CN108399767A - A kind of early warning is accurately driven a vehicle early warning system - Google Patents

A kind of early warning is accurately driven a vehicle early warning system Download PDF

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Publication number
CN108399767A
CN108399767A CN201810176228.4A CN201810176228A CN108399767A CN 108399767 A CN108399767 A CN 108399767A CN 201810176228 A CN201810176228 A CN 201810176228A CN 108399767 A CN108399767 A CN 108399767A
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China
Prior art keywords
image
early warning
segmentation
traffic
vehicle
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CN201810176228.4A
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Chinese (zh)
Inventor
李健斌
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Shenzhen City Creative Industry Technology Co Ltd
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Shenzhen City Creative Industry Technology Co Ltd
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Priority to CN201810176228.4A priority Critical patent/CN108399767A/en
Publication of CN108399767A publication Critical patent/CN108399767A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/091—Traffic information broadcasting
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)

Abstract

It accurately drives a vehicle early warning system the present invention provides a kind of early warning, including transportation server, traffic signals transmitter, driving monitor and precaution device, the transportation server is used to send traffic administration instruction to traffic signals transmitter according to traffic administration content, the traffic signals transmitter is for receiving traffic administration instruction, and it is instructed to precaution device according to traffic administration and sends traffic management information, the driving monitor is for being monitored vehicle driving environment, and send monitoring information to precaution device, the precaution device is used to send out driving pre-warning signal according to traffic management information and monitoring information.Beneficial effects of the present invention are：It is monitored according to traffic management information and environment, realizes the accurate early warning of vehicle traveling, to improve the safety of vehicle traveling.

Description

A kind of early warning is accurately driven a vehicle early warning system
Technical field
The present invention relates to early warning technology fields, and in particular to a kind of early warning is accurately driven a vehicle early warning system.
Background technology
With the development of urban transportation, the update of traffic is very rapid, and the management of traffic is also required to accomplish Promptly and accurately, traffic management information is sent to driver as far as possible, on the other hand, driver needs there are actual driving conditions Understood, could preferably complete driving early warning.
Invention content
In view of the above-mentioned problems, the early warning system the present invention is intended to provide a kind of early warning is accurately driven a vehicle.
The purpose of the present invention is realized using following technical scheme：
A kind of early warning is provided accurately to drive a vehicle early warning system, including transportation server, traffic signals transmitter, driving prison Device and precaution device are controlled, the transportation server, which is used to send traffic administration to traffic signals transmitter according to traffic administration content, to be referred to It enables, the traffic signals transmitter instructs to precaution device according to traffic administration for receiving traffic administration instruction and sends traffic Management information, the driving monitor sends monitoring information for being monitored to vehicle driving environment, and to precaution device, described Precaution device is used to send out driving pre-warning signal according to traffic management information and monitoring information.
Beneficial effects of the present invention are：It is monitored according to traffic management information and environment, realizes the standard of vehicle traveling True early warning, to improve the safety of vehicle traveling.
Description of the drawings
Using attached drawing, the invention will be further described, but the embodiment in attached drawing does not constitute any limit to the present invention System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings Other attached drawings.
Fig. 1 is the structural schematic diagram of the present invention；
Reference numeral：
Transportation server 1, traffic signals transmitter 2, driving monitor 3, precaution device 4.
Specific implementation mode
The invention will be further described with the following Examples.
Referring to Fig. 1, a kind of early warning of the present embodiment is accurately driven a vehicle early warning system, including transportation server 1, traffic signals Transmitter 2, driving monitor 3 and precaution device 4, the transportation server 1 are used to be sent out to traffic signals according to traffic administration content Emitter 2 sends traffic administration instruction, and the traffic signals transmitter 2 is instructed for receiving traffic administration, and according to traffic administration It instructing to precaution device 4 and sends traffic management information, the driving monitor 3 is used to be monitored vehicle driving environment, and to Precaution device 4 sends monitoring information, and the precaution device 4 is used to send out driving early warning letter according to traffic management information and monitoring information Number.
The present embodiment is monitored according to traffic management information and environment, realizes the accurate early warning of vehicle traveling, to Improve the safety of vehicle traveling.
Preferably, the traffic signals transmitter 2 includes receiving unit, converting unit and transmission unit, and the reception is single For member for receiving traffic administration instruction, the converting unit, which is used to be instructed according to traffic administration, generates traffic management information, described Transmission unit is used to send traffic management information to precaution device 4.
This preferred embodiment realizes the generation and transmission of traffic management information.
Preferably, the driving monitor 3 includes image acquisition units, image processing unit and monitoring unit, the figure Picture collecting unit is used for collection vehicle environment image, and described image processing unit is for handling ambient image, institute Monitoring unit is stated for being monitored to vehicle driving environment according to processing result image, described image processing unit includes first Processing unit, second processing unit, third processing unit and evaluation unit, the first processing units are used to carry out one to image Secondary segmentation obtains a segmentation result, and the second processing unit is used to carry out secondary splitting to image, obtains secondary splitting knot Fruit, the third processing unit are used to obtain the final segmentation result of image, institute according to a segmentation result and secondary splitting result Evaluation unit is stated for evaluating the segmentation effect of the third processing unit.
This preferred embodiment realizes the accurate prison to environment by the way that environment image is acquired and is handled Control.
Preferably, the first processing units obtain a segmentation result for once being divided to image：
Choose a threshold value t1, image is divided into two set by its pixel grey scale, all pixels ash in each set It spends the probability occurred and constitutes a chance event, define the first segmentation function of image：
EH, p in above-mentioned formulaiIndicate that image pixel gray level grade is the probability of i-stage, L indicates the series of the gray scale of image, EH (t1) indicate image the first segmentation function；
Keep the first segmentation function value of image maximum, obtains the optimal threshold T that image is once divided1, according to image one Secondary segmentation optimal threshold T1Obtain segmentation result LG of image1(x, y), wherein (x, y) indicates pixel；
This preferred embodiment first processing units are split image using the first segmentation function, due to the mesh in image Mark and background are each corresponding to the shallower region of gray value fluctuations ratio, as long as target and background segmentation is correct, first point The value for cutting function can be bigger, if threshold value selection is improper, will can originally be not belonging to certain a kind of pixel and be divided into such, due to Pixel grey scale between inhomogeneity differs greatly, and the value of the first segmentation function can be caused to reduce；
Preferably, the second processing unit includes single treatment subelement, after-treatment subelement and handles three times sub Unit, the single treatment subelement are used for true according to gray matrix for establishing gray matrix, the after-treatment subelement Fixed second segmentation function, the subelement of processing three times are used to obtain secondary splitting result according to the second segmentation function；
The single treatment subelement is for establishing gray matrix：
The image for being L grades for gray scale defines the square formation that gray matrix EM is L × L：EM=[tij]L×L, whereinIn above-mentioned formula, as f (m, n)=i and f (m+1, n)=j or f (m, n)=i and f (m, n+1) When=j, βmn=1, otherwise, βmn=0, M and N indicate that the line number and columns of image, i and j indicate pixel grey scale respectively；
Calculate the transition probability matrix of gray scale i to j：In above-mentioned formula, the ash of k and l expression pixels Degree；
The after-treatment subelement is used to determine the second segmentation function according to gray matrix：
The gray scale of gray matrix increases from 0 to L-1 from bottom to top, increases from left to right from 0 to L-1, chooses a threshold value t2Gray matrix is divided into four regions, the gray matrix lower left corner is 1st area, and the lower right corner is 2nd area, and the upper right corner is 3rd area, and the upper left corner is 4th area, it is background to enable gray scale be less than the pixel of threshold value, and gray scale is target higher than the pixel of threshold value；
Define the second segmentation function：
The subelement of processing three times is used to obtain secondary splitting result according to the second segmentation function：
Keep the second segmentation function value maximum, obtains the optimal threshold T of image secondary splitting2, according to image secondary splitting Optimal threshold T2Obtain image secondary splitting result LG2(x, y), wherein (x, y) indicates pixel；
This preferred embodiment second processing unit is split image using the second segmentation function, has fully considered neighborhood Pixel embodies the spatial positional information of pixel, obtains more accurate secondary splitting result.
The third processing unit, which is used to obtain image according to a segmentation result and secondary splitting result, finally divides knot Fruit, specially：Final segmentation result is calculated using following formula： In above-mentioned formula, ρ1、ρ2Indicate weight, ρ1+ρ2=1, LG (x, y) indicate the final segmentation result of image；
This preferred embodiment third processing unit by the way that a segmentation result and secondary splitting result are weighted fusion, Obtain the more accurate final segmentation result of image.
Preferably, the evaluation unit is for evaluating the segmentation effect of the third processing unit, specially：It is fixed Adopted evaluation points：In above-mentioned formula, M1Indicate the number of pixel segmentation errors, N1 Indicate that the number of pixel in image, CS indicate evaluation points；Evaluation points are smaller, indicate that segmentation effect is better.
This preferred embodiment evaluation unit evaluates segmentation effect by evaluation points, accurate to segmentation from pixel scale True rate is evaluated, and ensure that image segmentation level, is laid a good foundation for subsequent image identification.
Driving early warning is carried out using early warning of the present invention early warning system of accurately driving a vehicle, 5 vehicles is chosen and is tested, respectively For vehicle 1, vehicle 2, vehicle 3, vehicle 4, vehicle 5, early warning accuracy rate and early warning efficiency are counted, it is accurate compared with early warning Driving early warning system compare, generation has the beneficial effect that shown in table：
Early warning accuracy rate improves Early warning efficiency improves
Vehicle 1 28% 29%
Vehicle 2 27% 27%
Vehicle 3 26% 26%
Vehicle 4 26% 25%
Vehicle 5 24% 24%
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected The limitation of range is protected, although being explained in detail to the present invention with reference to preferred embodiment, those skilled in the art answer Work as understanding, technical scheme of the present invention can be modified or replaced equivalently, without departing from the reality of technical solution of the present invention Matter and range.

Claims (5)

  1. The early warning system 1. a kind of early warning is accurately driven a vehicle, which is characterized in that including transportation server, traffic signals transmitter, row Vehicle monitor and precaution device, the transportation server are used to send traffic pipe to traffic signals transmitter according to traffic administration content Reason instruction, the traffic signals transmitter are instructed to precaution device according to traffic administration and are sent for receiving traffic administration instruction Traffic management information, the driving monitor send monitoring information for being monitored to vehicle driving environment, and to precaution device, The precaution device is used to send out driving pre-warning signal according to traffic management information and monitoring information.
  2. The early warning system 2. early warning according to claim 1 is accurately driven a vehicle, which is characterized in that the traffic signals transmitter Including receiving unit, converting unit and transmission unit, the receiving unit is for receiving traffic administration instruction, the converting unit Traffic management information is generated for being instructed according to traffic administration, the transmission unit is used to send traffic administration letter to precaution device Breath.
  3. The early warning system 3. early warning according to claim 2 is accurately driven a vehicle, which is characterized in that the driving monitor includes Image acquisition units, image processing unit and monitoring unit, described image collecting unit are used for collection vehicle environment image, For handling ambient image, the monitoring unit is used for according to processing result image to vehicle described image processing unit Environment is monitored, described image processing unit include first processing units, second processing unit, third processing unit and Segmentation evaluation unit, the first processing units are for once dividing image, segmentation result of acquisition, and described second Processing unit is used to carry out secondary splitting to image, obtains secondary splitting as a result, the third processing unit is used for according to primary Segmentation result and secondary splitting result obtain the final segmentation result of image, and the segmentation evaluation unit is used for third processing The segmentation effect of unit is evaluated.
  4. The early warning system 4. early warning according to claim 3 is accurately driven a vehicle, which is characterized in that the first processing units are used In once being divided to image, a segmentation result is obtained：
    Choose a threshold value t1, image is divided into two set by its pixel grey scale, all pixels gray scale in each set occurs Probability and constitute a chance event, define the first segmentation function of image：
    EH, p in above-mentioned formulaiIndicate that image pixel gray level grade is the probability of i-stage, L indicates the series of the gray scale of image, EH (t1) indicate image the first segmentation function；
    Keep the first segmentation function value of image maximum, obtains the optimal threshold T that image is once divided1, once divided according to image Optimal threshold T1Obtain segmentation result LG of image1(x, y), wherein (x, y) indicates pixel.
  5. The early warning system 5. early warning according to claim 4 is accurately driven a vehicle, which is characterized in that the second processing unit packet It includes single treatment subelement, after-treatment subelement and handles subelement three times, the single treatment subelement is for establishing ash Matrix is spent, the after-treatment subelement is used to determine the second segmentation function according to gray matrix, described to handle subelement three times For obtaining secondary splitting result according to the second segmentation function；
    The single treatment subelement is for establishing gray matrix：
    The image for being L grades for gray scale defines the square formation that gray matrix EM is L × L：EM=[tij]L×L, whereinIn above-mentioned formula, as f (m, n)=i and f (m+1, n)=j or f (m, n)=i and f (m, n+1) When=j, βmn=1, otherwise, βmn=0, M and N indicate that the line number and columns of image, i and j indicate pixel grey scale respectively；
    Calculate the transition probability matrix of gray scale i to j：In above-mentioned formula, the gray scale of k and l expression pixels；
    The after-treatment subelement is used to determine the second segmentation function according to gray matrix：
    The gray scale of gray matrix increases from 0 to L-1 from bottom to top, increases from left to right from 0 to L-1, chooses a threshold value t2It will be grey Degree matrix is divided into four regions, and the gray matrix lower left corner is 1st area, and the lower right corner is 2nd area, and the upper right corner is 3rd area, and the upper left corner is 4th area, is enabled Gray scale is background less than the pixel of threshold value, and gray scale is target higher than the pixel of threshold value；
    Define the second segmentation function：
    In above-mentioned formula, YW (t2) indicate the second segmentation function；
    The subelement of processing three times is used to obtain secondary splitting result according to the second segmentation function：
    Keep the second segmentation function value maximum, obtains the optimal threshold T of image secondary splitting2, according to the best threshold of image secondary splitting Value T2Obtain image secondary splitting result LG2(x, y), wherein (x, y) indicates pixel.
CN201810176228.4A 2018-03-02 2018-03-02 A kind of early warning is accurately driven a vehicle early warning system Withdrawn CN108399767A (en)

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