CN113076874A - Steering wheel angle detection system - Google Patents
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- B62D—MOTOR VEHICLES; TRAILERS
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- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
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Abstract
The invention relates to steering wheel detection, in particular to a steering wheel angle detection system, which comprises a controller, a template image acquisition module and a continuous frame image acquisition module, wherein the template image acquisition module and the continuous frame image acquisition module are arranged at the top in a vehicle and are opposite to a steering wheel; the technical scheme provided by the invention can effectively overcome the defects of difficult installation and incapability of accurately and effectively reading the steering wheel rotation angle data in the prior art.
Description
Technical Field
The invention relates to steering wheel detection, in particular to a steering wheel angle detection system.
Background
With the development of national economy, the quantity of vehicles kept increases year by year, and in order to ensure driving safety and reduce the occurrence of traffic accidents, information detection and related experiments of the vehicles become more important. At present, in detection experiments such as driving safety early warning and wheel steering of a plurality of vehicles, the corner data of a steering wheel of the vehicle needs to be collected, and a microcomputer acquires the corner data of the steering wheel and then analyzes and judges the driving condition by integrating other information.
However, many low-mix vehicles or old models do not support the installation of a steering wheel angle detection sensor, and steering wheel angle data cannot be detected; even though some medium and high end cars are equipped with the sensor, interfaces such as OBDs may not provide steering wheel angle data; even if the OBD interface provides steering wheel angle data, the communication protocol is very complex, and the steering wheel angle data is difficult to effectively read from the OBD interface. If install vehicular steering wheel angle sensor additional, then with high costs and install very inconveniently, and can seriously influence the driving impression after the installation of the steering wheel angle sensor of non-vehicular.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects in the prior art, the invention provides a steering wheel angle detection system which can effectively overcome the defects of difficult installation and incapability of accurately and effectively reading the steering wheel rotation angle data in the prior art.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
a steering wheel angle detection system comprises a controller, a template image acquisition module and a continuous frame image acquisition module, wherein the template image acquisition module and the continuous frame image acquisition module are installed at the top in a vehicle and are opposite to a steering wheel, the controller is connected with the template image acquisition module used for acquiring a standard image when the steering wheel is at a forward position, the controller is connected with an outer contour determination module used for determining the outer contour of the steering wheel in the standard image, the controller is connected with a central position determination module used for determining the central position of the steering wheel in the standard image, and the controller is connected with a coordinate system construction module used for constructing an identification coordinate system in the standard image;
the controller is connected with a continuous frame image acquisition module for acquiring continuous frame images of the steering wheel, the controller is connected with a feature point selection module for selecting feature points in the continuous frame images containing the identification coordinate system, the controller is connected with a feature point tracking module for tracking the feature points in the continuous frame images, and the controller is connected with a feature point coordinate acquisition module for acquiring position coordinates of the feature points in the continuous frame images in the identification coordinate system;
the controller is connected with a rotation direction judging module used for judging the rotation direction of the steering wheel according to the position coordinates of the characteristic points, the controller is connected with a rotation angle calculating module used for calculating the rotation angle of the steering wheel according to the position coordinates of the characteristic points, and the controller is connected with a data storage module used for storing the rotation direction and the rotation angle.
Preferably, the outer contour determining module determines each point of the outer contour of the steering wheel in the standard image through an OpenCV open source vision library, the outer contour determining module sends the outer contour of the steering wheel to the central position determining module, and the central position determining module determines the central position of the steering wheel in the standard image according to the outer contour of the steering wheel.
Preferably, the coordinate system constructing module constructs the recognition coordinate system in the standard image with the center position of the steering wheel as an origin, the horizontal rightward direction as the positive X-axis direction, and the vertical upward direction as the positive Y-axis direction.
Preferably, the feature point selection module receives the continuous frame images sent by the continuous frame image acquisition module, marks selected feature points in a first frame image of the continuous frame images, and sequentially maps the identification coordinate systems in the standard images into the continuous frame images according to the relationship between the standard images and the continuous frame images.
Preferably, the controller simultaneously starts the template image acquisition module and the continuous frame image acquisition module under a manual control command, the standard image acquired by the template image acquisition module is sent to the outer contour determination module after image denoising and image enhancement processing, and the continuous frame image acquired by the continuous frame image acquisition module is sent to the feature point selection module after image denoising and image enhancement processing.
Preferably, the method for judging the rotation direction of the steering wheel by the rotation direction judging module according to the position coordinates of the feature points includes:
let the position coordinate of the feature point A in the n-th frame continuous frame image be A (X)n，Yn) The position coordinate in the n +1 th frame continuous frame image is A' (X)n+1，Yn+1) And the rotation angle of the characteristic point A is less than 180 degrees, then when A' (X)n+1，Yn+1) When the angle falls on the left side of the connecting line direction between the characteristic point A and the original point, the rotating direction of the steering wheel is clockwise and is recorded as a positive angle; otherwise, the direction of rotation of the steering wheel is counterclockwise and is recorded as a negative angle.
Preferably, the rotation angle calculation module calculates a (X) from the position coordinates of the feature pointsn，Yn) Distance from origin, and A (X)n，Yn) And A' (X)n+1，Yn+1) And calculating the rotation angle of the steering wheel by using the cosine law.
Preferably, the feature point tracking module tracks the feature points in the continuous frame images by adopting an optical flow method.
Preferably, the steering wheel further comprises a data output module connected with the controller and used for outputting the total rotating direction and rotating angle of the steering wheel from the first frame image to the current frame image of the continuous frame images according to the data result obtained by the rotating direction judging module and the rotating angle calculating module.
Preferably, the system further comprises a characteristic parameter setting module connected with the controller and used for setting the acquisition frequency between the acquisition of the adjacent frame images by the continuous frame image acquisition module, and the characteristic point selection module is used for selecting the number of the characteristic points in the first frame image of the continuous frame images.
(III) advantageous effects
Compared with the prior art, the steering wheel angle detection system provided by the invention has the advantages that the identification coordinate system is constructed in the standard steering wheel image, the proper characteristic point is selected, and the steering wheel rotating direction and the steering wheel rotating angle are accurately judged according to the position coordinate change condition of the characteristic point in the continuous frame image in the identification coordinate system, so that the steering wheel rotating angle data can be effectively read, the whole system is very convenient to install, and the steering wheel angle detection system is suitable for various vehicle types.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram of the system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A steering wheel angle detection system comprises a controller, a template image acquisition module and a continuous frame image acquisition module, wherein the template image acquisition module and the continuous frame image acquisition module are installed at the top of a vehicle and are right opposite to a steering wheel, the controller is connected with the template image acquisition module used for acquiring a standard image when the steering wheel is in a forward position, the controller is connected with an outer contour determination module used for determining the outer contour of the steering wheel in the standard image, the controller is connected with a center position determination module used for determining the center position of the steering wheel in the standard image, and the controller is connected with a coordinate system construction module used for constructing an identification coordinate system in the standard image.
The outer contour determining module determines each point position of the outer contour of the steering wheel in the standard image through an OpenCV open source vision library, the outer contour determining module sends the outer contour of the steering wheel to the central position determining module, and the central position determining module determines the central position of the steering wheel in the standard image according to the outer contour of the steering wheel.
And the coordinate system building module builds an identification coordinate system by taking the central position of the steering wheel as an origin point, the horizontal rightward direction as the positive direction of the X axis and the vertical upward direction as the positive direction of the Y axis in the standard image.
The controller is connected with a continuous frame image acquisition module used for acquiring continuous frame images of the steering wheel, the controller is connected with a feature point selection module used for selecting feature points in the continuous frame images containing the identification coordinate system, the controller is connected with a feature point tracking module used for tracking the feature points in the continuous frame images, and the controller is connected with a feature point coordinate acquisition module used for acquiring position coordinates of the feature points in the continuous frame images in the identification coordinate system.
The feature point selection module receives the continuous frame images sent by the continuous frame image acquisition module, marks selected feature points in a first frame image of the continuous frame images, and sequentially maps the identification coordinate systems in the standard images into the continuous frame images according to the relationship between the standard images and the continuous frame images.
According to the technical scheme, the controller simultaneously starts the template image acquisition module and the continuous frame image acquisition module under a manual control command, standard images acquired by the template image acquisition module are sent to the outer contour determination module after image noise reduction and image enhancement processing, and continuous frame images acquired by the continuous frame image acquisition module are sent to the feature point selection module after image noise reduction and image enhancement processing.
After a driver sits on a driver seat, the steering wheel is adjusted to the forward position, then a manual control instruction is input into the controller, and the controller simultaneously starts the template image acquisition module and the continuous frame image acquisition module under the manual control instruction.
The controller is connected with a rotation direction judging module used for judging the rotation direction of the steering wheel according to the position coordinates of the characteristic points, the controller is connected with a rotation angle calculating module used for calculating the rotation angle of the steering wheel according to the position coordinates of the characteristic points, and the controller is connected with a data storage module used for storing the rotation direction and the rotation angle.
The method for judging the rotation direction of the steering wheel by the rotation direction judging module according to the position coordinates of the characteristic points comprises the following steps:
let the position coordinate of the feature point A in the n-th frame continuous frame image be A (X)n，Yn) The position coordinate in the n +1 th frame continuous frame image is A' (X)n+1，Yn+1) And the rotation angle of the characteristic point A is less than 180 degrees, then when A' (X)n+1，Yn+1) When the angle falls on the left side of the connecting line direction between the characteristic point A and the original point, the rotating direction of the steering wheel is clockwise and is recorded as a positive angle; otherwise, the direction of rotation of the steering wheel is counterclockwise and is recorded as a negative angle.
The rotation angle calculation module calculates A (X) according to the position coordinates of the characteristic pointsn，Yn) Distance from origin, and A (X)n，Yn) And A' (X)n+1，Yn+1) And calculating the rotation angle of the steering wheel by using the cosine law.
The feature point tracking module tracks the feature points in the continuous frame images by adopting an optical flow method, and can effectively ensure that the feature points are accurately tracked in the continuous frame images.
In the technical scheme, the steering wheel steering system further comprises a data output module which is connected with the controller and used for obtaining a data result according to the rotation direction judging module and the rotation angle calculating module and outputting the total rotation direction and the rotation angle of the steering wheel from the first frame image of the continuous frame images to the current frame image. And the data output module adds the steering wheel rotation angles in the continuous frame images by aiming at the steering wheel rotation angle calculated by the rotation angle calculation module between the adjacent frame images in the continuous frame images and combining the positive angle or the negative angle judged by the rotation direction judgment module, and finally obtains the total rotation direction and the rotation angle of the steering wheel corresponding to the current frame image.
The device also comprises a characteristic parameter setting module which is connected with the controller and is used for setting the acquisition frequency of the continuous frame image acquisition module for acquiring the adjacent frame images and setting the quantity of the selected characteristic points in the first frame image of the continuous frame images by the characteristic point selection module. The setting of the acquisition frequency should ensure that the rotation angle of each characteristic point in the adjacent frame image is less than 180 degrees, and meanwhile, the higher the acquisition frequency is, the faster the system response speed is, and the obtained total rotation direction and rotation angle of the steering wheel have higher timeliness.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A steering wheel angle detection system, characterized by: the device comprises a controller, a template image acquisition module and a continuous frame image acquisition module, wherein the template image acquisition module and the continuous frame image acquisition module are arranged at the top in a vehicle and are opposite to a steering wheel, the controller is connected with the template image acquisition module used for acquiring a standard image when the steering wheel is in a forward position, the controller is connected with an outer contour determination module used for determining the outer contour of the steering wheel in the standard image, the controller is connected with a central position determination module used for determining the central position of the steering wheel in the standard image, and the controller is connected with a coordinate system construction module used for constructing an identification coordinate system in the standard image;
the controller is connected with a continuous frame image acquisition module for acquiring continuous frame images of the steering wheel, the controller is connected with a feature point selection module for selecting feature points in the continuous frame images containing the identification coordinate system, the controller is connected with a feature point tracking module for tracking the feature points in the continuous frame images, and the controller is connected with a feature point coordinate acquisition module for acquiring position coordinates of the feature points in the continuous frame images in the identification coordinate system;
the controller is connected with a rotation direction judging module used for judging the rotation direction of the steering wheel according to the position coordinates of the characteristic points, the controller is connected with a rotation angle calculating module used for calculating the rotation angle of the steering wheel according to the position coordinates of the characteristic points, and the controller is connected with a data storage module used for storing the rotation direction and the rotation angle.
2. The steering wheel angle detection system according to claim 1, characterized in that: the outer contour determining module determines each point of the outer contour of the steering wheel in the standard image through an OpenCV open source vision library, the outer contour determining module sends the outer contour of the steering wheel to the central position determining module, and the central position determining module determines the central position of the steering wheel in the standard image according to the outer contour of the steering wheel.
3. The steering wheel angle detection system according to claim 2, characterized in that: and the coordinate system building module builds an identification coordinate system by taking the central position of the steering wheel as an origin point, the horizontal rightward direction as the positive direction of the X axis and the vertical upward direction as the positive direction of the Y axis in the standard image.
4. The steering wheel angle detection system according to claim 3, characterized in that: the characteristic point selection module receives the continuous frame images sent by the continuous frame image acquisition module, marks selected characteristic points in a first frame image of the continuous frame images, and sequentially maps the identification coordinate systems in the standard images into the continuous frame images according to the relation between the standard images and the continuous frame images.
5. The steering wheel angle detection system according to any one of claims 2 to 4, characterized in that: the controller simultaneously starts the template image acquisition module and the continuous frame image acquisition module under a manual control command, standard images acquired by the template image acquisition module are sent to the outer contour determination module after image noise reduction and image enhancement processing, and continuous frame images acquired by the continuous frame image acquisition module are sent to the feature point selection module after image noise reduction and image enhancement processing.
6. The steering wheel angle detection system according to claim 4, characterized in that: the method for judging the rotation direction of the steering wheel by the rotation direction judging module according to the position coordinates of the characteristic points comprises the following steps:
let the position coordinate of the feature point A in the n-th frame continuous frame image be A (X)n，Yn) The position coordinate in the n +1 th frame continuous frame image is A' (X)n+1，Yn+1) And the rotation angle of the characteristic point A is less than 180 degrees, then when A' (X)n+1，Yn+1) When the angle falls on the left side of the connecting line direction between the characteristic point A and the original point, the rotating direction of the steering wheel is clockwise and is recorded as a positive angle; otherwise, the direction of rotation of the steering wheel is counterclockwise and is recorded as a negative angle.
7. The steering wheel angle detection system according to claim 6, characterized in that: the rotation angle calculation module calculates A (X) according to the position coordinates of the characteristic pointsn，Yn) Distance from origin, and A (X)n，Yn) And A' (X)n+1，Yn+1) And calculating the rotation angle of the steering wheel by using the cosine law.
8. The steering wheel angle detection system according to claim 6 or 7, characterized in that: and the characteristic point tracking module tracks the characteristic points in the continuous frame images by adopting an optical flow method.
9. The steering wheel angle detection system according to claim 7, characterized in that: the steering wheel driving device further comprises a data output module which is connected with the controller and used for outputting the total rotating direction and rotating angle of the steering wheel from the first frame image of the continuous frame images to the current frame image according to the data result obtained by the rotating direction judging module and the rotating angle calculating module.
10. The steering wheel angle detection system according to claim 9, characterized in that: the device also comprises a characteristic parameter setting module which is connected with the controller and is used for setting the acquisition frequency of the continuous frame image acquisition module for acquiring the adjacent frame images and setting the quantity of the selected characteristic points in the first frame image of the continuous frame images by the characteristic point selection module.
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