressing alarm function. The cell phone automobile data recorder comprises a driving information collecting unit, a driving information processing unit, a line pressing information feedback unit and a driving information storing unit. The driving information collecting unit and the driving information processing unit are connected with the driving information storing unit. The driving information collecting unit comprises a video information collecting module and a GPS positioning module. The cell phone automobile data recorder has the advantages that by means of the cell phone automobile data recorder, according to real-time automobile driving video, whether an automobile presses a line (a road solid line such as a lane solid line and a crossing parking line) or not can be judged. In addition, automobile driving video, driving tracks and other driving information and line pressing information of the automobile can be stored in the cell phone automobile data recorder and can be conveniently checked if necessary.
Description
Technical field
The present invention relates to driving recording instrument field, more particularly, to a kind of mobile phone row with line ball warning function
Car monitor.
Background technology
With the gradually popularization and application of automobile, growing vehicle accident has brought increasing personnel's wound
Die and property loss.Drive recorder can truly record the mode of operation of driver and the transport condition of vehicle, both permissible
There is provided data foundation for accident analysiss, the driver behavior of driver can be supervised again, strengthen the self awareness of driver, and then reduce
The generation of vehicle accident.Vehicle line ball travels due to occupying two lanes, lead to can not to overtake other vehicles with rearwards vehicle or
Person's opposed vehicle is difficult to avoid, thus causing the generation of vehicle accident.Vehicle line ball stops and have impact on traffic order simultaneously, causes
Harm also than larger.
Conventional hardware drive recorder exist installation inconvenience, price, function not incomplete the shortcomings of, simultaneously for
The break in traffic rules and regulations behavior of vehicle line ball, nor carry out early warning in time, inform driver.The emerging mobile phone driving of other
Monitor, realizes its function and easy to operate by installing drive recorder software in the mobile phone of driver, receives more
Carry out the welcome of more drivers.But these mobile phone drive recorder generally existings, and function is not abundant, make under vehicle environment
The problems such as use inconvenience.For common vehicle line ball act of violating regulations, current mobile phone drive recorder nor carry out early warning
And the behavior of supervision driver.
Content of the invention
For overcoming the deficiencies in the prior art, the present invention proposes a kind of mobile phone drive recorder with line ball warning function.
For achieving the above object, the technical scheme is that
A kind of mobile phone drive recorder with line ball warning function, the dynamic line ball realized in vehicular motion is pre-
Alert, including running information collecting unit, running information processing unit, line ball information feedback unit and running information memory element,
Described running information collecting unit is used for gathering running information, and the running information being gathered is input to running information
Processing unit is processed and is input to running information memory element and stored；
Described running information processing unit is processed to the running information of collection, obtains line ball judged result, will obtain
Line ball judged result be input to line ball information feedback unit；
Described line ball information feedback unit determines whether to carry out audio alert based on line ball judged result.
Preferably, described running information collecting unit includes video information acquisition module and gps locating module.
Preferably, described running information processing unit includes picture recognition module and line ball judge module；
Described image identification module is pushed away using the counter of tsai method, and image pixel coordinates system midpoint coordinate transformation is become the world
Point coordinates in coordinate system；
Described line ball judge module rebuilds car according to characteristic point in the world coordinate system obtaining in picture recognition module
Diatom, and the dimensional parameters of the riding position according to video information acquisition module and vehicle determine the position that vehicle is located, then
According to the geometrical relationship of vehicle position and lane line, it is respectively directed to track solid line line ball and crossing stop line line ball, propose
Determination methods, carry out line ball judgement.
Preferably, the image pixel in the video that described image identification module gathers according to video information acquisition module, builds
Vertical pixel coordinate system, extracts the characteristic point of lane line and the settlement of video information acquisition module, and according to image pixel coordinates
Transformational relation between system and world coordinate system, the point coordinates extracting in image pixel coordinates system is converted into world coordinate system
Under point coordinates；Conversion between image pixel coordinates system and world coordinate system is to be pushed away based on the counter of tsai method；Image pixel
Transformation process between coordinate system and world coordinate system is, the feature point coordinates fastened image pixel coordinates first is through image
Digitized changes into the point coordinates of image physical coordinates system, and the point coordinates then fastened image physical coordinates is through perspective projection
Principle changes into the point coordinates that camera coordinates are fastened, then the point coordinates that camera coordinates are fastened changes into through rigid body translation
The point coordinates that world coordinates is fastened.
Preferably, described line ball judge module is according to the characteristic point weight in the world coordinate system obtaining in picture recognition module
New structure lane line, and the dimensional parameters of the riding position according to video information acquisition module and vehicle determine the position that vehicle is located
Put, then carry out line ball judgement according to the geometrical relationship of vehicle position and lane line, particularly as follows:
The dimensional parameters of the riding position according to video information acquisition module and vehicle determine the side of the position that vehicle is located
Method is as follows:
Length a of known vehicle and width b, and the riding position according to video information acquisition module, are manually entered video
Horizontal range x in the axle center of information acquisition module and vehicle front wheel, with horizontal range y of vehicle right side wheel edge line and
Vertical dimension h with ground；By above parameter, it is first determined position in vehicle for the video information acquisition module, and then really
Determine the position at vehicle place；
Line ball judges to be judged and crossing stop line line ball judgement group by track solid line (solid white line, yellow solid line etc.) line ball
Become；The method that track solid line line ball judges is as follows:
Set up an office al(al1,bl1), point ar(ar1,br1), point bl(al2,bl2) and point br(ar2,br2) it is to be obtained by picture recognition module
To world coordinate system in characteristic point, its midpoint alWith point blConstruct the track solid line on the left of track, point arWith point brBuild
Lane line on the right side of track.Point cl(xl1,yl1), point cr(xr1,yr1), point dl(xl2,yl2) and point dr(xr2,yr2) it is by video
The wheel of vehicle that information acquisition module position obtains and the EDGE CONTACT point on ground, wherein, point clWith point dlIt is vehicle left side
Wheel and the EDGE CONTACT point on ground, construct vehicle left side edge line；Point crWith point drIt is the side of vehicle right side wheel and ground
Edge contact point, constructs vehicle right side edge line, thereby determines that the position of vehicle；
PointIt is point clWith point crConstitute the midpoint of line segment；Point
It is point dlWith point drConstitute the midpoint of line segment；d1Distance for vehicle axis to left-hand lane solid line；D is 1/2 lane width；
When vehicle left side edge line is overlapped with track solid line, that is,And
Vehicle left side wheel line ball；
Work as d1The axis of=d and vehicle is overlapped with the axis in track, vehicle not line ball；
Work as d1＜ d and vehicle left side edge line is parallel to track solid line, but vehicle left side edge line is not weighed with track solid line
Close, that is,Vehicle not line ball；
Work as d1＜ d and vehicle left side edge line is not parallel to track solid line, that is,In two kinds of situation
Consider；
Situation 101, vehicle left side edge line point clOn the solid line of track, that is,Vehicle
Left side front-wheel line ball；
Situation 102, vehicle left side edge line is non-intersect with track solid line, that is,Car
Left side not line ball, vehicle left side front-wheel has line ball trend；
Work as d1＞ d and vehicle left side edge line not parallel road-center horizontal line, that is,Divide two kinds of feelings
Condition considers；
Situation 201, vehicle left side edge line point dlOn the solid line of track, that is,Car
Left side rear wheel line ball；
Situation 202, vehicle left side edge line is non-intersect with track solid line, that is,Car
Left side not line ball, vehicle left side trailing wheel has line ball trend；
The vehicle that the method that wherein solid line line ball in track judges travels for track solid line both sides is all applicable；
The method that crossing stop line line ball judges is as follows:
Set up an office al(al1,bl1), point ar(ar1,br1), point bl(al2,bl2), point br(ar2,br2), point el(wl,zl) and point er
(wr,zr) it is characteristic point in the world coordinate system being obtained by picture recognition module, its midpoint alWith point blConstruct on the left of track
Lane line, point arWith point brConstruct the lane line on the right side of track, point elWith point erConstruct crossing stop line；Point cl(xl1,
yl1), point cr(xr1,yr1), point dl(xl2,yl2) and point dr(xr2,yr2) it is the car being obtained by video information acquisition module position
The EDGE CONTACT point on wheel and ground, wherein, point clWith point crIt is the EDGE CONTACT point of vehicle front side wheel and ground, build
Vehicle front-side edge line；Point dlWith point drIt is the EDGE CONTACT point of vehicle rear-side wheel and ground, construct vehicle rear-side edge
Line, thereby determines that the position of vehicle；PointIt is point clWith point crConstitute the midpoint of line segment；PointIt is point dlWith point drConstitute the midpoint of line segment；
When vehicle front-side edge line is parallel to crossing stop line, that is,Consider in two kinds of situation；
Situation 301, vehicle front-side edge line is overlapped with crossing stop line, that is,Vehicle
Front side wheel line ball；
Situation 302, vehicle front-side edge line is misaligned with crossing stop line, that is,Car
Not line ball；
When vehicle front-side edge line is not parallel to crossing stop line, that is,Three kinds of situations are divided to examine
Consider；
Situation 401, vehicle front-side edge line and crossing stop line intersect at point cl, that is,
Vehicle front side revolver line ball；
Situation 402, vehicle front-side edge line and crossing stop line intersect at point cr, that is,
Vehicle front side right wheel line ball；
Situation 403, vehicle front-side edge line is non-intersect with crossing stop line, vehicle not line ball.
Preferably, described video information acquisition module is mobile phone camera.
Preferably, described line ball information feedback unit includes information feedback module and voice alarm module；Feedback of the information mould
Block receives the line ball judged result of running information processing unit, and voice alarm module carries out voice reporting based on line ball judged result
Alert.
Preferably, described voice alarm module includes embedded in mobile phone speaker and the alarm voice information prestoring；Voice reporting
The line ball judged result that alert module receives according to information feedback module, carries out audio alert using embedded in mobile phone speaker and carries
Wake up.
Compared with prior art, the invention has the benefit that adopting this mobile phone drive recorder, according to real-time vehicle
Traveling video, can interpolate that vehicle whether line ball (road solid line, including track solid line line ball and crossing stop line line ball).
In addition, according to real-time traveling video, record violating the regulations can be carried out and reviews.Utilize gps positioning function simultaneously, can obtain
Wheelpath and the positional information of vehicle.The travel information of vehicle and line ball information all can be stored in mobile phone drive recorder
In, to be checked when needing.
Brief description
Fig. 1 has the riding position schematic side view of the mobile phone drive recorder of line ball warning function for the present invention.
Fig. 2 has the riding position schematic top plan view of the mobile phone drive recorder of line ball warning function for the present invention.
When Fig. 3 enters runway solid line line ball for the present invention and judges, normal vehicle operation schematic diagram.
When Fig. 4 enters runway solid line line ball for the present invention and judges, vehicle left side wheel line ball schematic diagram.
When Fig. 5 enters runway solid line line ball for the present invention and judges, normal when vehicle axis and track axis overlap
Travel schematic diagram.
When Fig. 6 enters runway solid line line ball for the present invention and judges, vehicle left side front-wheel line ball schematic diagram.
When Fig. 7 enters runway solid line line ball for the present invention and judges, vehicle not line ball, vehicle left side front-wheel has line ball trend
Schematic diagram.
When Fig. 8 enters runway solid line line ball for the present invention and judges, vehicle left side trailing wheel line ball schematic diagram.
When Fig. 9 enters runway solid line line ball for the present invention and judges, vehicle not line ball, vehicle left side trailing wheel has line ball trend
Schematic diagram.
When Figure 10 carries out road cross stop line line ball for the present invention and judges, normal vehicle operation schematic diagram.
When Figure 11 carries out road cross stop line line ball for the present invention and judges, vehicle front side wheel line ball schematic diagram.
When Figure 12 carries out road cross stop line line ball for the present invention and judges, vehicle left side front-wheel line ball schematic diagram.
When Figure 13 carries out road cross stop line line ball for the present invention and judges, vehicle right side front-wheel line ball schematic diagram.
When Figure 14 carries out road cross stop line line ball for the present invention and judges, vehicle not line ball, vehicle left side front-wheel has
Line ball trend schematic diagram.
When Figure 15 carries out road cross stop line line ball for the present invention and judges, vehicle not line ball, vehicle right side front-wheel has
Line ball trend schematic diagram.
Figure 16 has the composition framework schematic diagram of the mobile phone drive recorder of line ball warning function for the present invention.
Specific embodiment
Being for illustration only property of accompanying drawing illustrates it is impossible to be interpreted as the restriction to this patent；In order to more preferably the present embodiment is described, attached
Scheme some parts to have omission, zoom in or out, do not represent the size of actual product；
To those skilled in the art, in accompanying drawing, some known features and its explanation may omission be to be appreciated that
's.With reference to the accompanying drawings and examples technical scheme is described further.
A kind of mobile phone drive recorder with line ball warning function it is adaptable to during motor-driven vehicle going real-time dynamicly
Carry out line ball warning, including running information collecting unit, running information processing unit, line ball information feedback unit and running information
Memory element.
Running information collecting unit and running information processing unit are connected with running information memory element respectively；
Running information collecting unit is made up of video information acquisition module and gps locating module；
In the present embodiment, video information acquisition module includes embedded in mobile phone photographic head；Video information acquisition module adopts
Time watermark function includes the time, the mode of video length carries out video record；It is fixed that gps locating module includes embedded in mobile phone gps
Position device；Gps locating module can show the current gps data of driving vehicle in real time, including current time, direction and current vehicle
Speed per hour is it is also possible to the wheelpath of registration of vehicle；
Running information processing unit is made up of picture recognition module and line ball judge module, rely on embedded in mobile phone processor and
Corresponding program completes running information and processes；
In the present embodiment, picture recognition module, according to the image pixel in video, sets up pixel coordinate system, extracts track
The characteristic point of line and the settlement of mobile phone camera, and closed according to the conversion between image pixel coordinates system and world coordinate system
System, the point coordinates extracting in image pixel coordinates system is converted into the point coordinates under world coordinate system；Image pixel coordinates system
Conversion and world coordinate system between is to be pushed away based on the counter of tsai method；Turning between image pixel coordinates system and world coordinate system
The process of changing is first through image digitazation, the feature point coordinates that image pixel coordinates are fastened to be changed into image physical coordinates system
Point coordinates, then the point coordinates that image physical coordinates are fastened is changed into what camera coordinates were fastened through perspective projection principle
Point coordinates, then the point coordinates that camera coordinates are fastened changes into, through rigid body translation, the point coordinates that world coordinates is fastened；
Line ball judge module rebuilds track according to the characteristic point in the world coordinate system obtaining in picture recognition module
Line, and the dimensional parameters of the riding position according to mobile phone camera and vehicle determine the position that vehicle is located, then according to vehicle
Position carries out line ball judgement with the geometrical relationship of lane line；
The dimensional parameters of the riding position according to mobile phone camera and vehicle determine that the method for the position that vehicle is located is as follows:
As depicted in figs. 1 and 2, length a of vehicle and width b are already loaded in mobile phone drive recorder, driver according to
The riding position of mobile phone camera, manually in mobile phone drive recorder input handset photographic head and vehicle front wheel axle center
Horizontal range x, horizontal range y and vertical dimension h with ground with vehicle right side wheel edge line.By above parameter,
Determine position in vehicle for the mobile phone camera first, and then determine the position that vehicle is located.
Line ball judges to be judged and crossing stop line line ball judgement group by track solid line (solid white line, yellow solid line etc.) line ball
Become；The method that track solid line line ball judges is as follows,
As shown in figure 3, point al(al1,bl1), point ar(ar1,br1), point bl(al2,bl2) and point br(ar2,br2) it is to be known by image
Characteristic point in the world coordinate system that other module obtains, its midpoint alWith point blConstruct the track solid line on the left of track, point arWith
Point brConstruct the lane line on the right side of track.Point cl(xl1,yl1), point cr(xr1,yr1), point dl(xl2,yl2) and point dr(xr2,yr2)
It is the EDGE CONTACT point on the wheel of vehicle and ground being obtained by mobile phone camera position, wherein, point clWith point dlIt is that vehicle is left
Side wheel and the EDGE CONTACT point on ground, construct vehicle left side edge line；Point crWith point drIt is vehicle right side wheel and ground
EDGE CONTACT point, constructs vehicle right side edge line, thereby determines that the position of vehicle.PointIt is point cl
With point crConstitute the midpoint of line segment.PointIt is point dlWith point drConstitute the midpoint of line segment.d1For vehicle
Axis is to the distance of track solid line.D is 1/2 lane width.
When vehicle left side edge line is overlapped with track solid line, that is,And
Vehicle left side wheel line ball, such as Fig. 4.
Work as d1The axis of=d and vehicle is overlapped with the axis in track, vehicle not line ball, such as Fig. 5.
Work as d1＜ d and vehicle left side edge line is parallel to track solid line, but vehicle left side edge line is not weighed with track solid line
Close, that is,Vehicle not line ball, such as Fig. 3.
Work as d1＜ d and vehicle left side edge line is not parallel to track solid line, that is,In two kinds of situation
Consider.
Situation 1, vehicle left side edge line point clOn the solid line of track, that is,Vehicle is left
Side front-wheel line ball, such as Fig. 6.
Situation 2, vehicle left side edge line is non-intersect with track solid line, that is,Vehicle
Left side not line ball, vehicle left side front-wheel has line ball trend, such as Fig. 7.
Work as d1＞ d and vehicle left side edge line not parallel road-center horizontal line, that is,Divide two kinds of feelings
Condition considers.
Situation 1, vehicle left side edge line point dlOn the solid line of track, that is,Vehicle
Left side rear wheel line ball, such as Fig. 8.
Situation 2, vehicle left side edge line is non-intersect with track solid line, that is,Vehicle
Left side not line ball, vehicle left side trailing wheel has line ball trend, such as Fig. 9.
The vehicle that the method that wherein solid line line ball in track judges travels for track solid line both sides is all applicable.
The method that crossing stop line line ball judges is as follows:
As shown in Figure 10, point al(al1,bl1), point ar(ar1,br1), point bl(al2,bl2), point br(ar2,br2), point el(wl,
zl) and point er(wr,zr) it is characteristic point in the world coordinate system being obtained by picture recognition module, its midpoint alWith point blConstruct
Lane line on the left of track, point arWith point brConstruct the lane line on the right side of track, point elWith point erConstruct crossing stop line.
Point cl(xl1,yl1), point cr(xr1,yr1), point dl(xl2,yl2) and point dr(xr2,yr2) obtained by mobile phone camera position
Wheel of vehicle and the EDGE CONTACT point on ground, wherein, point clWith point crIt is the EDGE CONTACT point of vehicle front side wheel and ground, structure
Build vehicle front-side edge line；Point dlWith point drIt is the EDGE CONTACT point of vehicle rear-side wheel and ground, construct vehicle rear-side side
Edge line, thereby determines that the position of vehicle.PointIt is point clWith point crConstitute the midpoint of line segment.PointIt is point dlWith point drConstitute the midpoint of line segment.
When vehicle front-side edge line is parallel to crossing stop line, that is,Consider in two kinds of situation.
Situation 1, vehicle front-side edge line is overlapped with crossing stop line, that is,Before vehicle
Side wheel line ball, such as Figure 11.
Situation 2, vehicle front-side edge line is misaligned with crossing stop line, that is,Vehicle
Not line ball, such as Figure 10.
When vehicle front-side edge line is not parallel to crossing stop line, that is,Three kinds of situations are divided to examine
Consider.
Situation 1, vehicle front-side edge line and crossing stop line intersect at point cl, that is,
Vehicle front side revolver line ball, such as Figure 12.
Situation 2, vehicle front-side edge line and crossing stop line intersect at point cr, that is,
Vehicle front side right wheel line ball, such as Figure 13.
Situation 3, vehicle front-side edge line is non-intersect with crossing stop line, vehicle not line ball, such as Figure 14 and Figure 15.
In the present embodiment, line ball information feedback unit is made up of information feedback module and voice alarm module；Information is anti-
Feedback module receives the line ball judged result of running information processing unit；Voice alarm module by embedded in mobile phone speaker and prestores
Alarm voice information forms；The line ball judged result that voice alarm module receives according to information feedback module, using speaker pair
The alarm voice information prestoring is reported.
In the present embodiment, running information memory element is made up of normal storage module and emergent memory module；Normally deposit
Storage module is stored by the embedded memory card of mobile phone drive recorder, collects for storage driving information acquisition unit
The line ball information of vehicle driving information and running information processing unit；Emergent memory module is deposited by the carrying out in mobile phone EMS memory space
Storage, for storing alone some important running informations, can carry out some emergent storages, to guarantee the safety of data storage.
Memory module of simultaneously meeting an urgent need can be supplemented as the storage of normal storage module.
As Figure 16, a kind of mobile phone drive recorder with line ball warning function is it is adaptable to making during vehicle driving states
With line ball warning, in real time the driving function such as video and record position information can be provided for driver.This mobile phone row
Car monitor includes running information collecting unit 1, running information processing unit 2, and line ball information feedback unit 3 and running information are deposited
Storage unit 4.Wherein running information collecting unit 1 and running information processing unit 2 connect with running information memory element 4 respectively.
Described running information collecting unit 1 is made up of video information acquisition module 11 and gps locating module 12.Video information
Acquisition module 11 is made up of embedded in mobile phone photographic head；Gps locating module 12 is made up of embedded in mobile phone gps positioner.
Described running information processing unit 2 is made up of picture recognition module 21 and line ball judge module 22.Image recognition mould
Block 21 and line ball judge module 22 rely on embedded in mobile phone processor and corresponding program to complete image recognition and line ball judgement.
Picture recognition module 21 pushes away according to the counter of tsai method, and the point in image pixel coordinates system is changed into world coordinates
Point in system.Line ball judge module 22 rebuilds according to the characteristic point in the world coordinate system obtaining in picture recognition module 21
Lane line, and the dimensional parameters of the riding position according to mobile phone camera and vehicle determine the position that vehicle is located, then according to
The geometrical relationship of vehicle location and lane line, judges vehicle whether line ball.In line ball judge module 22, line ball judges to include track
Solid line line ball judges and crossing stop line line ball judges.
Described line ball information feedback module 3 is made up of information feedback module 31 and voice alarm module 32.Feedback of the information mould
Block 31 receives the line ball result of driving processing module.Voice alarm module 32 is by embedded in mobile phone speaker and the alarm voice prestoring
Information forms.The line ball Information Pull boombox that voice alarm module 32 receives according to information feedback module 31, is carried out
Audio alert.
Described running information memory element 4 is made up of normal storage module 41 and emergent memory module 42.Running information is deposited
Storage unit 4 is used for the line ball information in the running information and running information processing unit 2 in storage driving information acquisition unit 1.
Normal storage module 41 is stored by the embedded memory card in mobile phone drive recorder.Emergent memory module 42 is by by handss
Memory headroom in machine drive recorder is stored.Emergent memory module 42 is used for storing some important information and conduct
The storage of normal storage module 41 supplements.
Using this mobile phone monitor, according to real-time vehicle traveling video, can interpolate that vehicle whether line ball (road
Solid line, including track solid line line ball and crossing stop line line ball).Furthermore it is possible to obtain real-time traveling video, driving rail
Mark and the positional information of vehicle.The travel information of vehicle and line ball information all can be stored in mobile phone drive recorder simultaneously,
So that the later stage checks.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not right
The restriction of embodiments of the present invention.For those of ordinary skill in the field, also may be used on the basis of the above description
To make other changes in different forms.There is no need to be exhaustive to all of embodiment.All this
Any modification, equivalent and improvement made within the spirit of invention and principle etc., should be included in the claims in the present invention
Protection domain within.
Claims (8)
1. a kind of mobile phone drive recorder with line ball warning function, realizes the dynamic line ball early warning in vehicular motion,
It is characterized in that, deposit including running information collecting unit, running information processing unit, line ball information feedback unit and running information
Storage unit,
Described running information collecting unit is used for gathering running information, the running information being gathered is input to running information and processes
Unit is processed and is input to running information memory element and stored；
Described running information processing unit is processed to the running information of collection, obtains line ball judged result, by the pressure obtaining
Line judged result is input to line ball information feedback unit；
Described line ball information feedback unit determines whether to carry out audio alert based on line ball judged result.
2. the mobile phone drive recorder with line ball warning function according to claim 1 is it is characterised in that described driving
Information acquisition unit includes video information acquisition module and gps locating module.
3. the mobile phone drive recorder with line ball warning function according to claim 1 is it is characterised in that described driving
Information process unit includes picture recognition module and line ball judge module；
Described image identification module is pushed away using the counter of tsai method, and image pixel coordinates system midpoint coordinate transformation is become world coordinates
Point coordinates in system；
Described line ball judge module rebuilds lane line according to characteristic point in the world coordinate system obtaining in picture recognition module,
And the dimensional parameters of the riding position according to video information acquisition module and vehicle determine the position that vehicle is located, then according to car
Position and the geometrical relationship of lane line, are respectively directed to track solid line line ball and crossing stop line line ball, propose judgement side
Method, carries out line ball judgement.
4. the mobile phone drive recorder with line ball warning function according to claim 3 is it is characterised in that described image
Image pixel in the video that identification module gathers according to video information acquisition module, sets up pixel coordinate system, extracts lane line
Characteristic point and video information acquisition module settlement, and according to the conversion between image pixel coordinates system and world coordinate system
Relation, the point coordinates extracting in image pixel coordinates system is converted into the point coordinates under world coordinate system；Image pixel coordinates
Conversion between system and world coordinate system is to be pushed away based on the counter of tsai method；Between image pixel coordinates system and world coordinate system
Transformation process is first through image digitazation, the feature point coordinates that image pixel coordinates are fastened to be changed into image physical coordinates
The point coordinates that image physical coordinates are fastened then is changed into camera coordinates through perspective projection principle and fastens by the point coordinates of system
Point coordinates, then the point coordinates that camera coordinates are fastened changes into, through rigid body translation, the point coordinates that world coordinates is fastened.
5. the mobile phone drive recorder with line ball warning function according to claim 3 is it is characterised in that described line ball
Judge module rebuilds lane line according to the characteristic point in the world coordinate system obtaining in picture recognition module, and according to video
The dimensional parameters of the riding position of information acquisition module and vehicle determine the position that vehicle is located, then according to vehicle position
Carry out line ball judgement with the geometrical relationship of lane line, particularly as follows:
The dimensional parameters of the riding position according to video information acquisition module and vehicle determine the method for the position that vehicle is located such as
Under:
Length a of known vehicle and width b, and the riding position according to video information acquisition module, are manually entered video information
Horizontal range x in the axle center of acquisition module and vehicle front wheel, with horizontal range y of vehicle right side wheel edge line and with ground
Vertical dimension h in face；By above parameter, it is first determined position in vehicle for the video information acquisition module, and then determine car
Be located position；
Line ball judges to be judged by track solid line line ball and crossing stop line line ball judges to form；The method that track solid line line ball judges
As follows:
Set up an office al(al1,bl1), point ar(ar1,br1), point bl(al2,bl2) and point br(ar2,br2) obtained by picture recognition module
Characteristic point in world coordinate system, its midpoint alWith point blConstruct the track solid line on the left of track, point arWith point brConstruct car
Lane line on the right side of road, point cl(xl1,yl1), point cr(xr1,yr1), point dl(xl2,yl2) and point dr(xr2,yr2) it is by video information
The wheel of vehicle that acquisition module position obtains and the EDGE CONTACT point on ground, wherein, point clWith point dlIt is vehicle left side wheel
With the EDGE CONTACT point on ground, construct vehicle left side edge line；Point crWith point drIt is that vehicle right side wheel is connect with the edge on ground
Contact, constructs vehicle right side edge line, thereby determines that the position of vehicle；
PointIt is point clWith point crConstitute the midpoint of line segment；PointIt is point dl
With point drConstitute the midpoint of line segment；d1Distance for vehicle axis to left-hand lane solid line；D is 1/2 lane width；
When vehicle left side edge line is overlapped with track solid line, that is,And
Vehicle left side wheel line ball；
Work as d1The axis of=d and vehicle is overlapped with the axis in track, vehicle not line ball；
Work as d1＜ d and vehicle left side edge line is parallel to track solid line, but vehicle left side edge line is misaligned with track solid line, that is,Vehicle not line ball；
Work as d1＜ d and vehicle left side edge line is not parallel to track solid line, that is,Examine in two kinds of situation
Consider；
Situation 101, vehicle left side edge line point clOn the solid line of track, that is,Vehicle left side
Front-wheel line ball；
Situation 102, vehicle left side edge line is non-intersect with track solid line, that is,Vehicle left side
Not line ball, vehicle left side front-wheel has line ball trend；
Work as d1＞ d and vehicle left side edge line not parallel road-center horizontal line, that is,Examine in two kinds of situation
Consider；
Situation 201, vehicle left side edge line point dlOn the solid line of track, that is,Vehicle left side
Trailing wheel line ball；
Situation 202, vehicle left side edge line is non-intersect with track solid line, that is,Vehicle is left
Side not line ball, vehicle left side trailing wheel has line ball trend；
The vehicle that the method that wherein solid line line ball in track judges travels for track solid line both sides is all applicable；
The method that crossing stop line line ball judges is as follows:
Set up an office al(al1,bl1), point ar(ar1,br1), point bl(al2,bl2), point br(ar2,br2), point el(wl,zl) and point er(wr,zr)
It is the characteristic point in the world coordinate system being obtained by picture recognition module, its midpoint alWith point blConstruct the track on the left of track
Line, point arWith point brConstruct the lane line on the right side of track, point elWith point erConstruct crossing stop line；Point cl(xl1,yl1), point
cr(xr1,yr1), point dl(xl2,yl2) and point dr(xr2,yr2) it is the wheel of vehicle being obtained by video information acquisition module position
With the EDGE CONTACT point on ground, wherein, point clWith point crIt is the EDGE CONTACT point of vehicle front side wheel and ground, construct vehicle
Forward edge line；Point dlWith point drIt is the EDGE CONTACT point of vehicle rear-side wheel and ground, construct vehicle rear-side edge line, by
This determines the position of vehicle；PointIt is point clWith point crConstitute the midpoint of line segment；PointIt is point dlWith point drConstitute the midpoint of line segment；
When vehicle front-side edge line is parallel to crossing stop line, that is,Consider in two kinds of situation；
Situation 301, vehicle front-side edge line is overlapped with crossing stop line, that is,Vehicle front side
Wheel line ball；
Situation 302, vehicle front-side edge line is misaligned with crossing stop line, that is,Vehicle is not
Line ball；
When vehicle front-side edge line is not parallel to crossing stop line, that is,Three kinds of situations are divided to consider；
Situation 401, vehicle front-side edge line and crossing stop line intersect at point cl, that is,Car
Revolver line ball on front side of；
Situation 402, vehicle front-side edge line and crossing stop line intersect at point cr, that is,Car
Right wheel line ball on front side of；
Situation 403, vehicle front-side edge line is non-intersect with crossing stop line, vehicle not line ball.
6. the mobile phone drive recorder with line ball warning function according to claim 1 is it is characterised in that described video
Information acquisition module is mobile phone camera.
7. the mobile phone drive recorder with line ball warning function according to claim 1 is it is characterised in that described line ball
Information feedback unit includes information feedback module and voice alarm module；Information feedback module receives running information processing unit
Line ball judged result, voice alarm module carries out audio alert based on line ball judged result.
8. the mobile phone drive recorder with line ball warning function according to claim 6 is it is characterised in that described voice
Alarm module includes embedded in mobile phone speaker and the alarm voice information prestoring；Voice alarm module connects according to information feedback module
The line ball judged result receiving, carries out audio alert prompting using embedded in mobile phone speaker.
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| CN113643544B (en) * | 2021-10-13 | 2022-06-07 | 南通东信车厢制造有限公司 | Intelligent detection method and system for illegal parking in parking lot based on Internet of things |
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