CN113076853B - System for positioning vehicles in highway tunnel - Google Patents

System for positioning vehicles in highway tunnel Download PDF

Info

Publication number
CN113076853B
CN113076853B CN202110338626.3A CN202110338626A CN113076853B CN 113076853 B CN113076853 B CN 113076853B CN 202110338626 A CN202110338626 A CN 202110338626A CN 113076853 B CN113076853 B CN 113076853B
Authority
CN
China
Prior art keywords
tunnel
lamp
image
target
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110338626.3A
Other languages
Chinese (zh)
Other versions
CN113076853A (en
Inventor
沙月进
翁永玲
叶婉君
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Southeast University
Original Assignee
Southeast University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Southeast University filed Critical Southeast University
Priority to CN202110338626.3A priority Critical patent/CN113076853B/en
Publication of CN113076853A publication Critical patent/CN113076853A/en
Application granted granted Critical
Publication of CN113076853B publication Critical patent/CN113076853B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/70—Denoising; Smoothing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/08—Detecting or categorising vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Data Mining & Analysis (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Evolutionary Computation (AREA)
  • Evolutionary Biology (AREA)
  • General Engineering & Computer Science (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Artificial Intelligence (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Quality & Reliability (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

The invention discloses a system for positioning vehicles in a road tunnel, the system comprises a combined lamp system, an image acquisition module and an image processing module; the combined lamp system comprises a plurality of combined lamp devices arranged in the tunnel, each combined lamp device comprises a direction indicating lamp group and a plurality of coding lamps used for identifying the positions of the combined lamp devices in the tunnel, patterns displayed by the coding lamps correspond to preset codes, the codes of the coding lamps and the arrangement sequence of the coding lamps form a coding sequence corresponding to the combined lamp devices, the image processing module extracts the distance between the direction indicating lamp groups in the image according to video image information captured by the image acquisition module, the positions of the combined lamp devices in the tunnel are acquired according to the coding sequence corresponding to the combined lamp devices in the image, and the position information of a vehicle in the tunnel is acquired according to the focal length of the image acquisition module. The system provided by the invention has the advantages of high processing speed and high accuracy of positioning results, and is suitable for positioning the vehicles in the tunnel.

Description

System for positioning vehicles in highway tunnel
Technical Field
The invention relates to the technical field of traffic only, in particular to a system for positioning vehicles in a highway tunnel.
Background
In the field of intelligent transportation, the navigation technology of vehicles is becoming mature. At present, the GNSS technology is utilized to realize real-time positioning and navigation of vehicles on the basis of navigation maps, and the GNSS navigation method is widely applied to the fields of spaceflight, railways, roads, navigation and the like. However, the GNSS technology needs to receive GNSS satellite signals in real time, and when the vehicle travels in a tunnel, the GNSS satellite signals cannot be received by the navigation positioning antenna, and the navigation positioning is in a failure state.
Therefore, the navigation positioning technology inside the tunnel is a problem to be solved urgently at present.
Disclosure of Invention
The purpose of the invention is as follows: the system for positioning the vehicles in the highway tunnel is high in processing speed and accurate in positioning.
The technical scheme is as follows: the invention provides a system for positioning vehicles in a road tunnel, which is used for acquiring the position of a target vehicle in a target tunnel in a target area at a target moment;
the combined lamp system comprises a plurality of combined lamp devices which are arranged in the target tunnel and are sequentially arranged along the extending direction of the target tunnel; the structures of the respective combination lamp devices are the same as each other, and the respective combination lamp devices respectively include: the direction indicating lamp group comprises a starting lamp and an ending lamp, the starting lamp and the ending lamp are used for displaying direction patterns for marking the vehicle advancing direction, and the vehicle advancing direction is an ascending direction or a descending direction; the position indication lamp group comprises a plurality of coding lamps clamped between a starting lamp and an ending lamp, the coding lamps are sequentially arranged along the direction from the starting lamp to the ending lamp, each coding lamp is used for displaying preset codes and patterns contained in a pattern corresponding list, and the codes corresponding to the display patterns of the coding lamps jointly form a coding sequence corresponding to the position of the combined lamp device in the tunnel;
the image acquisition module is used for capturing a video image in front of the target vehicle at the target moment, wherein the video image is an image containing at least one combined lamp device in front of the target vehicle;
the image processing module is used for acquiring an image of a combined lamp device closest to a target vehicle in the video image aiming at the video image captured by the image acquisition module, judging the traveling direction of the target vehicle according to a pattern displayed by a direction indicating lamp group in the image, acquiring the distance d between a starting lamp and an ending lamp in the video image, acquiring the position of the combined lamp device in the tunnel according to the image displayed by a position marking lamp group in the image, and then combining the actual distance L between the starting lamp and the ending lamp in the combined lamp device and the focal length f of the image acquisition module to further acquire the position information of the target vehicle in the target tunnel at the target moment.
As a preferable solution of the present invention, the image processing module is configured to execute the following steps:
step A-1: according to the following formula:
Figure BDA0002998554050000021
acquiring an actual horizontal distance D between a target vehicle and a combined lamp device closest to the target vehicle in an image to be processed;
judging whether the traveling direction of the vehicle is an uplink direction, if so, entering a step B, and otherwise, entering a step C;
and B, step B: according to the following formula:
W＝W'-D
acquiring the position W of a target vehicle in a target tunnel at a target moment; wherein W' is the actual distance between the combined lamp device closest to the target vehicle in the video image and the upstream entrance of the target tunnel; the tunnel upstream direction inlet is an inlet of the tunnel when entering the tunnel along the upstream direction;
step C: according to the following formula: w = W' + D
And acquiring the position W of the target vehicle in the target tunnel at the target moment.
As a preferred aspect of the present invention, the image processing module is configured to execute the following instructions:
step A-2: according to the following formula:
Figure BDA0002998554050000022
acquiring an actual horizontal distance D between a target vehicle and a combined lamp device closest to the target vehicle in an image to be processed;
judging whether the traveling direction of the vehicle is an uplink direction, if so, entering a step D, and otherwise, entering a step E;
step D: according to the following formula:
W＝W”+D
acquiring the position W of a target vehicle in a target tunnel at a target moment; wherein, W' is the distance between the combined lamp device closest to the target vehicle in the video image and the upstream exit of the target tunnel; the tunnel upstream direction inlet is an outlet of the tunnel when leaving the tunnel along the upstream direction;
step E: according to the following formula: w = W' -D
The position W of the target vehicle in the target tunnel at the target time is acquired.
As a preferable scheme of the present invention, the number n of the combination lamp devices in the target tunnel meets the following condition:
Figure BDA0002998554050000031
where s denotes the length of the target tunnel and Δ s denotes the distance between two adjacent combination lamp devices.
As a preferable aspect of the present invention, the structures of the combination lamp devices in each tunnel in the preset area are the same as each other, the distances between two adjacent combination lamp devices in each tunnel are equal to each other, and the correspondence between the positions in each tunnel and the code sequences are the same as each other;
the number k of the coded lamps in each position marking lamp group meets the following conditions:
A k ≥n'
Figure BDA0002998554050000032
wherein, A represents the total number of image types contained in the preset code and pattern corresponding list; n 'is the number of the combined lamp devices in the tunnel with the maximum length in the preset area, s' is the length of the tunnel, and deltas is the distance between two adjacent combined lamp devices.
As a preferable aspect of the present invention, the size of each direction light and each coded light display pattern area in the combination light device is the same;
the image processing module is used for executing the following steps:
step 1: preprocessing a video image captured by an image capturing module to obtain a preprocessed video image;
and 2, step: extracting the area of each coded lamp display pattern between the starting lamp and the ending lamp;
and step 3: equally dividing the area of each coded lamp display pattern according to the number of the coded lamps to obtain the pattern of each coded lamp;
and 4, step 4: according to the patterns of the coded lamps, combining the preset corresponding relation between the codes and the patterns to obtain the codes corresponding to the patterns displayed by the coded lamps, and further obtaining the code sequences of the combined lamp device;
and 5: and according to the coding sequence of the combined lamp device, combining a preset coding sequence and a corresponding list of positions in the tunnel to obtain the position of the combined lamp device in the tunnel.
As a preferred aspect of the present invention, the image processing module is configured to perform the following steps to pre-process the video image:
step 1.1: carrying out binarization processing on the video image to obtain a binary image of the image;
step 1.2: and performing open operation on the binary image of the image to remove image noise, then performing closed operation on the image without the noise, and filling a binary image hole.
In a preferred embodiment of the present invention, the number of the encoder lamps in each combination lamp display device is 3.
As a preferred aspect of the present invention, the preset code and pattern correspondence list includes eight kinds of patterns and eight kinds of codes, where each pattern corresponds to each code one to one.
Has the advantages that: compared with the prior art, the method provided by the invention has the advantages that the video image in front of the target vehicle is obtained, the direction pattern displayed by the direction indicating lamp group and the pattern displayed by the position marking lamp group in the video image are extracted, the coding sequence corresponding to the combined lamp device is obtained through the pattern displayed by the position marking lamp group, the position of the combined lamp device in the target tunnel is obtained by combining the corresponding relation between the coding sequence and the position in the tunnel, and the position of the target vehicle in the tunnel is obtained by combining the advancing direction of the target vehicle.
Drawings
FIG. 1 is a schematic diagram of a coded light display pattern and a code according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a pattern and corresponding code sequence displayed by a combination light device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a corresponding relationship between a coded light display pattern and a code according to an embodiment of the present invention;
fig. 4 is a schematic view of a scene of a target vehicle and a combination lamp device provided according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The system provided by the invention is used for acquiring the position of a target vehicle in a target tunnel in a target area at a target moment, and comprises a combined lamp system, an image acquisition module and an image processing module;
the combined lamp system comprises a plurality of combined lamp devices which are arranged in the target tunnel and are sequentially arranged along the extending direction of the target tunnel; the structures of the respective combination lamp devices are the same as each other, and the respective combination lamp devices respectively include: the direction indicating lamp group comprises a starting lamp and an ending lamp, the starting lamp and the ending lamp are used for displaying direction patterns for marking the vehicle advancing direction, and the vehicle advancing direction is an ascending direction or a descending direction; the position indication lamp group comprises a plurality of coding lamps clamped between a starting lamp and an ending lamp, the coding lamps are sequentially arranged along the direction from the starting lamp to the ending lamp, each coding lamp is used for displaying preset codes and patterns contained in a pattern corresponding list, and the codes corresponding to the display patterns of the coding lamps jointly form a coding sequence corresponding to the position of the combined lamp device in the tunnel.
The number n of the combined lamp devices in the target tunnel meets the following conditions:
Figure BDA0002998554050000041
where s denotes the length of the target tunnel and Δ s denotes the distance between two adjacent combination lamp arrangements.
The combined lamp devices in each tunnel in the preset area have the same structure, the distance between two adjacent combined lamp devices in each tunnel is equal to each other, and the corresponding relation between the position in each tunnel and the coding sequence is the same;
the number k of the coded lamps in each position marking lamp group meets the following conditions:
A k ≥n'
Figure BDA0002998554050000051
wherein, A represents the total number of image types contained in the preset code and pattern corresponding list; n 'is the number of the combined lamp devices in the tunnel with the maximum length in the preset area, s' is the length of the tunnel, and deltas is the distance between two adjacent combined lamp devices.
Taking a target area as a national example, the length s 'of the domestic longest tunnel is 18Km, the distance Δ s =50m between two adjacent combination lamp devices is set, the total number a of the types of images included in the preset code and pattern correspondence list is 8, the number n' of the combination lamp devices in the tunnel with the longest length in the preset area is 361, and the number k of the code lamps in each combination lamp device is 3.
Referring to fig. 1, in an embodiment, the preset code and pattern correspondence list includes eight patterns that are sectors with equal radii and center angles of 90 °, the center of the ending point to the center of the starting lamp is taken as the positive direction of the X-axis, the direction of the center of each sector pointing to the midpoint of the arc is taken as the positive direction of the center line, the included angles between the center line of each sector in the eight patterns and the positive direction of the X-axis are respectively 0 °, 45 °, 90 °, 135 °, 180 °, 225 °, 270 °, and 315 °, and the codes corresponding to the eight sector patterns are respectively 0, 1, 2, 3, 4, 5, 6, and 7. When the corresponding relation between the coding sequence and the position in the tunnel is set, the starting point mileage of the tunnel is marked as L 0 Combination at the location of the starting pointThe number of the lamp coding sequences is set to 000, and the codes of all the combined lamp devices in the tunnel are set based on the octal system and the analogy, so that the corresponding relation between the coding sequences and the positions in the tunnel is constructed.
Referring to fig. 2, if the codes corresponding to the three sector patterns arranged from the start lamp to the end lamp are 3, 0, and 6, respectively, the code sequence is 306.
The types of the patterns are not limited to eight, and the shapes of the patterns are not limited to sectors with central angles of 90 °, for example, as shown in fig. 3, the patterns are four semi-circles arranged differently, and the codes corresponding to the semi-circles are 0, 1, 2, and 3, respectively.
The image acquisition module is used for capturing a video image in front of the target vehicle at the target moment, wherein the video image is an image containing at least one combined lamp device in front of the target vehicle;
and the image processing module is used for acquiring an image of a combined lamp device closest to the target vehicle in the video image aiming at the video image captured by the image acquisition module, judging the traveling direction of the target vehicle according to a pattern displayed by the direction indicating lamp group in the image, acquiring the distance d between a starting lamp and an ending lamp in the video image from the image, marking the image displayed by the lamp group according to the position in the image, acquiring the position of the combined lamp device in the tunnel, and then combining the actual distance L between the starting lamp and the ending lamp in the combined lamp device and the focal length f of the image acquisition module to further acquire the position information of the target vehicle in the target tunnel at the target moment. The image acquisition module is a camera, and the focal length of the image acquisition module is the focal length of the camera.
The sizes of the pattern display areas of all direction lamps and all code lamps in the combined lamp device are the same, the pattern displayed by the codes and the like is eight sectors as shown in figure 1 as an example, the combined lamp device of the type is defined as an eight-system combined lamp, wherein the gravity center positions of all sectors are different, three code lamps and two direction indicator lamps are square lamp brackets with the side length of a, the direction indicator lamps at the head and the tail are round marker lamps, and the middle three lamp brackets are provided with code lamps capable of displaying corresponding patterns according to corresponding code sequences; wherein the image capturing module is a vehicle event data recorder; the image processing module is used for executing the following steps to acquire the position of the octal combination lamp in the tunnel:
step 1: acquiring a video image captured by an image capturing module at a target moment, and preprocessing the video image according to the steps 1.1 to 1.2 to acquire a preprocessed video image; then entering step 2;
step 1.1: carrying out binarization according to a preset threshold value T to obtain a binary image of a display image of the combined lamp device; (ii) a
Step 1.2: and performing open operation on the binary image of the image to remove image noise, and then performing closed operation on the noise-removed image to fill the binary image holes.
And 2, step: extracting the area of each coded lamp display pattern between the starting lamp and the ending lamp;
and 3, step 3: trisecting the area of each coded lamp displaying pattern to obtain the pattern of each coded lamp;
and 4, step 4: obtaining the codes of the coding lamps according to the gravity centers of the three binary images, and obtaining the codes corresponding to the patterns displayed by the coding lamps by combining the preset codes and the corresponding relations of the patterns so as to further obtain the coding sequences of the combined lamp device;
and 5: and according to the coding sequence of the combined lamp device, combining a preset coding sequence and a corresponding list of the positions in the tunnel to obtain the positions of the combined lamp device in the tunnel.
Fig. 4 is a schematic view of a scene between a target vehicle and a combination lamp device when the target vehicle travels in a tunnel.
In one embodiment, the image processing module is configured to perform the steps of:
step A-1: according to the following formula:
Figure BDA0002998554050000061
acquiring an actual horizontal distance D between a target vehicle and a combined lamp device closest to the target vehicle in an image to be processed;
judging whether the traveling direction of the vehicle is an uplink direction, if so, entering a step B, and otherwise, entering a step C;
and B, step B: according to the following formula:
W＝W'-D
acquiring the position W of a target vehicle in a target tunnel at a target moment; wherein W' is the actual distance between the combined lamp device closest to the target vehicle in the video image and the upstream entrance of the target tunnel; the tunnel upstream direction inlet is an inlet of the tunnel when entering the tunnel along the upstream direction;
and C: according to the following formula: w = W' + D
The position W of the target vehicle in the target tunnel at the target time is obtained.
In another embodiment, the image processing module is configured to execute the following instructions:
step A-2: according to the following formula:
Figure BDA0002998554050000071
acquiring an actual horizontal distance D between a target vehicle and a combined lamp device closest to the target vehicle in an image to be processed;
judging whether the traveling direction of the vehicle is an uplink direction, if so, entering a step D, and otherwise, entering a step E;
step D: according to the following formula:
W＝W”+D
acquiring the position W of a target vehicle in a target tunnel at a target moment; wherein, W' is the distance between the combined lamp device closest to the target vehicle in the video image and the upstream exit of the target tunnel; the tunnel upstream direction inlet is an outlet of the tunnel when leaving the tunnel along the upstream direction;
step E: according to the following formula: w = W' -D
The position W of the target vehicle in the target tunnel at the target time is acquired.
The shape of the pattern is not limited to the aforementioned fan shape and semi-circle shape, but may be other easily distinguishable patterns. There are methods of identifying the position of the combination lamp device in the tunnel by letters and/or numbers, but such methods have the disadvantages that: when the shooting environment in the tunnel is poor, the definition of the image captured by the image acquisition module is affected, because the stroke structures of the characters and the numbers are relatively more and relatively complex, under the condition that the definition of the image is low, errors may occur in the extracted character or number information, so that the accuracy of the positioning result is low, and the processing method is relatively slow. In the scheme provided by the invention, the position information is simply identified by combining the distinguished patterns with the corresponding codes, so that the processing speed in positioning is improved, errors are not easy to occur, and the accuracy of the positioning result is high.
The system for positioning the vehicle in the highway tunnel, provided by the invention, acquires the corresponding coding sequence based on the pattern displayed by the combined lamp device, and acquires the position of the vehicle in the tunnel according to the corresponding relation between the coding sequence and the position in the tunnel, so that the positioning of the vehicle in the highway tunnel is realized, the problem of difficult positioning caused by incapability of receiving GNSS satellite signals in the tunnel is solved, the problem of positioning the vehicle in the tunnel is solved fundamentally, and the system has wide application prospect and social benefit.
The above description is only a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that various modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be considered as the protection scope of the present invention.

Claims (9)

1. A system for locating vehicles in a road tunnel is used for acquiring the position of a target vehicle in a target tunnel in a target area at a target moment, and comprises a combined light system, an image acquisition module and an image processing module;
the combined lamp system comprises a plurality of combined lamp devices which are arranged in the target tunnel and are sequentially arranged along the extending direction of the target tunnel; the structures of the combined lamp devices are the same, and each combined lamp device respectively comprises: the direction indicating lamp group comprises a starting lamp and an ending lamp, the starting lamp and the ending lamp are used for displaying direction patterns for marking the vehicle advancing direction, and the vehicle advancing direction is an ascending direction or a descending direction; the position indication lamp group comprises a plurality of coding lamps clamped between a starting lamp and an ending lamp, the coding lamps are sequentially arranged along the direction from the starting lamp to the ending lamp, each coding lamp is used for displaying preset codes and patterns contained in a pattern corresponding list, and the codes corresponding to the display patterns of the coding lamps jointly form a coding sequence corresponding to the position of the combined lamp device in the tunnel;
the image acquisition module is used for capturing a video image in front of the target vehicle at the target moment, wherein the video image is an image containing at least one combined lamp device in front of the target vehicle;
the image processing module is used for acquiring an image of a combined lamp device closest to a target vehicle in the video image aiming at the video image captured by the image acquisition module, judging the traveling direction of the target vehicle according to a pattern displayed by a direction indicating lamp group in the image, acquiring the distance d between a starting lamp and an ending lamp in the video image, acquiring the position of the combined lamp device in the tunnel according to the image displayed by a position marking lamp group in the image, and then combining the actual distance L between the starting lamp and the ending lamp in the combined lamp device and the focal length f of the image acquisition module to further acquire the position information of the target vehicle in the target tunnel at the target moment.
2. The system for locating a vehicle in a road tunnel according to claim 1, wherein the image processing module is configured to perform the steps of:
step A-1: according to the following formula:
Figure FDA0002998554040000011
acquiring an actual horizontal distance D between a target vehicle and a combined lamp device closest to the target vehicle in an image to be processed;
judging whether the traveling direction of the vehicle is an uplink direction, if so, entering the step B, otherwise, entering the step C;
and B: according to the following formula:
W＝W'-D
acquiring the position W of a target vehicle in a target tunnel at a target moment; wherein W' is the actual distance between the combined lamp device closest to the target vehicle in the video image and the upstream entrance of the target tunnel; the tunnel upstream direction inlet is an inlet of the tunnel when entering the tunnel along the upstream direction;
and C: according to the following formula: w = W' + D
And acquiring the position W of the target vehicle in the target tunnel at the target moment.
3. The system for locating a vehicle in a roadway tunnel of claim 1, wherein the image processing module is configured to execute instructions to:
step A-2: according to the following formula:
Figure FDA0002998554040000021
acquiring an actual horizontal distance D between a target vehicle and a combined lamp device closest to the target vehicle in an image to be processed;
d, judging whether the traveling direction of the vehicle is an uplink direction or not, if so, entering the step D, and otherwise, entering the step E;
step D: according to the following formula:
W＝W”+D
acquiring the position W of a target vehicle in a target tunnel at a target moment; wherein, W' is the distance between the combined lamp device closest to the target vehicle in the video image and the upstream exit of the target tunnel; the tunnel upstream direction inlet is an outlet of the tunnel when leaving the tunnel along the upstream direction;
step E: according to the following formula: w = W' -D
The position W of the target vehicle in the target tunnel at the target time is acquired.
4. A system for locating a vehicle in a road tunnel according to claim 1, characterised in that the number n of combination light devices in the target tunnel satisfies the condition:
Figure FDA0002998554040000022
where s denotes the length of the target tunnel and Δ s denotes the distance between two adjacent combination lamp arrangements.
5. The system for locating vehicles in highway tunnels according to claim 1, wherein the structures of the combination lamp devices in each tunnel in the preset area are identical to each other, the distances between two adjacent combination lamp devices in each tunnel are equal to each other, and the corresponding relations of the positions and the code sequences in each tunnel are identical to each other;
the number k of the coded lamps in each position marking lamp group meets the following conditions:
A k ≥n'
Figure FDA0002998554040000031
wherein, A represents the total number of image types contained in the preset code and pattern corresponding list; n 'is the number of the combined lamp devices in the tunnel with the maximum length in the preset area, s' represents the length of the tunnel, and Δ s represents the distance between two adjacent combined lamp devices.
6. The system for locating vehicles in a road tunnel according to claim 1, wherein each direction light and each code light in the combination light device display pattern area are the same size;
the image processing module is used for executing the following steps:
step 1: preprocessing a video image captured by an image capturing module to obtain a preprocessed video image;
step 2: extracting the area of each coded lamp display pattern between the starting lamp and the ending lamp;
and step 3: equally dividing the area of each coded lamp display pattern according to the number of the coded lamps to obtain the pattern of each coded lamp;
and 4, step 4: according to the patterns of the coded lamps, combining the preset corresponding relation between the codes and the patterns to obtain the codes corresponding to the patterns displayed by the coded lamps, and further obtaining the code sequences of the combined lamp device;
and 5: and according to the coding sequence of the combined lamp device, combining a preset coding sequence and a corresponding list of positions in the tunnel to obtain the position of the combined lamp device in the tunnel.
7. The system for locating a vehicle in a road tunnel according to claim 6, wherein the image processing module is configured to pre-process the video image by:
step 1.1: carrying out binarization processing on the video image to obtain a binary image of the image;
step 1.2: and performing open operation on the binary image of the image to remove image noise, and then performing closed operation on the noise-removed image to fill the binary image holes.
8. The system for locating vehicles in a highway tunnel according to claim 1 wherein there are 3 coded lights in each combination light display.
9. The system for locating a vehicle in a road tunnel according to claim 1, wherein the predetermined list of codes and pattern correspondences includes eight patterns and eight codes, wherein each pattern corresponds to one code.
CN202110338626.3A 2021-03-30 2021-03-30 System for positioning vehicles in highway tunnel Active CN113076853B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110338626.3A CN113076853B (en) 2021-03-30 2021-03-30 System for positioning vehicles in highway tunnel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110338626.3A CN113076853B (en) 2021-03-30 2021-03-30 System for positioning vehicles in highway tunnel

Publications (2)

Publication Number Publication Date
CN113076853A CN113076853A (en) 2021-07-06
CN113076853B true CN113076853B (en) 2022-11-18

Family

ID=76611343

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110338626.3A Active CN113076853B (en) 2021-03-30 2021-03-30 System for positioning vehicles in highway tunnel

Country Status (1)

Country Link
CN (1) CN113076853B (en)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108528448B (en) * 2017-03-02 2020-08-25 比亚迪股份有限公司 Automatic control method and device for vehicle running
CN110211073B (en) * 2019-04-19 2021-11-09 北京汽车集团有限公司 Tunnel entry guiding device and method
CN111191645A (en) * 2020-01-07 2020-05-22 东南大学 Vehicle tunnel positioning method based on automobile data recorder image

Also Published As

Publication number Publication date
CN113076853A (en) 2021-07-06

Similar Documents

Publication Publication Date Title
CN107563419B (en) Train positioning method combining image matching and two-dimensional code
CN107664500B (en) garage vehicle positioning and navigation method based on image feature recognition
CN111652940A (en) Target abnormity identification method and device, electronic equipment and storage medium
CN110738846A (en) Vehicle behavior monitoring system based on radar and video group and implementation method thereof
CN106991725B (en) Region freeway net vehicle running path analysis method
CN104915644B (en) A kind of car plate intelligent distinguishing method rebuild based on difference data
CN108303103A (en) The determination method and apparatus in target track
CN115719481A (en) System and method for vehicle navigation involving traffic lights and signs
US20150220795A1 (en) Method and device for recognizing traffic signs for a vehicle
CN109359596A (en) A kind of highway vehicle localization method fast and accurately
CN106918312B (en) Pavement marking peeling area detection device and method based on mechanical vision
CN106205133B (en) The method for identifying urban road travel direction based on Floating Car GPS information
CN109747681A (en) A kind of train positioning device and method
CN107220583A (en) Method and apparatus for recognizing traffic sign
CN103020603A (en) Night signal light detection and identification method based on color space and selective voting mechanism
CN110473405B (en) Driving state detection method and device, readable storage medium and electronic equipment
CN103440771A (en) Application of fuzzy membership grade and feedback correction in night traffic video vehicle detection
CN113076853B (en) System for positioning vehicles in highway tunnel
CN114841188A (en) Vehicle fusion positioning method and device based on two-dimensional code
CN109300313B (en) Illegal behavior detection method, camera and server
CN115824231B (en) Intelligent positioning management system for automobile running
CN113395663A (en) Tunnel vehicle positioning method based on vehicle-road cooperation
CN111832365A (en) Lane mark determination method and device
CN113888713B (en) Method for recovering road surface missing points by vehicle-mounted laser point cloud data
CN113655806B (en) Unmanned aerial vehicle group auxiliary landing method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant