CN100515840C - Automobile automatic brake system and method based on image processing - Google Patents
Automobile automatic brake system and method based on image processing Download PDFInfo
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- CN100515840C CN100515840C CNB2005100218623A CN200510021862A CN100515840C CN 100515840 C CN100515840 C CN 100515840C CN B2005100218623 A CNB2005100218623 A CN B2005100218623A CN 200510021862 A CN200510021862 A CN 200510021862A CN 100515840 C CN100515840 C CN 100515840C
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Abstract
The present invention discloses one kind of automatic automobile brake system and method based on image processing. The automatic automobile brake system includes one image acquiring device, one vehicle speed acquiring device, one processing device and one automatic brake controlling device. The image acquiring device acquires the image data before the vehicle and outputs the data to the processing device; the vehicle speed acquiring device acquires the current running speed of the vehicle and outputs the data to the processing device; and the processing device calculates the position of the front barrier and controls the automatic brake controlling device through combining with the vehicle speed data. The automatic automobile brake system makes the vehicle obtain high safety.
Description
[technical field]
The present invention relates to the brake system and the brake method of automobile, relate in particular to a kind of automobile automatic brake system and method based on image processing.
[background technology]
In recent years, along with the process of automobile industryization, the volume of holding of domestic automobile continues to rise, and the quantity of chaufeur is also in rapid increase simultaneously.Because the new hand in the chaufeur is a lot, when road crowded and unsafe condition occurs, the chaufeur that has was because relatively more nervous, and the maloperation through brake appears throttle is used as in regular meeting has caused a lot of pernicious traffic accidents thus.And the result of these traffic accidents can cause very serious personal casualty usually.In addition, the situation of fatigue driving can appear in chaufeur usually that have, makes the vehicle get out of hand inadvertently, and the correct running route of vehicle derailing causes serious traffic accident.These accidents still are that other victims and family members thereof have brought huge injury to the driver, are that people are reluctant to see its generation.By the data statistics of traffic department, carry out brake operation if chaufeur can be correct, will avoid the generation of a lot of serious accidents.
How can suitably reduce this traffic accident that takes place because of the subjective reason of chaufeur? the one, from chaufeur self, advocate safe driving, low speed drives with caution under the situation of circumstance complication, avoids fatigue driving, regularly vehicle is carried out security inspection.And another kind is to go to help chaufeur in case of emergency to carry out self-actuating brake by a kind of failure-free autobrake system, avoid chaufeur because maloperation or not as and cause the generation of traffic accident.If automobile can oneself identify current location, path of motion and environmental parameters on every side, and can comprehensively be judged according to data, avoid above-mentioned problem to replace artificial brake operation, then will improve the safety of driving greatly.Denomination of invention is that " by computer-controlled anti-collision device for automobile " (application number is CN02201964.2, open day is on October 16th, 2002) in a kind of anticollision device is disclosed, detect automobile fwd obstacle by image mechanism, and with data transmission to computing machine, by the rotation of computer controlled motor with stop, moving by electric machine control automobile brake arm.This scheme is come the detecting obstacles thing by image mechanism, has avoided the vehicle collision accident that causes because of artificial carelessness.But the defective of this scheme is: 1) this scheme has only been considered the distance of obstacle apart from automobile, and do not consider the speed of a motor vehicle of automobile, if the speed of a motor vehicle of automobile is very little, may not need self-actuating brake, if opposite self-actuating brake suddenly, may exceed back automobilist's the expectation and the automobile of back bumps.2) under emergency circumstances, chaufeur is often relatively more nervous, and particularly unskilled river often is used as throttle brake and is stepped on, and causes major accident.And be that the action of automatic guidance automobile brake arm is braked in this scheme.
If but this moment, chaufeur was stepped on the throttle simultaneously, automobile still can not slow down or stop, and is difficult to avoid the generation of accident.
[summary of the invention]
Main purpose of the present invention is exactly in order to solve prior art problems, a kind of automobile automatic brake system and method based on image processing is provided, the view data of utilizing camera head to gather, after treatment, judge the position of obstacle, and judge whether the control brake according to the speed of a motor vehicle of automobile, thereby under unmanned situation of interfering, according to the situation of peripheral obstacle, carry out brake operation automatically to obtain higher safety.
Secondary objective of the present invention is exactly in order to solve prior art problems, a kind of automobile automatic brake system and method based on image processing is provided, when self-actuating brake, throttle is shielded, even the chaufeur mistake has been stepped on throttle, can Control of Automobile not quicken yet, thereby under the situation of chaufeur maloperation, can obtain higher safety yet.
For achieving the above object, a kind of automobile automatic brake system that the present invention proposes based on image processing, comprise image collecting device, processing equipment and self-actuating brake control setup, described image collecting device is gathered vehicle front view data within the vision and is outputed to processing equipment, also comprise the speed data collection device, described speed data collection device is gathered the current moving velocity of automobile, and vehicle speed data is transferred to processing equipment, described processing equipment calculates the position of the place ahead obstacle according to view data, start in conjunction with vehicle speed data control self-actuating brake control setup again, also comprise the throttle shield assembly, the control of described throttle shield assembly response processing equipment, being used for when the self-actuating brake control setup starts throttle being added functional oil shields in short-term, wherein, throttle shielding is by shielding throttle signal in the ECU (Electrical Control Unit) of the automatically controlled steering swivel system of automobile, making ECU (Electrical Control Unit) not carry out the open out signal and realize.
Preferably, described image collector is changed to CCD camera or CMOS camera, and described CCD camera or CMOS camera are three, are arranged at the vehicle body front, and three cameras are arranged on the same straight line parallel to the ground.
Of the present invention further the improvement is: described automobile automatic brake system comprises also and is used to control the function on switching device that the self-actuating brake function is enabled and closed that the mouth of described function on switching device is coupled to processing equipment.
Described automobile automatic brake system also comprises the auditory tone cues device, the prompting that plays sound of the control signal of described auditory tone cues device response processing equipment output.
For achieving the above object, a kind of automobile automatic brake method based on image processing that the present invention proposes may further comprise the steps:
A1, processing equipment receive the vehicle front view data within the vision that image collecting device is gathered, and calculate the position of the place ahead obstacle according to view data;
B1, processing equipment receive the current moving velocity of automobile that speed of a motor vehicle rice acquisition means is gathered, and calculate the time that automobile arrives obstacle according to the position and the automobile driving speed of the place ahead obstacle;
C1, whether judge time that automobile arrives obstacle, if execution in step D1 then, if not execution in step A1 then less than setting-up time;
D1, processing equipment control self-actuating brake control setup start, so that braking automobile;
Also comprise the throttle mask steps behind step D1: the control of throttle shield assembly response processing equipment adds functional oil to throttle and shields in short-term; Wherein, throttle shielding is by shielding throttle signal in the ECU (Electrical Control Unit) of the automatically controlled steering swivel system of automobile, making ECU (Electrical Control Unit) not carry out the open out signal and realize.
Of the present invention further the improvement is further comprising the steps of: the signal of processing equipment response function starting switch device, control self-actuating brake function is enabled or is closed.
It is further comprising the steps of to enable the back in the self-actuating brake function: processing equipment control sound suggestion device output voice suggestion.
Another improvement of the present invention is: before the step B1, further comprising the steps of behind the step D1: judge that whether automobile arrives the time of obstacle less than second setting-up time, if then play voice suggestion, if not execution in step A1 then, and second setting-up time is greater than first setting-up time.
The invention has the beneficial effects as follows: 1) processing equipment is according to the vehicle front view data within the vision of image collecting device collection and the current moving velocity of automobile of speed data collection device collection, analyze object on every side and draw current location, path of motion and the environmental parameters on every side of automobile behind the range data of vehicle body and the movement tendency, make the self-actuating brake strategy according to above-mentioned parameter, and convert thereof into electric signal, after the self-actuating brake control setup is accepted this electric signal, according to the instruction control braking automobile.Thereby under unmanned situation of interfering,, carry out brake operation automatically to obtain higher safety according to the situation of peripheral obstacle and the travel situations of automobile.With all be to determine whether that apart from the distance of obstacle the mode of needs brake compares in the prior art according to automobile, the present invention determines whether the needs brake according to the time that automobile arrives obstacle, avoided unnecessary brake, both saved gasoline, also avoid unnecessary back rear-end collision, on the basis that guarantees safety, increased the accuracy of autobrake system.2) after the self-actuating brake control setup starts, the throttle shield assembly also starts, and throttle is added functional oil shield in short-term, prevents that chaufeur is used as throttle brake and steps on when anxiety, can avoid serious accident, more fully guarantee the safety of automobile and chaufeur.3) the function on switching device is set, can artificially controls enabling and forbidding of self-actuating brake function, increased the comfort feature that uses, and can energy savings when not enabling in system.
Feature of the present invention and advantage will be elaborated in conjunction with the accompanying drawings by embodiment.
[description of drawings]
Fig. 1 is the structure diagram of block of the automobile automatic brake system of an embodiment of the present invention;
Fig. 2 is the structure diagram of block of the automobile automatic brake system of the another kind of embodiment of the present invention;
Fig. 3 is the diagram of circuit of the automobile automatic brake system of most preferred embodiment of the present invention.
[specific embodiment]
Specific embodiment one, as shown in Figure 1, image collecting device, speed data collection device, self-actuating brake control setup and throttle shield assembly link to each other with processing equipment respectively, image collecting device is gathered vehicle front view data within the vision and is outputed to processing equipment, the speed data collection device is gathered the current moving velocity of automobile, and vehicle speed data is transferred to processing equipment, processing equipment calculates the position of the place ahead obstacle according to view data, starts and the startup of throttle shield assembly in conjunction with vehicle speed data control self-actuating brake control setup again.Again by the internal bus of automobile, carry out interconnected between each device as CAN BUS or LIN BUS etc.
Image collecting device can be selected CCD camera (being the charge-coupled device camera) or CMOS camera (being the complementary mos device camera) for use.CCD camera and CMOS camera are present two kinds of the most frequently used digital cameras, and CCD is the promising numerous small photodiode and the solid-state electronic photosensitive imaging parts of decoding addressing circuit formation.Cmos device has reading capability immediately, the good integrated performance of function (integrated with A/D change-over circuit, digital signal processing circuit etc. easily, cost of manufacture is low), lower for advantages such as consumption and operating voltages.
The speed data collection device comprises speed sensor, modulate circuit and the analog to digital conversion circuit that is in series, speed sensor is used for the perception speed of a motor vehicle, vehicle speed signal is some periodic impulse singlas, behind over-sampling, be converted to analog signal, modulate circuit amplifies the vehicle speed signal of gathering and processing such as filtering, outputs to processing equipment after analog to digital conversion circuit converts digital signal to.
The self-actuating brake control setup is the ABS control device, the ABS control device in automobile as automobile braking device.
The throttle shield assembly can adopt shielding throttle signal in the ECU of the automatically controlled steering swivel system of automobile (ECU (Electrical Control Unit)), makes ECU not carry out the open out signal, thereby even chaufeur steps on the throttle also to add not to oil, guarantees driving safety in emergency circumstances.
Processing equipment can be CPU (central process unit).
The principle of automobile automatic brake system is:
CCD camera or CMOS camera generally are located at around the vehicle body, preferred version is that CCD camera or CMOS camera are three, be arranged at the vehicle body front, and three cameras are arranged on the same straight line parallel to the ground, utilize the principle of three stereovisions come measurement image apart from the distance of vehicle body and with the angle of vehicle body.So-called three visions are placed on three pick up cameras on the same straight line exactly, and the longitudinal axis of every pick up camera is all vertical with this straight line.Video signal just has been converted into composite video signal or component video signal after by camera, these signals are directly connected among the CPU of band video interface, this CPU can directly be converted to digital image with these vision signals, CPU is a lot of for this class, can adopt the OMAP series of Texas Instruments, the AK3210 series of ANYKA etc.The image of supposing the shot by camera on the midway location is benchmark image Is, and being positioned at the image that other two pick up cameras of both sides correspondingly take is IL, IR.Go up at any time, with datum line can be apart from the corresponding horizontal parallax dRi of the point on the benchmark image Is on the Bi, dRi from stereo-picture to trying to achieve.The relation apart from BLi, BRi of parallax dLi, dRi and datum line can be verified by following formula:
(dRi-∈)≤dLi*BRi/BLi ≤(dRi+∈)
(dLi-∈)≤dRi*BLi/BRi ≤(dLi+∈)
Wherein ε is the resolution of image.The parallax di that satisfies following formula pass mooring points can be obtained by following formula:
di＝dLi+dRi
After the relative installation of three cameras, just can determine parallax dRi, dRi when clear and definite.
In coupling with three stereovision methods, can obtain parallax information with above-mentioned formula, obtain the very high information of reliability.
By stereovision observation, can obtain and obstacle between distance, in vehicle front pick up camera is installed, if setting height(from bottom) is H, the automobile width is W, and the ground under the camera is initial point O, short transverse is made as the Z axle, and the ground O-XY perpendicular with the Z axle is the plane of running car.For the coordinate in image is x, the picture point p of y (x, y), establishing the parallax that calculates with three stereovision methods is d, then cooresponding obstacle object point P (relation of locus Z) can be calculated simply by following formula for X, Y:
Wherein, B is three stereovision ground reference linear distances, and f is a focus of camera, and R is the transformation matrix of expression camera direction.The graphicinformation of obstacle can be obtained direction angle θ and distance L by following formula in the visual field
θ＝arctan(X/Y)
But whether what carry out that self-actuating brake control should determine also that pick up camera photographed is obstacle.Can become the obstacle of driving in mobile environment, be defined in the limited distance L (parallax d ≠ 0), the coordinate figure of the some Z on the space is lower than the height H of automobile, and automobile self does not have the object of ability leap.
But in order correctly to discern running region and obstacle, utilize the parallax of the boundary point that satisfies following formula, detect the method for obstacle:
In the following formula, (x y) is the gray distribution of image function to I, and δ is the threshold value when extracting boundary point.Utilize the solid coupling of three stereovisions and choose suitable threshold, the parallax information that just can obtain having high reliability.
Because the parallax information of boundary point is a discrete data, also disperse so be sent to the data of expression obstacle in the central process unit.In these data, because the influence of noise can exist some uncertain data, obtaining of this information of adjusting the distance can have a significant impact.Delete uncertain data with the following method in order to reduce these influences, can to make.The obstacle data of being tried to achieve by visual information are because the influence of image resolution ratio ε can produce direction error Δ θ and distance error Δ L (d).
If the obstacle data are to be obtained by the part that comprises a plurality of boundary points, then be located in the range delta S that can calculate by following formula, suppose that obstacle has continuity, then can estimate and necessarily have a plurality of obstacle data:
ΔL(d)＝L(d-ε)-L(d+ε)
Here, when making the pretreatment of obstacle information, be less than two obstacle data if establish only to exist in the Δ S, these obstacle data are regarded as the uncertain data deletion.
Through behind the pretreatment of obstacle information, resulting data are just assert the obstacle data that the position is actual.But owing to after the discretization processing, between the obstacle data gap can appear.The influence in gap can make the range information that calculates produce error thus, so we also will be generated to the boundary line of obstacle according to following processing sequence, and just can be in the hope of feasible area division of sailing.
A) if the gap between the obstacle data is narrower than the width W of automobile, just make impassable data handing.
B) but along the driving distance of any direction be defined as with this direction on the distance the shortest in the obstacle data apart from obstacle.
C) through A), B) handle the resulting expression in the back range points of can walking and couple together with straight line, formed line is defined as the boundary line of obstacle, the dirigible distance on any direction is limited in the obstacles borders line.
Specifically can also determine the position of obstacle with reference to the method for robot probe's obstacle.
Processing equipment is at definite obstacle and after recording the distance and angle-data of obstacle, convert out the vertical distance of obstacle to automobile, according to the current speed of a motor vehicle, calculate automobile and arrive place, the obstacle place T1 that takes time, should the time and the first setting-up time T2 relatively, when T1＜T2, processing equipment control ABS control device starts, make braking automobile, and control throttle shield assembly shields throttle in short-term.
Self-actuating brake is applied in emergency circumstances, just starts the self-actuating brake function after having only automobile to enter the distance of emergency braking.The time T of setting 2 is according to people's normal emergency reaction speed setting.People's normal emergency reaction speed is 0.8 second, thus be the reaction of enough chaufeurs in time, have only chaufeur not as or during maloperation, initiatively brake just can start.
After brake process finished, system removed, and travels once more until automobile.This process will be carried out again and again, that is to say, as long as automobile is in the driving process, data acquisition will constantly be carried out image acquisition and speed data collection to surrounding environment, and analyze the current location of automobile, obstacle position, parameters such as car speed, when satisfying the condition of initiatively brake, start by processing equipment control ABS control device and throttle shield assembly, make car deceleration or stop.
Specific embodiment two, as shown in Figure 2, on the basis of specific embodiment one, increased and be used to control function on switching device and the sound suggestion device that the self-actuating brake function is enabled and closed, the mouth of function on switching device is coupled to processing equipment, the control signal of auditory tone cues device response processing equipment output is used for the prompting that plays sound after the function on switching device is enabled the self-actuating brake function.When chaufeur is arranged on the position of " opening " with the function on switching device, the function on switching device sends first level signal to processing equipment, processing equipment responds the first level signal signal, control image collecting device and the work of speed data collection device, ABS control device and throttle shield assembly are in stand-by state; Processing equipment sends energizing signal to the auditory tone cues device simultaneously, the speech chip that triggers in the auditory tone cues device is exported a voice suggestion, this voice signal plays out auditory tone cues by outputing to loudspeaker after amplifying, and reminds the chaufeur automobile automatic brake system to enable.When chaufeur was arranged on the position of " pass " with the function on switching device, the function on switching device sent second level signal to processing equipment, and processing equipment responds the second level signal signal, and the each several part of Control of Automobile autobrake system is closed and do not worked.
Can also further set the second setting-up time T3, T3＞T2 is after detecting obstacle, with required time T1 and the second setting-up time T3 relatively, when T1＜T3, processing equipment control sound suggestion device is reported to the police, remind chaufeur to carry out suitable operation, or slow down or dodge.The second setting-up time T3 can be set at 2 times or 1.5 times of the first setting-up time T2.
For example, the distance that breaks the barriers is analyzed, and under the different speed of a motor vehicle, the distance of emergency braking is different, for example, when 100 kilometers of speed per hours, chaufeur probably needs the safety shut-down distance about 60 meters, so will carry out voice suggestion when graphical analysis goes out distance after less than 80 meters, remind chaufeur to carry out suitable operation, or slow down or dodge, brake less than carrying out active after 40 meters, otherwise traffic accident will take place.Under this speed automobile from 80 meters to 40 meters needs 1.44 seconds, people's normal emergency reaction speed is 0.8 second, thus be enough chaufeur reactions in time, have only chaufeur not as or during maloperation, initiatively brake just can start.
The diagram of circuit of the automobile automatic brake system of this embodiment may further comprise the steps as shown in Figure 3:
In step 101, the level signal of processing equipment response function starting switch device output, execution in step 102 then;
In step 102, processing equipment decision level signal is " opening " signal or " pass " signal, if level signal is i.e. " opening " signal of first level signal, then execution in step 104; If level signal is i.e. " pass " signal of second level signal, then execution in step 103, and the each several part of Control of Automobile autobrake system is closed and do not worked;
In step 104, the each several part work of processing equipment Control of Automobile autobrake system, for example image collecting device and speed data collection device work, ABS control device and throttle shield assembly are in stand-by state, and the prompting that plays sound of control sound suggestion device, execution in step 105 then;
In step 105, processing equipment receives view data and vehicle speed data, and execution in step 106 then;
In step 106, processing equipment calculate object apart from the distance of automobile and with the angle of automobile, judge obstacle, according to distance, angle and the speed of a motor vehicle of obstacle, calculate the time T 1 that automobile arrives obstacle, execution in step 107 then;
In step 107, processing equipment with T1 and the second setting-up time T3 relatively, if T1＜T3 then execution in step 108, if T1＞T3 then turn to execution in step 105;
In step 108, processing equipment control sound suggestion device is reported to the police, and continues execution in step 109 then;
In step 109, processing equipment with T1 and the first setting-up time T2 relatively, if T1＜T2 then execution in step 110, if T1＞T2 then turn to execution in step 105;
In step 110, the brake of processing equipment control ABS control device, throttle shield assembly shielding throttle operation are to prevent maloperation.
In the whole process, but chaufeur immediately monitoring brake process, by the mode of operation of auditory tone cues acquisition system, chaufeur can manually connect control at any time simultaneously, and closing function starting switch device is removed initiatively brake function.
Claims (9)
1. based on the automobile automatic brake system of image processing, comprise image collecting device, processing equipment and self-actuating brake control setup, described image collecting device is gathered vehicle front view data within the vision and is outputed to processing equipment, also comprise the speed data collection device, described speed data collection device is gathered the current moving velocity of automobile, and vehicle speed data is transferred to processing equipment, described processing equipment calculates the position of the place ahead obstacle according to view data, start in conjunction with vehicle speed data control self-actuating brake control setup again, also comprise the throttle shield assembly, the control of described throttle shield assembly response processing equipment, being used for when the self-actuating brake control setup starts throttle being added functional oil shields in short-term, it is characterized in that: throttle shielding is by shielding throttle signal in the ECU (Electrical Control Unit) of the automatically controlled steering swivel system of automobile, making ECU (Electrical Control Unit) not carry out the open out signal and realize.
2. automobile automatic brake system as claimed in claim 1, it is characterized in that: described image collector is changed to CCD camera or CMOS camera, described CCD camera or CMOS camera are three, are arranged at the vehicle body front, and three cameras are arranged on the same straight line parallel to the ground.
3. automobile automatic brake system as claimed in claim 1 is characterized in that: described self-actuating brake control setup is the ABS control device.
4. as each described automobile automatic brake system among the claim 1-3, it is characterized in that: described automobile automatic brake system comprises also and is used to control the function on switching device that the self-actuating brake function is enabled and closed that the mouth of described function on switching device is coupled to processing equipment.
5. automobile automatic brake system as claimed in claim 4 is characterized in that: described automobile automatic brake system also comprises the auditory tone cues device, the prompting that plays sound of the control signal of described auditory tone cues device response processing equipment output.
6. based on the automobile automatic brake method of image processing, may further comprise the steps:
A1, processing equipment receive the vehicle front view data within the vision that image collecting device is gathered, and calculate the position of the place ahead obstacle according to view data;
B1, processing equipment receive the current moving velocity of automobile that the speed data collection device is gathered, and calculate the time that automobile arrives obstacle according to the position and the automobile driving speed of the place ahead obstacle;
C1, whether judge time that automobile arrives obstacle, if execution in step D1 then, if not execution in step A1 then less than first setting-up time;
D1, processing equipment control self-actuating brake control setup start, so that braking automobile;
Also comprise the throttle mask steps behind step D1: the control of throttle shield assembly response processing equipment adds functional oil to throttle and shields in short-term; It is characterized in that: throttle shielding is by shielding throttle signal in the ECU (Electrical Control Unit) of the automatically controlled steering swivel system of automobile, making ECU (Electrical Control Unit) not carry out the open out signal and realize.
7. automobile automatic brake method as claimed in claim 6 is characterized in that further comprising the steps of: the signal of processing equipment response function starting switch device, control self-actuating brake function is enabled or is closed.
8. as claim 6 or 7 described automobile automatic brake methods, it is further comprising the steps of to it is characterized in that enabling the back in the self-actuating brake function: processing equipment control sound suggestion device output voice suggestion.
9. automobile automatic brake method as claimed in claim 8, it is characterized in that before the step B1, further comprising the steps of behind the step D1: judge that whether automobile arrives the time of obstacle less than second setting-up time, if then play voice suggestion, if not execution in step A1 then, and second setting-up time is greater than first setting-up time.
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| CN107031398A (en) * | 2016-11-23 | 2017-08-11 | 杭州衡源汽车科技有限公司 | Automobile brake system and brake method |
| CN108639065B (en) * | 2018-05-15 | 2019-09-27 | 辽宁工业大学 | A kind of vehicle safe driving control method of view-based access control model |
| CN109969176A (en) * | 2019-04-15 | 2019-07-05 | 济南浪潮高新科技投资发展有限公司 | A kind of method and system of autonomous driving vehicle emergency braking control |
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| CN1629021A (en) * | 2003-12-16 | 2005-06-22 | 阮跃清 | Automatic braking type microcomputer video radar for automobile |
| DE202004010131U1 (en) * | 2004-06-29 | 2004-10-07 | Weuste, Ferdinand | Object obstruction on a rail track is detected using on board digital camera coupled to computer |
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| CN1944124A (en) | 2007-04-11 |
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