CN102556066B - Lane departure warning device for passenger vehicle and judgment method thereof - Google Patents
Lane departure warning device for passenger vehicle and judgment method thereof Download PDFInfo
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Abstract
The invention discloses a lane departure warning device for a passenger vehicle and a judgment method thereof. The lane departure warning device for the passenger vehicle comprises an image acquisition module, a turn signal acquisition module, a liquid crystal display (LCD), an alarm module, a storage hard disk and a high-speed digital signal processor, wherein the high-speed digital signal processor is electrically connected with a CCD (Charge-Coupled Device) sensor of the image acquisition module and a video cable of the LCD respectively through USB (Universal Serial Bus) interfaces, and the high-speed digital signal processor is electrically connected with a singlechip for acquiring turn signals, the storage hard disk and the alarm module through I/O (Input/Output) interfaces. The judgment method comprises the following steps: lane images are acquired through the CCD image sensor; whether the vehicle has departed from a lane or not is judged; if the vehicle has departed from the lane without turning on turn signal lamps, a system device alarms, and meanwhile, the driving violation images of a driver at this time are transmitted to the storage hard disk.
Description
Technical field
The present invention relates to passenger vehicle driving safety field, particularly a kind of lane departure warning device for passenger vehicle and determination methods thereof.
Background technology
In recent years, in the fast development of highway in China transit industry, road traffic accident is also high, has caused a large amount of personal injuries and property damage to society, and the social influence that urban highway transit accident causes is particularly serious.The driving behavior of bus man is the necessary and sufficient condition that ensures passenger vehicle driving safety.And the main immediate cause of most of urban highway transit accidents is operation against rules, negligence or the fatigue driving of chaufeur, these behaviors will cause automotive run-off-road accidentally, thereby cause traffic accident.
At present, passenger vehicle is for lane departure warning technology, be only to use automobile travel recorder, but its shortcoming is: first it adopt non-image technology, accuracy rate is low; The second, it generally will be combined with GPS supervising platform, and use cost is high, and the 3rd, it does not have chaufeur image memory function in violation of rules and regulations, in the time that traffic accident occurs, can not be well for traffic control department provides judgement foundation.
Summary of the invention
The object of the invention is to; be to provide lane departure warning device and the determination methods thereof of a set of applicable passenger vehicle; this lane departure warning device adopts image technique, control accuracy is high, use cost is low, be applicable to large-scale promotion; also there is chaufeur image memory function in violation of rules and regulations, for traffic control department provides judgement foundation.
This device can effectively be managed the driver behavior behavior with standard highway passenger transportation vehicular drive people, conscientiously improve scientific and technological content and the ability of highway passenger transportation safety management, and then reach the effective operating benefit of highway in China passenger traffic safety and raising highway passenger transportation and object of maintenance industry sustainable development improved.
Groundwork of the present invention is by using ccd image sensor to take at short notice the instantaneous picture of front environment, then pass through image decoding chip image signal transmission in high speed signal digital processor, whether high speed signal digital processor judges vehicle run-off-road by program, if run-off-road in the situation that steering indicating light is not opened, system and device will, by using light emitting diode and buzzer phone to point out to steerman, be assisted help for the safety traffic of passenger vehicle on road provides; In addition, system and device also can be driven image transmitting in violation of rules and regulations steerman now and, in storage hard disk, in the time there is traffic accident, can provide judgement foundation for traffic control department.
In order to realize above-mentioned task, the present invention takes following technical solution:
A kind of lane departure warning device for passenger vehicle, is characterized in that, comprising:
Image capture module, is mainly made up of ccd sensor and image decoder, and wherein, ccd sensor is arranged on the inner side of front part of vehicle Windshield, tiltedly the track of directed forward;
Turn sign acquisition module, this turn sign acquisition module adopts micro controller system, for read the make-and-break signal that turns to passenger vehicle CAN bus from the bus of passenger vehicle under-dash;
Liquid Crystal Display, is connected with high speed digital signal processor by USB interface;
Storage hard disk, is used for memory of driving people's violation image;
Alarm module, is made up of light-emitting diode and buzzer phone;
High speed digital signal processor is electrically connected respectively the video line of image capture module and Liquid Crystal Display by USB interface, by I/O mouth electrical connection turn sign acquisition module, storage hard disk and alarm module.
Above-mentioned lane departure warning device for passenger vehicle for passenger vehicle deviation determination methods, is characterized in that, comprises the following steps:
(1) ccd sensor is demarcated:
First make scaling board, uncalibrated image is set on scaling board, ccd sensor is taken scaling board, gathers image and demarcates, and then obtains inner parameter and the ambient parameter of ccd sensor;
(2) image acquisition:
Ccd sensor gathers carriageway image, and the road image collecting is transferred in high speed digital signal processor by image decoder;
(3) image pretreatment:
The road image collecting is carried out to filtering, filtering part random noise;
(4) lane mark extracts:
Utilize threshold method to pretreated Image Segmentation Using, utilize Sobel operator to detect edge, track, recycling Hough mapping algorithm is realized the extraction of lane mark;
(5) deviation judgement:
Horizontal position according to vehicle in current road and direction parameter judge vehicle whether run-off-road travel, and remind passenger vehicle run-off-road to travel by light-emitting diode and buzzer phone, and driving Image Saving in storage hard disk in violation of rules and regulations.
Passenger vehicle route deviation prior-warning device of the present invention, volume is little, simple to operate, cost of goods manifactured valency is low, has the larger market competitiveness.Vehicle lane based on above-mentioned passenger vehicle route deviation prior-warning device departs from determination methods, the processing of its road image and the early warning of deviation are all to be completed by high speed digital signal processor, reliability and intelligent height, can also be the driving of steerman violation image transmitting in storage hard disk, in the time there is traffic accident, can provide judgement foundation for traffic control department.
Accompanying drawing explanation
Fig. 1 is ccd sensor scheme of installation of the present invention.
Fig. 2 is hardware configuration schematic diagram of the present invention.
Fig. 3 is vehicle system of axes schematic diagram in road that the present invention sets up.
Mark in figure represents respectively: 1, image capture module, 2, metal shell, 3, high speed digital signal processor, 4, micro controller system, 5, Liquid Crystal Display, 6, alarm module, 7, storage hard disk.
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The specific embodiment
With reference to Fig. 1, in lane departure warning device for passenger vehicle, the image capture module of the present embodiment comprises ccd sensor and image decoder, and ccd sensor is connected with image decoder.Wherein, ccd sensor relies on support to be fixed on the inner side of front part of vehicle Windshield, and the setting height(from bottom) h of ccd sensor is 1.66 meters, and inclined angle alpha is 15.4 °, camera lens (the mark Z ' in Fig. 1) on the lower side towards front.
High speed digital signal processor 3, micro controller system 4, Liquid Crystal Display 5, alarm module 6, storage hard disk 7 are bolted on respectively in a metal shell 2, wherein, alarm module 6 is made up of light-emitting diode and buzzer phone, and metal shell 2 is by support and be bolted to the top of passenger vehicle gauge panel.
" model of image decoding chip is TVP5145 for the WAT-231S2 industrial camera that SONY machine vision is special, valid pixel 6,000,000 in the present embodiment ccd sensor employing 1/4.The output signal of image decoder is connected with the VP1 mouth of high speed digital signal processor 3 by USB2.0 data line.
With reference to Fig. 2, in the present embodiment, the model of high-speed digital signal image processor is TMS320DM642.The model of Liquid Crystal Display is TVG-800.The model of the light-emitting diode in warning module 6 is SMD0805, and the model of buzzer phone is CY-12055.The model of storage hard disk is Seagate ST500DM0027200.
The video line of the VP0 mouth electrical connection Liquid Crystal Display 5 of the high speed digital signal processor 3 of device, high speed digital signal processor 3 has multiple pins, GP0[0 wherein] pin electrical connection gathers the PAD0 pin of the micro controller system 4 of turn sign, the GP0[15 of high speed digital signal processor 3] light emitting diode of pin electrical connection alarm module 6, the GP0[13 of high speed digital signal processor 3] buzzer phone of pin electrical connection alarm module 6, the standard IDE hard-disk interface electrical connection storage hard disk 7 of high speed digital signal processor 3 extended resources.
Turning to make-and-break signal is to read from the bus of passenger vehicle under-dash, pass to MC9S12DG128 micro controller system through the filtering of signal processing circuit, after amplifying, then by RS232 serial port, the make-and-break signal that turns to collecting is sent in high speed signal digital processor 5 (TMS320DM642).
In the present embodiment, use ccd image sensor to take at short notice the instantaneous picture of front environment, then through image decoder, image signal transmission is arrived in high speed signal digital processor 5 (TMS320DM642), whether high speed signal digital processor 5 judges vehicle run-off-road by program, if run-off-road in the situation that steering indicating light is not opened, device will, by using light emitting diode and buzzer phone to point out to steerman, be assisted help for the safety traffic of passenger vehicle on road provides; In addition, device also can be driven image transmitting in violation of rules and regulations steerman now and, in storage hard disk, in the time there is traffic accident, can provide judgement foundation for traffic control department.
Adopt said apparatus to realize passenger vehicle deviation determination methods, concrete steps are as follows:
(1) ccd sensor is demarcated
First make scaling board, on scaling board, there is calibration graph, conversion calibration position, utilize these images of ccd sensor collection to demarcate, calibration graph is selected chequered with black and white square square frame, the foursquare length of side is 10cm, in each direction, have 5 square frames, in the position of the visual range inner conversion scaling board of ccd sensor, gather scaling board image at diverse location, then these images are imported in the mathematical treatment software MATLAB2009b of Math Works company and demarcate, obtain inner parameter and the ambient parameter of ccd sensor.
Ccd sensor is demarcated the inner parameter obtaining and is mainly contained: effective focal length f, and twisting coefficient fc and distortion factor kc, these parameters have been reacted the pattern distortion that pick up camera itself brings.The ambient parameter that camera calibration obtains has pick up camera apart from floor level h, with car lateral extent d, angle of rotation γ, pitch angle α.
(2) image acquisition
After device is started working, ccd sensor 1 gathers carriageway image, and the carriageway image collecting is real-time transmitted in high speed digital signal processor 5 by image decoder and USB2.0 data line, carries out next step processing for high speed digital signal processor 5.
(3) image pretreatment
Remove useless point and noise spot in road image.In actual image acquisition procedures, due to road surface situation more complicated, may exist stain, foreign material to disturb, the road image collecting is carried out to filtering, filtering part random noise, therefore needs to carry out with Wiener Filter Method the noise processed of image, and Wiener filtering can realize self adaptation denoising.
The road image contrast ratio of obtaining due to ccd sensor sometimes can be lower, so can adopt Gray Histogram to convert to improve the contrast ratio of image, in the image processing toolbox of Matlab, there is a madjust grey level transformation function, it can re-start mapping by the gray value of image, make it to fill up the scope (0,255) that whole gray value allows.
(4) lane mark extracts
To carrying out binary conversion treatment through the pretreated carriageway image of image, utilize threshold segmentation method to pretreated Image Segmentation Using, with one or several threshold values, by the grey level histogram classification of image, the pixel gray value in same scope is classified as same object.
Utilize Sobel operator to detect edge, track, Sobel operator is a kind of method that direction calculus of differences is combined with local average, there is certain noise inhibiting ability, can reach the object of fast detecting lane mark, for the track of the left and right sides, adopt Sobel operator respectively the level in track, left and right to be detected, get fixed Sobel operator as follows:
Recycling Hough mapping algorithm is realized the extraction of lane mark, Hough conversion is transformed into curve given in original image or straight line a point of parameter space, the test problems of curve in original image or straight line, be transformed into the problem of finding peak dot in parameter space, the polar equation of straight line is as follows:
ρ＝xcosθ+ysinθ
Utilize Hough to convert the point (x on straight line, y) convert two-dimensional space parameter (ρ to, a point θ), then be many little lattice by ρ-θ spatial spreading, fall into the little lattice at maximum some places of little lattice corresponding to parameter space (ρ, common ground θ), (ρ, θ) be the Straight Line Fitting Parameters of image space, by the Straight Line Fitting Parameters of acquisition through suitable transform in image coordinate system after, be the equation of straight line with respect to image coordinate, the namely equation of the left and right lane mark in image coordinate system.
(5) deviation judgement
With reference to Fig. 3, the present embodiment is mainly that the horizontal position in current road and direction parameter judge vehicle whether run-off-road travels according to vehicle, as shown in Figure 3, set up actual path coordinate system, y axle be parallel with left and right Lane Mark and with the equidistant straight line of left and right Lane Mark, the corresponding direction of vehicle head is positive dirction, and x axle was vehicle front-wheel wheel shaft mid point P and the straight line vertical with y axle.Initial point O is the intersection point of x axle and y axle.
The horizontal position parameter x of vehicle in track
0refer to the x coordinate figure of vehicle front-wheel wheel shaft center point P point, P point in the time of y axle right side, x
0for just; P point is in y axle when left side, x
0for negative.
The direction parameter of vehicle in track refers to that the angular separation of y axle and longitudinal direction of car axis is θ, in the time of headstock right avertence θ be on the occasion of, when headstock left avertence, θ is negative value.
Parameter x
0can be obtained through some conversion in conjunction with some parameter informations of vehicle-borne CCD sensor by the Lane Mark parameter proposing with θ.After location parameter and direction parameter according to vehicle in current track, can obtain following run-off-road Early-warning Model:
In the time meeting formula (1), trigger light-emitting diode and buzzer warning, remind passenger vehicle run-off-road to travel, offset direction is to right avertence, and violation driving image is now stored in hard disk.
In the time meeting formula (2), trigger light-emitting diode and buzzer warning, remind passenger vehicle run-off-road to travel, offset direction is to left avertence, and violation driving image is now stored in hard disk.
In formula, θ
0for the threshold values setting, in this device, be 1
0, b is vehicle width, x
lfor the warning critical line set is apart from the distance of y axle, x
lvalue selected according to the following formula, wherein w is lane width.
Claims (7)
1. a passenger vehicle deviation determination methods, the method adopts lane departure warning device for passenger vehicle to realize the judgement of passenger vehicle deviation, and described lane departure warning device for passenger vehicle, comprising:
Image capture module, is mainly made up of ccd sensor and image decoder, and wherein, the setting height(from bottom) h of ccd sensor is 1.66 meters, and inclined angle alpha is 15.4 °, and camera lens is towards the track of front oblique directed forward on the lower side;
Turn sign acquisition module, this turn sign acquisition module adopts micro controller system, processes for the make-and-break signal that turns to reading passenger vehicle CAN bus from the bus of passenger vehicle under-dash;
Liquid Crystal Display, is connected with high speed digital signal processor by USB interface;
Storage hard disk, is used for memory of driving people's violation image;
Alarm module, is made up of light-emitting diode and buzzer phone;
The video line of the VP0 mouth electrical connection Liquid Crystal Display of the high speed digital signal processor of device, the GP0[0 of high speed digital signal processor] pin electrical connection collection turns to the PAD0 pin of the micro controller system of make-and-break signal, the GP0[15 of high speed digital signal processor] light emitting diode of pin electrical connection alarm module, the GP0[13 of high speed digital signal processor] buzzer phone of pin electrical connection alarm module, the standard IDE hard-disk interface electrical connection storage hard disk of high speed digital signal processor extended resources;
It is characterized in that, comprise the following steps:
(1) ccd sensor is demarcated:
First make scaling board, on scaling board, there is calibration graph, conversion calibration position, utilize these images of ccd sensor collection to demarcate, calibration graph is selected chequered with black and white square square frame, the foursquare length of side is 10cm, in each direction, have 5 square frames, in the position of the visual range inner conversion scaling board of ccd sensor, gather scaling board image at diverse location, then these images are imported in the mathematical treatment software MATLAB2009b of Math Works company and demarcate, obtain inner parameter and the ambient parameter of ccd sensor;
Ccd sensor is demarcated the inner parameter obtaining and is mainly contained: effective focal length f, and twisting coefficient fc and distortion factor kc, these parameters have been reacted the pattern distortion that pick up camera itself brings; The ambient parameter that camera calibration obtains has pick up camera apart from floor level h, with car lateral extent d, angle of rotation γ, pitch angle α;
(2) image acquisition:
Ccd sensor gathers carriageway image, and the road image collecting is transferred in high speed digital signal processor by image decoder;
(3) image pretreatment:
The road image collecting is carried out to filtering, filtering part random noise; The road image contrast ratio of obtaining due to ccd sensor sometimes can be lower, adopt Gray Histogram to convert to improve the contrast ratio of image, in the image processing toolbox of Matlab, there is a madjust grey level transformation function, the gray value of image is re-started to mapping, make it to fill up the scope that whole gray value allows;
(4) lane mark extracts:
To carrying out binary conversion treatment through the pretreated carriageway image of image, with threshold method, to pretreated Image Segmentation Using, with one or several threshold values, by the grey level histogram classification of image, the pixel gray value in same scope is classified as same object;
Utilize Sobel operator to detect edge, track, recycling Hough mapping algorithm is realized the extraction of lane mark;
(5) deviation judgement:
Horizontal position according to vehicle in current road and direction parameter judge vehicle, and whether run-off-road travels, set up actual path coordinate system, y axle be parallel with left and right Lane Mark and with the equidistant straight line of left and right Lane Mark, the corresponding direction of vehicle head is positive dirction, x axle was vehicle front-wheel wheel shaft mid point P and the straight line vertical with y axle, and initial point O is the intersection point of x axle and y axle;
The horizontal position parameter x of vehicle in track
0refer to the x coordinate figure of vehicle front-wheel wheel shaft center point P point, P point in the time of y axle right side, x
0for just; P point is in y axle when left side, x
0for negative;
The direction parameter of vehicle in track refers to that the angular separation of y axle and longitudinal direction of car axis is θ, in the time of headstock right avertence θ be on the occasion of, when headstock left avertence, θ is negative value;
Parameter x
0obtained through some conversion in conjunction with some parameter informations of vehicle-borne CCD sensor by the Lane Mark parameter proposing with θ, after location parameter and direction parameter according to vehicle in current track, can obtain following run-off-road Early-warning Model:
In the time meeting formula (1), trigger light-emitting diode and buzzer warning, remind passenger vehicle run-off-road to travel, offset direction is to right avertence, and violation driving image is now stored in hard disk;
In the time meeting formula (2), trigger light-emitting diode and buzzer warning, remind passenger vehicle run-off-road to travel, offset direction is to left avertence, and violation driving image is now stored in hard disk;
In formula, θ
0for the threshold values setting, in this device, be 1
0, b is vehicle width, x
lfor the warning critical line set is apart from the distance of y axle, x
lvalue selected according to the following formula, wherein w is lane width;
2. the method for claim 1, is characterized in that, described ccd sensor is selected WAT-231S2 industrial camera, and the model of described image decoding chip is TVP5145.
3. the method for claim 1, is characterized in that, the micro controller system model of described turn sign acquisition module is MC9S12DG128.
4. the method for claim 1, is characterized in that, the model of described high-speed digital signal image processor is TMS320DM642.
5. the method for claim 1, is characterized in that, the model of described Liquid Crystal Display is TVG-800.
6. the method for claim 1, is characterized in that, the model of described storage hard disk is Seagate ST500DM0027200.
7. the method for claim 1, is characterized in that, the model of the light-emitting diode in described warning module is SMD0805, and the model of buzzer phone is CY-12055.
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| CN103593884B (en) * | 2013-11-22 | 2016-01-20 | 深圳市捷美安防技术有限公司 | A kind of drive recorder and control method thereof |
| CN104029680B (en) * | 2014-01-02 | 2016-12-07 | 上海大学 | Lane Departure Warning System based on monocular cam and method |
| JP5947849B2 (en) * | 2014-09-17 | 2016-07-06 | 富士重工業株式会社 | Vehicle lane departure prevention control device |
| CN104299240B (en) * | 2014-10-24 | 2018-04-03 | 惠州市德赛西威汽车电子股份有限公司 | Camera calibration method and system for lane shift early warning |
| CN104442815A (en) * | 2014-11-11 | 2015-03-25 | 广东好帮手电子科技股份有限公司 | Deviation early warning system and method for automobile |
| CN105069859B (en) * | 2015-07-24 | 2018-01-30 | 深圳市佳信捷技术股份有限公司 | Vehicle running state monitoring method and device |
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| CN107817018B (en) * | 2016-09-12 | 2020-03-03 | 上海沃尔沃汽车研发有限公司 | Test system and test method for lane line deviation alarm system |
| CN106515582A (en) * | 2016-10-26 | 2017-03-22 | 深圳市元征科技股份有限公司 | Safe driving early warning method and device |
| CN107599957B (en) * | 2017-08-30 | 2020-04-14 | 北京新能源汽车股份有限公司 | Steering lamp state prompting method and device and automobile |
| CN109017570B (en) * | 2018-06-12 | 2021-03-02 | 智车优行科技（北京）有限公司 | Vehicle surrounding scene presenting method and device and vehicle |
| CN110533930B (en) * | 2019-10-09 | 2021-02-02 | 业成科技（成都）有限公司 | Traffic data processing method and device, computer equipment and storage medium |
| CN111862533B (en) * | 2020-07-15 | 2021-11-12 | 广东卡仕达电子科技有限公司 | Vehicle joint navigation equipment and method based on big data |
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