CN100429101C - Safety monitoring system for running car and monitoring method - Google Patents

Safety monitoring system for running car and monitoring method Download PDF

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CN100429101C
CN100429101C CN 200510116715 CN200510116715A CN100429101C CN 100429101 C CN100429101 C CN 100429101C CN 200510116715 CN200510116715 CN 200510116715 CN 200510116715 A CN200510116715 A CN 200510116715A CN 100429101 C CN100429101 C CN 100429101C
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vehicle
image
threat
digital
control
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CN1833934A (en )
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朱凤华
王知学
王飞跃
艾云锋
黄武陵
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中国科学院自动化研究所
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Abstract

本发明涉及一种汽车行驶安全监控系统及监控方法,该系统包括车载数字图像信息获取单元和车载嵌入式计算机平台,所述的车载嵌入式计算机平台设有系统图像处理与决策控制单元,所述的车载数字图像信息获取单元由其内置的数码摄像装置获取车辆周围的实景图像,并生成预处理数字图像信息送给所述系统图像处理与决策控制单元,所述系统图像处理与决策控制单元对所述预处理数字图像信号进行分析处理,生成威胁种类和威胁等级信号,当威胁种类和威胁等级到达告警标准时,向连接在总线上的声光告警装置发送告警指令,进行告警。 The present invention relates to a vehicle driving safety monitoring system and monitoring method, the system comprising a vehicle information acquisition unit, and a digital image embedded computer onboard the platform, the computer platform of the vehicle embedded system with image processing and decision control unit, the automotive digital image information acquisition unit by a built-in digital camera acquires a photographed image around the vehicle, and generates digital image information to the pre-processing of the image processing system and decision control unit, the image processing system and the decisions of the control unit the pre-processed digital image signal is analyzed to generate the type of threat and the threat level signal, and when the type of threat level reaches the threat alarm criteria, an instruction to send an alarm sound and light alarm device connected to the bus, and an alarm. 本发明可以及时提醒驾驶员存在的威胁,极大地提供了行车的安全性。 The present invention can remind the driver of threats, provides a great driving safety.

Description

汽车行驶安全监控系统及监控方法 Cars with safety monitoring system and monitoring method

技术领域 FIELD

本发明涉及一种汽车行驶安全监控系统及监控方法。 The present invention relates to a vehicle driving safety monitoring system and monitoring method. 背景技术 Background technique

汽车的普及使人们的活动半径增大、生产生活节奏加快、办公效率提高,提高了人们的生活质量,现正越来越多地进入了普通人的家庭,并成为人们生产、生活领域须臾不可离开的重要交通运输工具。 The popularity of cars so that people increase the radius of activity, production accelerated pace of life, improve office efficiency, improve the quality of life, now more and more ordinary people into the family, and become production areas of life even for a moment leave an important means of transport. 但是,随着汽车保有量的不断增加,当我们看到汽车在给人类带来巨大利益的同时,也要看到由于道路拥挤、汽车技术性能不完备,加上司机"超载行车、 疲劳驾驶、酒后开车,超速、抢道、长时间占道行驶"等,或在对路况、地形不熟悉的情况下仍不提高警惕等原因所引发的"翻车、车撞车、车撞人"等恶性交通事故时有发生, 确实酿成了许多人间悲剧。 However, with the increase in car ownership, when we see the car in enormous benefits to mankind, we should also see that due to road congestion, incomplete performance automotive technology, plus the driver "overload driving, fatigue driving, drink-driving, speeding, grab Road, a long lane "and the like, or in the case of vigilance is still on the road, are not familiar with the terrain and other reasons caused by" rollover car crash, the car gave the driver a "vicious traffic accidents have occurred, it does lead to a lot of human tragedy. 美国交通部提供的研究数据表明:在美国发生的机动车相撞事故中大约23%是由追尾事故引发的:戴姆勒-克莱斯勒汽车制造公司对50000起8吨以上重型卡车发生的交通意外进行了统计,其中有48469起是因为驾驶员精力不集中导致汽车偏离车道所致。 US Department of Transportation to provide research data shows that: About 23% of rear-end accidents caused by motor vehicle crash occurred in the United States: Daimler - Chrysler manufacturing company for more than eight tons of traffic accidents occurred 50,000 heavy trucks were from statistics, of which 48,469 since the driver is unable to focus because the lead car veering off the road due. 汽车偏离自己的行车道以后,可能发生追尾、车-车侧撞、刮伤,也可能伤人或发生翻车事故,因而如何防止汽车偏离正常行车道、长时间占道、抢道以及超速行驶, 必须引起人们的高度重视。 Deviate from his car lane after the possible rear-end the car - the car side impact, scratches, also may hurt or rollover accidents occur, and thus how to prevent the car deviated from the normal carriageway, long lane, lane change and speeding, It must draw people's attention. 为了减少追尾造成的损失,确保自身车辆的安全,人们在车的前后方安装了保险杠,在一定程度上减少了自身的损失,但这种方法是被动的,无法主动避免追尾;随着电子技术的发展,近年来有人发明了倒车告警装置等,但这装置一般是用在会车、泊车时, 一般说来并不能有效解决追尾、侧撞等问题,至于能全面预防车-车相撞、 人-车相撞、车-车侧碰/侧刮的技术至今尚未见到。 In order to reduce the losses caused by rear-end, ensure the safety of their vehicles, people in the front and rear of the bumper side installation, reduced its losses to some extent, but this method is passive, not active to avoid rear-end; As electronic the development of technology in recent years was the invention of reversing alarm devices, etc., but this device is generally used in the car will, when parking, and in general can not effectively solve the rear-end, side-impact and other issues, as to fully prevent car - car phase hit, people - vehicles collided, the car - the car side impact / scratch the side of technology has yet to be seen. 发明内容 SUMMARY

针对现有技术的缺陷,本发明的目的就是提供一种汽车行驶安全监控系统及监控方法,这种系统和方法,可以在行驶的车辆长时间偏离自己的行车道或存在发生交通事故的危险时,发出告警,以便提醒驾驶员。 When the defects of the prior art, an object of the present invention is to provide a vehicle driving safety monitoring system and monitoring method, the system and method may be long or offset from its own lane there is a risk of traffic accidents in a vehicle traveling , issued a warning to alert the driver. 为了实现本发明的目的,本发明采用如下技术方案: To achieve the object of the present invention, the present invention employs the following technical solutions:

一种汽车行驶安全监控系统,包括车载数字图像信息获取单元和车载嵌入式计算机平台,以及通过总线与所述车载嵌入式计算机平台相接的声光告警装置,所述车载嵌入式计算机平台设有系统图像处理与决策控制单元,所述的车载数字图像信息获取单元由其内置的数码摄像装置获取车辆周围的实景图像,并生成预处理数字图像信息送给所述系统图像处理与决策控制单元,所述系统图像处理与决策控制单元对所述预处理数字图像信号进行分析处理,生成威胁种类和威胁等级信号,当威胁种类和威胁等级到达告警标准时,向所述声光告警装置发送告警指令,进行告警。 A vehicle driving safety monitoring system, comprising a vehicle information acquisition unit, and the digital image embedded onboard computer platforms, as well as sound and light alarm device by the onboard computer platform bus embedded in contact, with the on-board embedded computer platform and decision control system of the image processing unit, the digital image of the vehicle information acquisition unit by a built-in digital camera acquires a photographed image around the vehicle, and generates digital image information to the pre-processing of the image processing system and decision control unit, the image processing system and the decisions of the control unit of the pre-processed digital image signal is analyzed to generate the type of threat and the threat level signal, and when the type of threat level reaches the threat alarm criteria, an alarm instruction to send the sound and light alarm device, an alarm.

所述车载嵌入式计算机单元的总线可连接有车载显示器,所述系统图像处理与决策控制单元接收所述预处理数字图像信息后,生成矢量数字图像信息并发送至所述车载显示器显示。 The embedded computer onboard the bus unit may be connected to a vehicle-mounted display, image processing and the system control unit receives the pre-decision digital image information, the vector generating digital image information and sends it to the on-board monitor display.

所述车载嵌入式计算机单元的总线可连接车辆自身的一个或多个电控单元,所述系统图像处理与决策控制单元对其生成的威胁种类和等级信号进行判断,当威胁种类和威胁等级到达紧急避险自动控制标准时,向车辆相应的电控单元发送紧急避险自动控制指令,以控制车辆动作。 The embedded computer onboard a bus unit can be connected to one or more of the vehicle's own electronic control unit, the image processing system and the decision unit determines the control type and its threat level signal generated as the threat type and threat level reaches when the emergency automatic control standards, the emergency automatic transmission control instruction to the respective vehicle electronic control unit, to control the vehicle operation.

所述车载嵌入式计算机单元的总线可连接有移动数字通信装置,所述系统图像处理与决策控制单元对其生成的威胁种类和等级信号进行判断,当威胁种类和威胁等级到达紧急求援标准时,向所述移动数字通信装置发出紧急求援指令,启动所述移动数字通信装置依照预订的方式发送紧急求援信号。 The embedded computer onboard a bus unit may be connected to a digital mobile communication apparatus, the image processing system and its decision control unit determines the type of threat level signal and generated, when the threat type and threat level reaches the standard emergency help to the mobile digital communication device issues an instruction emergency help start the mobile communication apparatus transmits a digital signal in accordance with emergency help reservation mode.

所述的车载数字图像信息获取单元可以由若干数码摄像装置、缓冲电路、数字图像预处理模块组成,所述若干数码摄像装置可以包括一架高性能自动变焦数码摄像机和若干个数码摄像头,所述高性能自动变焦数码摄像机和数码摄像头一般均应带有遮光防护罩,其中所述的高性能自动变焦数码摄像机通过防震支架被安置在汽车的正前端,而数码摄像头则通过防震支架固定分布在汽车的前面两侧、侧面及后面,所述的数字图像预处理模块主要由设有图像预处理模块的数字信号处理芯片组成,用于进行图像失真校正、平滑滤波降噪处理、图像增强与锐化处理、边沿检测处理,以有效滤除各种干扰、减少图像失真,由自动变焦数码摄像机和数码摄像头等数码摄像装置产生的原始图像信号,通过缓冲电路送到所述数字信号处理芯片的信号进行处理,生成高保 The vehicle information acquisition unit may be a digital image by a number of digital imaging devices, a buffer circuit, the digital image pre-processing module, the digital imaging device may include a plurality of a high-performance digital camera auto-focus and a plurality of digital cameras, the High-performance automatic zoom digital cameras and digital video cameras with a light shielding hood shall Usually, wherein the high-performance automatic zoom digital camera is placed in the front end of the car by the positive shock mount, while the digital camera through the bracket in the automotive shock both of the front, side and rear, the digital image pre-processing module is provided with the image preprocessing module mainly composed of a digital signal processing chips, for performing image distortion correction, smoothing the noise reduction processing, image enhancement and sharpening processing, edge detection processing, in order to effectively filter out all the obstacles to reduce image distortion, the original image signal generated by the automatic zoom digital cameras, digital video cameras and digital imaging means to said digital signal processing chip through the buffer circuit processing, generates a high security 数字图像数据,然后通过CAN/LIN总线和串口RS-232送入车载嵌入式计算机平台的系统图像处理与决策控制单元做进一歩处理。 Digital image data, and then sent to the onboard computer platform embedded image processing system built into the control unit and a decision making process by ho CAN / LIN bus and serial RS-232.

所述系统图像处理与决策控制单元可以包括视频图像主处理模块、图像显示控制模块、 威胁优先级处理模块、系统决策控制模块,所述的视频图像主处理模块通过总线接收车载数字图像信息获取单元输出的预处理数字图像信息,处理后生成所述的矢量数字图像,并将该矢量数字图像信息分别送给图像显示控制模块和威胁优先级处理模块,以便进行图像显示和威胁种类和威胁等级判定,威胁优先级处理模块从矢量数字图像中提取威胁种类和威胁等级信息,并将该信息一路送至所述车载显示器进行威胁种类和威胁等级的显示,一路送至所述系统决策控制模块进行处理,所述系统决策控制模块将所述威胁种类和威胁等级数据同预设的威胁处理方案数据库的数据进行比较,生成与该威胁种类和威胁等级相应的所述告警、紧急避险自动控制和紧急求援指令。 The image processing system and decision control unit may comprise a video image of the main processing module, an image display control module, threat priority handling module, system decision control module, the main processing module of the video image acquiring unit receiving via a bus onboard digital image information pre-processing the digital image information output, processing for generating the digital image of the vector, and the vector information are the digital image to the image display control module and a threat priority handling module, for image display and the threat type and threat level determination , threat priority processing module extracts the threat type and threat level vector from the digital image information, and the information is sent all the way to the in-vehicle display threat type and threat display level, all the way to said system control module for processing decision the system decision control module to the threat type and threat level data are compared with data pre-processing scheme threat database, generated corresponding to the threat type and threat level to the alarm, the automatic control of the emergency and emergency help command.

所述的图像显示控制模块设有基于象素与屏幕尺寸关系的车载显示器分区控制程序和图像显示控制程序。 The image display control module is provided with vehicle-based relationship between the pixel and screen size of a display control program partition and the image display control program. 在所述车载显示器分区控制程序的支持下,把车载显示器分为主显示区、威胁参数显示区、汽车图标显示区和触摸键盘显示区;在所述图像显示控制程序的支持下,对来自视频图像主处理模块与威胁优先级处理模块的输出数据信息进行识别和分类, 将识别分类后的矢量数字图象数据送到车载显示器的主显区进行图象显示,将威胁优先级属性参数数据送到威胁参数显示区进行表格显示,或根据人机对话命令对所显示的图像进行无级縮放、平移、滚动、任意角度旋转和/或动态更新处理。 In support of the partition board display control program, the display area is divided into main-board display, the threat parameter display area, the car icon display region and the touch keyboard display area; support display control program in the image, from a pair of video a main image processing module to identify and classify the threat priority data processing module outputs the vector to the identified digital image data to classify the main display area of ​​the display vehicle for image display, the threat priority attribute parameter data transmission parameter display area to the threat of a table display or interactive command according to the displayed image stepless zoom, pan, scroll, rotated at any angle and / or dynamic update process.

本系统还可以设有人机对话装置,所述人机对话装置与所述车载嵌入式计算机平台相互通信,向所述车载嵌入式计算机平台输入人工命令。 The system may be provided with man-machine dialogue means, said interactive communication apparatus with each other and the vehicle embedded computer platform, an artificial input command to the onboard computer platform embedded. 作为一个优选的实施例,所述人机对话装置可以由一组软件触摸开关组成,这些软件触摸开关与所述车载显示器集成为一体, 形成一个车载显示器和人机对话装置的组合。 As a preferred embodiment, the interactive device may be a touch switch composed by a set of software, the software touch switch integrated with the display-board integrally formed combination of a vehicle and interactive display apparatus. 所述人机对话装置也可以采用其他触摸屏或键盘等。 The interactive apparatus may also be employed other touch screen or keyboard.

一种汽车行驶安全监控系统的监控方法,该方法包括如下几个主要步骤: A vehicle driving safety monitoring system monitoring method, the method includes the following main steps:

(1) 用系统的车载数码摄像装置获取车辆周围道路等的实景图像并进行预处理,得出车辆周围实景的高保真数字图象; (1) Get roads surrounding the vehicle with the vehicle-mounted digital camera system and a real image preprocessing, image fidelity digital real stars around the vehicle;

(2) 将车辆周围的实景高保真数字进行主处理,得出本车周围的矢量数字图像; (2) around the high-fidelity digital real vehicle main processing, the digital image derived vectors present around the vehicle;

(3) 从所述本车周围的矢量数据图像中提取出车道线、周围其他车辆或障碍物等目标与本车的相对位置信息,以本车边沿离周围目标种类以及距目标图像边沿的距离大小为判据,对该车目前的安全性给出种类和等级描述; (3) extracting the vector data from the image around the present vehicle position information relative lane line, around an obstacle such as another vehicle or object and the vehicle, the vehicle to the edge of the image distance to the target from the edge and around the target species size criterion, the current safety car given the type and level descriptors;

(4) 在出现烕胁的情况下,根据威胁种类和威胁等级进行相应的告警、紧急自动避险控制和/或紧急求援。 (4) In the event of the threat Xue, corresponding alarm according to the threat type and threat level, the automatic emergency risk control and / or emergency help.

所述步骤(1)的具体过程主要是: (1.1)采用车载数码摄像装置获取本车周围包括车道边界线、前后车辆、以及其他行 Said step (1) of the specific procedure are: (1.1) The digital camera acquires vehicle around the vehicle includes a lane boundary line, front and rear of the vehicle, and the other row

车标志在内的目标景物的原始图象; Car flags, including the original image target scene;

(1. 2)对目标景物的原始图象进行处理,包括图像失真校正、平滑滤波降噪处理、图像增强与锐化处理、边沿检测处理等,以有效滤除各种干扰,减少图像失真,得出车辆周围实景的高保真数字图象。 (1.2) on the original image of the target scene are processed, including image distortion correction, smoothing the noise reduction processing, image enhancement and sharpening, edge detection processing or the like, and can effectively eliminate various interferences, reduce image distortion, stars fidelity digital image of the vehicle surroundings real.

所述步骤(3)的具体过程主要是: Said step (3) of the specific procedure are:

(3.1) 从车辆周围目标的矢量数字图像中提取并计算出车道线、周围其他车辆或陣碍物等目标的边沿与本车边沿之间的距离,并以此为判据,对该车目前的威胁种类和威胁等级给出定量描述; (3.1) vector extracted from the digital image of the vehicle surroundings and the target lane line is calculated, the distance between the edge of the object or other vehicle around the front obstacle and the vehicle rim, and the like, and as a criterion for the current car the type of threat and the threat level give a quantitative description;

(3.2) 对照预设的威胁处理方案数据库,判断在本车目前所处的威胁种类和威胁等级 (3.2) controls the default threat database processing program to determine the type of threat in the vehicle and which the current threat level

下,是否需要进行告警、紧急避险自动控制和/或紧急求援,如需要,发出相应的指令,控制相应的装置做相应的动作,其中所述告警、紧急避险自动控制和紧急求援釆用下列方式 Next, the need for an alarm, automatic control of the emergency and / or emergency for help, if necessary, issue the appropriate commands, the control means make the respective corresponding action, wherein the alert, the emergency control and automatic emergency help preclude the use of the following ways

进行: get on:

(a)向车载显示器发送威胁种类和烕胁等级显示指令,由车载显示器显示出威胁种类和威胁等级信息: (A) the type of threat and transmit Xue threat level display instruction to the vehicle-mounted display, showing the type of threat and the threat level by the board display information:

(b) 向车辆自身的相应电控单元发出紧急避险自动控制指令,通过电控单元控制车辆做相应的紧急避险动作; (B) issue a command to the emergency automatic control respective electronic control unit of the vehicle itself, the control of the emergency vehicle accordingly operated by the electronic control unit;

(c) 向移动数字通信装置发送紧急求援指令,启动移动数字通信装置依照预设的方式向外界(例如,公安交通管理中心)发出紧急求援信号。 (C) transmitting emergency help instructions to the mobile digital communication device, a mobile digital communication device start an urgent call for help to the outside world (e.g., Traffic Control Center) in accordance with a predetermined manner.

由于本发明可以通过系统的自动处理,在长时间偏离自己的行车道、或临近由其他车辆或障碍物的情况下,可以自动告警,并将威胁显示在显示器上,可以使驾驶员避开危险, 有效地避免因驾驶员疏忽造成的事故,同时在必要时还可以自动控制车辆进行紧急避险, 并自动发出紧急求援信号,使出现事故的可能性降得更低。 Since the present invention can, in its deviation from the traffic lane for a long time, or a case where another vehicle approaching the obstacle or may be automatically processed by an automatic alarm system, and the threat on the display, the driver can avoid dangerous effectively prevent accidents caused by driver negligence, where necessary, at the same time can automatically control the emergency vehicle and automatically send out an emergency signal for help, the possibility of an accident drop even lower. 附图说明 BRIEF DESCRIPTION

图1是本发明系统一个实施例的简化示意图: 图2是本发明系统的另一个实施例的示意图: 1 is a simplified schematic diagram of a system according to the present embodiment of the invention: FIG. 2 is a schematic view of another embodiment of the present invention, the system:

图3是本发明系统数码摄像装置的一种安装位置的示意图; 图4是本发明系统图像处理与决策控制单元的组成方框图; 图5是在动态坐标系下威胁判别参量的计算示意图; FIG 3 is a schematic diagram of a mounting position of the digital camera system of the present invention; FIG. 4 is a block diagram showing the composition of an image processing system and decision control unit of the invention; FIG. 5 is a schematic view of determining parameters calculated threat in the moving coordinate system;

图6是系统制定控制决策的过程详细流程图。 FIG 6 is a system control decision making process detailed flowchart.

具体实施方式 detailed description

参见图1和图2,所述车载数字图像信息获取单元l包括其内置的数码摄像装置,所述 Referring to FIGS. 1 and 2, the onboard digital image information acquisition unit l includes a built-in digital camera, the

数码摄像装置获取车辆周围的实景图像,经预处理后通过总线送给所述系统图像处理与决 Digital imaging apparatus acquires a photographed image around the vehicle, after the pretreatment system to the image processing and decision by a bus

策控制单元5进行处理,从中提取出周围目标(例如车道线、周围其他车辆或障碍物等限制或妨碍车辆行驶的目标)与本车的相对位置信息,并以此为判据对本车所受威胁等级进行判定、继而据此制定出控制决策,发出相应的指令,由所述车载嵌入式计算机平台2分别将决策结果(指令或信息)通过控制总线交给所述车载显示器3、声光告警装置6、电控单元7或车载数字移动通信装覽8,或进行威胁等级显示、或发出声光告警,或通过一组电控单元迅速改变汽车的运动状态,以便使本车迅速脱离危险区;需要时,所述系统决策控制模块将通过车载嵌入式计算机平台直接控制车载数字移动通信装置向交管中心发出请求支援信息。 Making the control unit 5 performs the processing to extract the surrounding target (e.g. lane line, around an obstacle such as another vehicle or a vehicle traveling limit or interfere with the target) and the relative position information of the vehicle, and as a criterion of the vehicle suffered threat level determination, then control decisions thus working, issue the appropriate instructions from the embedded computer onboard the platform 2 are the results of the decision (or instruction information) to the vehicle bus 3 display, sound and light alarm by the control means 6, the vehicle-mounted electronic control unit 7 or 8 laid digital mobile communication apparatus, or threat level display, or audible alarm, or rapidly changing motion state of the vehicle by a set of electronic control unit, so that the vehicle rapidly danger zone ; if desired, the system decision control module to directly control the vehicle through the onboard digital mobile communication apparatus embedded computers request assistance information to the traffic control center.

参见图3,所述数码摄像机自动变焦数码摄像机及数码摄像头在汽车上的分布方式应保证获得本车周围的完整图像,图2所示的实施例设有一个高性能自动变焦数码摄像机,安装在车辆的正前端,这是影响车辆行驶(或危险来源)的主要方向,5个成本低廉的数码摄像头1.2、 1.3、 1.4、 1.5和1.6分布在车的周围。 Referring to Figure 3, the digital video camera auto-zoom digital cameras and digital cameras in a distributed manner on the vehicle shall be guaranteed full image around the vehicle, the embodiment is provided with a high-performance automatic zoom digital cameras shown in FIG. 2, mounted positive front end of the vehicle, which is the primary influence driving direction of the vehicle (or a source of danger), and five low-cost digital cameras 1.2, 1.3, 1.4, 1.5 and 1.6 are distributed around the vehicle.

由于对行车进行安全监控需要信息支援,考虑到图像信息容易获得,而且造价便宜,所 Because of the traffic information needed for security monitoring support, taking into account the image information is readily available and inexpensive to, the

以本发明以道路的图像作为信息源。 In the present invention, the image of the road as the information source. 优选的,所述车载数字图像信息获取单元1可以由一架高性能自动变焦数码摄像机、若干数码摄像头、缓冲电路、数字图像信号预处模块构成, 自动变焦数码摄像机和数码摄像头都带有遮光防护罩;自动变焦数码摄像机通过防震支架被安置在汽车的前端,而数码摄像头则通过防震支架,分别被固定在汽车的前面、侧面及后面;数字图像预处理模块由专用数字信号处理芯片,该芯片设有一组图像预处理模块软件,用于进行图像失真校正、平滑滤波降噪处理、图像增强与锐化处理、边沿检测处理等处理,其作用是有效滤除各种干扰、减少图像失真,以便为安全监控提供更准确、可靠的依据。 Preferably, the vehicle-mounted digital image information acquisition unit 1 may automatically zoom digital camera, a digital camera, a number, a buffer circuit, the digital image signal preprocessing module consists of a high-performance, automatic zoom digital cameras and digital cameras have a light-shielding protection with cover; automatic zoom digital camera is positioned by shock mounts at the front end of the car, while the digital camera through the shock mounts, are fixed at the front, sides and back of the car; digital image pre-processing module is composed of a dedicated digital signal processing chip, the chip image preprocessing module is provided with a set of software for image distortion correction, smoothing the noise reduction processing, image enhancement and sharpening, edge detection processing process, whose role is to effectively filter all kinds of interference, reduce image distortion, in order to provide more accurate and reliable basis for security monitoring.

由自动变焦数码摄像机和数码摄像头等数码摄像装置送来的原始图像信号,通过缓冲电路送到所述数字信号处理芯片的信号输入端,交由所述数字图像预处理模块进行处理,以得出高保真数字图像数据,然后通过控制总线CAN/LIN和串口RS-232送给车载嵌入式计算机平台的视频图像主处理模块做进一步处理。 Original image signal sent from the automatic zoom digital cameras, digital video cameras and digital camera, through a buffer circuit to said signal input digital signal processing chip, referred to the digital image pre-processing module is processed to obtain high-fidelity digital image data, and then via the control bus CAN LIN and serial RS-232 to the / main video image processing module embedded computer onboard the platform for further processing. 顺便提及,对原始图像进行预处理是非常必要的,这是因为,虽然以图像为信息源较简单、便宜,但由于摄像头与目标的位置关系易带来失真、热噪声、光污染以及其他千扰,这些因素有时是很严重的,因而必须先把这些无用乃至破坏性的信息去掉,这就是为什么先要进行预处理的原因。 Incidentally, the original image pre-processing is necessary because, although the image as a source of information is relatively simple, inexpensive, but because of the positional relationship between the camera and the target's easy to bring distortion, thermal noise, light pollution, and other one thousand interference, these factors are sometimes very serious, and therefore useless or even damaging information must first be removed, which is why the cause must first be pretreated.

参见图4,在系统图像处理与决策控制单元中,数字信号处理芯片5受系统工作协调服务软件的协调控制,包括视频图像主处理模块5.1、图像显示控制模块5.2、威胁优先级处 Referring to Figure 4, the decision control system and the image processing unit, digital signal processing chip coordinated control system 5 by the coordination of service software, including video image of the main processing module 5.1, the image display control module 5.2, threat priority at

12理模块5. 3、系统决策控制模块5. 4,所述视频图像主处理模块5. 1通过总线接收车载数字图像信息获取单元1输出的预处理图像信息,经其处理得出本车周围的矢量数字图像后, 分别送给图像显示控制模块5. 2和威胁优先级处理模块5. 3进行图像显示和威胁种类和威胁等级的判定处理,当威胁优先级处理模块5. 3从矢量数字图像中提取出威胁等级信息后, 一路送车载显示器3进行威胁等级显示, 一路送给所述系统决策控制模块5.4进行处理, 并根据威胁等级制定出系统的控制决策,发出相应的指令。 5.3 processing module 12, system decision control block 5.4, the main video image output processing module 5.1 acquiring unit 1 through a bus onboard digital image information receiving pre-processed image information obtained through its processing around the vehicle after the vector digital image, respectively, to the image display control module 5.2 and a threat priority handling module 5.3 for image display and the threat type and threat level determination process, when the threat prioritization module vector number from 5.3 after the image information extracted threat level, all the way to send the threat level 3 board monitor display, the system all the way to the control module 5.4 decision processes, and to develop a control system according to threat level decisions, issue the corresponding commands.

决策实现的过程是:通过车载嵌入式计算机平台1将系统决策控制模块5. 4输出的控制信息,通过控制总线交给所述车载显示器3、声光告警装置6、各有关的电控单元7或车载数字移动通信装置,或进行威胁等级显示、或发出声光告警,或通过一组电控单元(使控制机械装置刹车、改变行驶方向及行车速度)迅速改变汽车的运动状态,以便使本车迅速脱离危险区。 Decision process is achieved: by a control system decision information outputted from the control module 5.4 vehicle embedded computer platform through a control bus to the 3, sound and light alarm means 6, the electronic control unit of the relevant board monitor 7 or car-mounted digital mobile communication apparatus, or threat level display, or audible alarm, or through a set of electronic control unit (so that the control mechanism brakes, change direction and travel speed) rapidly changing the movement state of the vehicle, so that the present car quickly out of danger zone. 霈要时,系统决策控制模块5.4将通过车载嵌入式计算机平台1直接控制车载数字移动通信装置8向交管中心发出请求支援信息。 To Pei, 5.4 system decision control module to directly control the vehicle through the onboard digital mobile communication apparatus embedded computer platform 18 request assistance information to the traffic control center.

所述车载显示器3采用分区显示的方式显示不同的内容,这样有利于观察。 3 by way of the in-vehicle display a display region display different content, it is a good observation. 所述车载显示器分区包括主显区、威胁等级属性及威胁图标显示区、汽车图标显示区和触摸键盘显示区,主显区以背景方式显示道路的矢量数字图像,威胁等级属性及威胁图标显示区以表格叠加方式显示威胁等级属性参数(威胁种类和威胁等级等),汽车图标显示区以增辉叠加方式把汽车图标显示在背景图象上(主显区下方中央),触摸键盘显示区集成有触摸屏,用以进行人机对话,这样用可以减少车载显示器的数量。 The partition includes a main board display region significant threat and the threat level attribute icon display area, the car icon display region and the touch keyboard display area, the main display area displaying digital images vector path in the background mode, and the threat level threat attribute icon display region display threat level attribute parameters to form overlay mode (threatened species and the threat level, etc.), car icon display area to thespians superimposed way the car icon is displayed on the background image (center below the main display area), the touch keyboard and display area integrated with a touch screen for man-machine dialogue, so that by reducing the number of on-board display. 作为一个优选的实施方式,主显区位于车载显示器的右方,面积约占全屏幕的2/3,威胁参数显示区位于车载显示器的左上角, 面积约占全屏幕的1/6,汽车图标显示区位于主显区之内,其面积大小由图标而定,触摸键盘显示区位于车载显示器的右下角,面积约占全屏幕的1/6。 As a preferred embodiment, the main display area is located to the right car display, the area accounts for about two-thirds of full-screen, threats parameter display area is located in the upper left corner of the display-board, full-screen area of ​​about 1/6, car icon located within the display area of ​​the main display area, the area by the size of the icon, a touch keypad at the bottom right-board display region of the display, full-screen area of ​​about 1/6.

图像的显示主要由图像显示控制模块5. 2完成,它设有一基于象素与屏幕尺寸关系构建的图像显示控制专用程序,用于对车载显示器分区和对图像显示控制处理程序。 The main image is displayed by the image display control module 5.2 is completed, which is provided with a constructed image pixel and the display control based on the relationship between the screen size dedicated program for on-board display, and partitioning of the image display control processing program. 其实施方式为,首先建立显示坐标系,即以车载显示器屏幕的左上角为坐标原点,根据车载显示器的屏幕大小,用象素与屏幕尺寸的对应关系,得出满幅显示所需的象素数及每行/列应有的象素数;然后根据上述规定在不同位置对屏幕进行开窗,并分别命名为所述的显示区。 As embodiments thereof, first create the display coordinate system, i.e. car to the upper left corner of the display screen as the origin of coordinates, according to the screen size of the vehicle-mounted display, a correspondence relationship between pixels of the screen size, display the desired full scale obtained pixel and every number of rows / columns of pixels proper; then screen window at different positions in accordance with the above, and were designated as the display area. 所谓显示处理与控制,首先是基于同样的方法(把各区视为一个小车载显示器),把要显示的内容送往该区域,如果需要,就用象素尺寸处理、页面处理和数据更新技术,对所显示的内容进行无级縮放、平移、滚动、任意角度旋转、动态更新等。 The so-called display control processing, first of all based on the same method (the district as a small-board monitor), the content to be sent to the display region, if necessary, with a pixel size on the handling, processing and page data updating techniques, the content of the displayed steplessly zoom, pan, scroll, rotation at any angle, dynamic updates. 该软件接收的数据是视频图像主处理模块5.1与威胁优先级处理模块5. 3输出的信息;所述的图像显示控制处理软件,将送显的图像数字信息进行识别、分类,并将已识别分类后的道路矢量数字图象数据送到主显区进行图象显示,将威胁优先级属性参数数据送到威胁参数显示区,进行表格显示,在人机对话或所述系统工作协调服务软件的控制下,所述图像显示控制处理软件视频图像主处理模块还可以对于主显区所显示的内容进行无级缩放、平移、滚动、任意角度旋转、动态更新处理等,满足不同的显示要求,以方便司机观察路况图像。 The software receives the data information is 5.1 threat priority handling module outputs a video image of the main processing module 5.3; the display image processing software control, to send the digital image information explicitly identify, classify, and identified vector road classification digital image data to the main display area for image display, the threat priority attribute parameter data to the threat parameter display area, a table display, coordination or service software in the man-machine dialogue system under the control of the image display control video image processing software can also be the primary processing module to display the contents of the main display area of ​​the stepless zoom, pan, scroll, rotation at any angle, the dynamic update process, to meet the requirements of different display to easy to observe the road conditions the driver image.

作为执行控制决策的组成部分,电控单元组电控单元也是一重要组成部分,因此有必要做点介绍。 As part of the implementation of control decisions, the electronic control unit electronic control unit is a group of important part, it is necessary to do some introduction. 这里,电控单元组电控单元7主要包括制动电控单元、牵引力电控单元、自动变速电控单元、电子动力转向电控单元,它们在系统工作协调服务软件的协调下,由所述车载嵌入式计算机平台通过系统控制总线,直接把所述系统决策控制模块输出的控制信息, 送到每个电控单元的控制信息处理器进行处理,生成与其对应受控机械装置所需的控制信号使其产生相应的动作,改变汽车的运动状态和运动参数。 Here, the electronic control unit sets the main electronic control unit 7 includes a brake electronic control unit, the traction electronic control unit, the automatic transmission electronic control unit, an electronic power steering electronic control unit, that, in coordination coordination service system software, by the onboard computer platform embedded system control bus, the control information directly to the decision of the system control module output, to the control information of each processor for processing the electronic control unit generates a control signal corresponding to the desired controlled mechanical means to produce the corresponding action, and changing the movement state of the vehicle motion parameters.

本发明还给出了本发明所示的汽车行驶安全监控系统的监控方法,该方法包括如下几个主要步骤: The present invention also gives a monitoring method of the present invention shown in cars with safety monitoring system, the method includes the following main steps:

(1) 用系统的车载数码摄像装置获取车辆周围道路等的实景图像并进行预处理,得出车辆周围实景的高保真数字图象-, (1) Get roads surrounding the vehicle with the vehicle-mounted digital camera system and pre-photographed image, the digital image of the vehicle surrounding obtain high fidelity of real -,

(2) 将车辆周围的实聚高保真数字进行主处理,得出本车周围的矢量数字图像-, (2) the solid polyethylene fidelity digital around the main processing for the vehicle, around the host vehicle obtained digital image vector -,

(3) 从所述本车周围的矢量数据图像中提取出车道线、周围其他车辆或障碍物等目标与本车的相对位置信息,以本车边沿离周围目标种类以及距目标图像边沿的距离大小为判 (3) extracting the vector data from the image around the present vehicle position information relative lane line, around an obstacle such as another vehicle or object and the vehicle, the vehicle to the edge of the image distance to the target from the edge and around the target species size is sentenced

据,对该车目前的安全性给出种类和等级描述; According to, the current safety car given the type and level descriptors;

(4) 在出现威胁的情况下,根据威胁种类和威胁等级进行相应的告警、紧急自动避险控制和/或紧急求援。 (4) In the event of a threat, the corresponding alarm level according to the threat type and threat, automatic emergency risk control and / or emergency help.

所述步骤U)的具体过程主要是: (1.1)采用车载数码摄像装置获取本车周围包括车道边界线、前后车辆、以及其他行车标志在内的目标衆物的原始图象; Said step U) Specific processes are: (1.1) The vehicle-mounted image pickup means for acquiring an original digital image around the vehicle includes a lane boundary line, front and rear of the vehicle, traffic signs and other objectives, including the public thereof;

(1. 2)对目标景物的原始图象进行处理,包括图像失真校正、平滑滤波降噪处理、图像增强与锐化处理、边沿检测处理等,以有效滤除各种干扰,减少图像失真,得出车辆周围实景的高保真数字图象。 (1.2) on the original image of the target scene are processed, including image distortion correction, smoothing the noise reduction processing, image enhancement and sharpening, edge detection processing or the like, and can effectively eliminate various interferences, reduce image distortion, stars fidelity digital image of the vehicle surroundings real.

所述步骤(3)的具体过程主要是- Said step (3) of the specific process is mainly -

(3.1) 从车辆周围目标的矢量数字图像中提取并计算出车道线、周围其他车辆或降碍物等目标的边沿与本车边沿之间的距离,并以此为判据,对该车目前的威胁种类和威胁等级给出定量描述; (3.1) vector extracted from the digital image of the vehicle surroundings and the target lane line is calculated, the distance between the edge of the other vehicles around the target obstacle or the like and lowering the vehicle rim, and as a criterion for the current car the type of threat and the threat level give a quantitative description;

(3.2) 对照预设的威胁处理方案数据库,判断在本车目前所处的威胁种类和威胁等级下,是否需要进行告警、紧急避险自动控制和/或紧急求援,如需要,发出相应的指令,控制相应的装置做相应的动作,其中所述告警、紧急避险自动控制和紧急求援采用下列方式进行: (3.2) control processing program preset threat database, determines the type of threat and the vehicle in which the current threat level, the need for an alarm, automatic control of the emergency and / or emergency for help, if necessary, issue the appropriate instructions control means make the respective corresponding action, wherein the alert, the emergency and emergency help automatically control the following way:

(a) 向车载显示器发送威胁种类和威胁等级显示指令,由车载显示器显示出威胁种类和威胁等级信息; (A) the type of threat and the threat level transmission instruction to the display board display showing the type of threat and the threat level by the board display information;

(b) 向车辆自身的相应电控单元发出紧急避险自动控制指令,通过电控单元控制车辆做相应的紧急避险动作; (B) issue a command to the emergency automatic control respective electronic control unit of the vehicle itself, the control of the emergency vehicle accordingly operated by the electronic control unit;

(c) 向移动数字通信装置发送紧急求援指令,启动移动数字通信装置依照预设的方式向外界(例如,公安交通管理中心)发出紧急求援信号。 (C) transmitting emergency help instructions to the mobile digital communication device, a mobile digital communication device start an urgent call for help to the outside world (e.g., Traffic Control Center) in accordance with a predetermined manner.

参见图5,系统决策控制单元对威胁制定告警与控制决策、以及通过车载显示器显示道路的矢量数字图象时,可以采用所谓"动态坐标系"。 When Referring to Figure 5, the system control unit decision threat warning and the development control decisions, and displaying a digital image of a road by the vector car display, may be employed a so-called "dynamic coordinate system." 该坐标系是这样规定的:以本车车身的纵轴为x轴、且车辆的前进方向为该轴的正方向,以车身的横轴为y轴、且该轴的正方向符合右手蠊旋定则,而车辆的几何中心永远与坐标系的原点重合这样的坐标系。 The coordinate system is defined: the longitudinal axis of the vehicle body as the x-axis, and the forward direction of the vehicle for the positive direction of the axis, the horizontal axis is the y-axis of the vehicle body, and the positive direction of the rotation axis in line with the right hand cockroach it is set, and the geometric center of the vehicle always coincides with the coordinate origin of such coordinate system. 这种坐标系特别便于司机通过车载显示器对本车周围景物图像的观察。 This particularly facilitates the coordinate system board display driver can see the scene surrounding the vehicle through the image.

为了在这种坐标系下对系统进行控制决策,图4给出了在此动态坐标系下威胁判别参量的定义及其计算示意图。 In order to control the system in such a coordinate decision, FIG. 4 shows the definition of threat parameters determined in this coordinate system and calculate dynamic FIG. 图中P^p A^为本车的纵/横向边沿到坐标原点的垂直距离/^a/A、 A^, Ar,A/为车道左、右边界线至坐标原点的垂直距离,/^,/^为本车前后的车辆到坐标原点的垂直距离,《-A,(,)-P掘为横向误差,《=Ay(/)-P励为纵向误差A=A_/(0-Awv, (!'==。/; / = 根据此图可算出在动态坐标系下用"距离准则"做 FIG P ^ p A ^ present vehicle longitudinal / transverse edge to the vertical distance from the origin of coordinates / ^ a / A, A ^, Ar, A / is a left lane, the right boundary vertical distance from the coordinate origin, / ^, vehicle before and / ^ that the vehicle to the origin of coordinates of the vertical distance, "- a, (,) - P TUNNELING laterally error," = Ay (/) - P Li is a longitudinal error a = a _ / (0-Awv, ! ( '== /;. / = according to this view of calculating the "distance criterion" in the moving coordinate system do

判据时的判别参数计算方法。 When the judgment criterion parameter calculation method.

图6给出了系统根据上述原则判别威胁、制定控制决策的过程详细流程。 Figure 6 shows the process of threat identification system based on the above principles, the development control decision-making process in detail. 在本发明所示的一种汽车行驶安全监控系统的监控方法中,用所述的数字中的威胁优先级处理模块对该 In a vehicle monitoring method of the present invention shown with the safety monitoring system, with the threat of said digital priority handling block

车目前的安全等级(由于安全等级与威胁种类和烕胁等级均表述车辆行驶的安全性,在本 The current level of vehicle safety (due to the security threat level and the type of threat levels and Xue both expressed safety of vehicles, in this

说明书中认为这两个概念是等同的)为标识给出定量描述,主要包括如下几个具体步骤: Specification that these two concepts) to give a quantitative description identifies equivalents, mainly includes the following specific steps:

1) 提取出车道线、周围其他车辆以及其他障碍物和标志物边沿在动态坐标系中的位置信息及其动态坐标[A(o,h(()],其中下标k用于区分行车线、本车前后车辆,以及其他 1) extracts the lane line, the position information and coordinates the dynamic and other surrounding vehicles and other obstacles in the dynamic edge marker coordinate system [A (o, h (()], where the subscript k for distinguishing lane this car vehicle front and rear, as well as other

标志物、障碍物,下标i用于表示当前时间; Markers, obstacle, subscript i is used to indicate a current time;

2) 根据所述目标边沿的动态位置坐标[;c,(/,),h(0],分别计算A^、 />易,A"A,, A/,Afc,以及横向误差《-A,(《)—P掘和纵向误差《-A,(0-P鞋'= J = /,6 ); 2) The dynamic edge position of the target coordinate [; c, (/,), h (0], are calculated A ^, /> Yi, A "A ,, A /, Afc, and lateral error" -A , ( ") - P TUNNELING and longitudinal error" -A, (0-P shoes' = J = /, 6);

3) 根据误差d及《的数值及符号,结合道路的直观图象,用威胁优先级处理模块、系统决策控制模块,按下述方法给车辆当前的安全等级给出定量描述,并给出控制对策: 3) and the error d "values ​​and symbols, combined visual image of the road, with the threat priority handling module, system decision control module, in the following manner to the current level of security give a quantitative description of the vehicle, and giving control Solution:

① 当os《以及zvs《sw时,(/ = r,/; = 告警控制系统不发出告警信号,车载显示器显示的告鳘烕胁等级颜色为绿色,本车可以继续在自己的车道内安全行驶; ① When os "and zvs" sw, (/ = r, /; = alarm control system does not generate alarm signals reported pouts Xue threat level color-board monitor display is green, the vehicle can continue to drive safely in their own driveway ;

② 当《SO但lVS《Soo时,车载显示器显示的告警威胁等级颜色为黄色,声光告警装置发出柔和告警信号,告警本车司机迅速使车返自己的行车道行车; ② When "SO but lVS" when Soo alarm display board display color is yellow threat level, sound and light alarm device emits a soft alarm signal, the alarm driver of the vehicle quickly bring back his car driving lane;

③ 当o^4但《siv时,车载显示器显示的威胁等级信号为橙色,声光告警装置向本车司机发出告警提示,而且控制本车的喇叭/照明灯等,向位于本车前/后的车辆发出声光告警信号,让它们加快或降低行车速度,以免发生碰撞或追尾:④ 当rf,《0且《《Z^时,告警控制系统发出高声告警信号,车载显示器显示的威胁等 ③ When o ^ 4 but "when SIV, the threat level signal on-board monitor display emits orange, sound and light alarm device to the vehicle driver alarm notification, and the control of the vehicle horn / lights and the like, to located the vehicle front / rear vehicle audible and visual alarm signals, allowing them to speed up or reduce traffic speed to avoid rear-end collision or: threats ④ when the rf, "0 and" when "Z ^, loud alarm control system sends an alarm signal, on-board monitor display

级信号为红色,此时,系统一方面通过声光告警装置用特殊声光告诉本车司机,另一方面则通过鸣笛、亮车灯等方式,向位于本车前后的车辆发出声光告蟹提示信号,与此同时, 系统在所述系统工作协调服务软件的协调下,由所述的车载嵌入式计算机平台将系统决策控制模块输出的决策控制信息通过总线送给电控单元,通过自动控制油门的大小改变行车速度,通过刹车制动使车迅速停止行驶,或通过地盘加力系统改变车的行驶方向,使本车 Level signal is red, In this case, the optical system on the one hand by a sound and light warning means tell special acoustic driver of the vehicle, on the other hand through the whistle, etc. bright lights, audible reports to the vehicle is located in front of the vehicle crab cue, at the same time, the system under the coordination of the system software, service coordination, decision-making by the on-board embedded computer platform system decision control module output control information through the bus to the electronic control unit, by automatically changing the size of the control throttle driving speed, so that by braking the vehicle quickly stop driving, or change the vehicle traveling direction by urging site system of the present vehicle

迅速脱离危险; Quickly out of danger;

⑤ 当本车与其他车辆发生追尾、碰撞、擦伤或其他重大交通事故,以至于使本车无法继续正常行车时,所述监控告擎系统可通过车载无线通信单元及时向交管中心发出告警、求救信息。 ⑤ When the present vehicle and another vehicle rear-end collision, scratches or other major accident, so that the vehicle can not continue normal traffic, the monitoring system may report an alarm engine by a timely manner to the vehicle-mounted wireless communication unit traffic control center, help information.

Claims (8)

  1. 1、一种汽车行驶安全监控系统,包括车载数字图像信息获取单元和车载嵌入式计算机平台,以及通过总线与所述车载嵌入式计算机平台相接的声光告警装置,其中: 所述的车载嵌入式计算机平台设有系统图像处理与决策控制单元; 所述的车载数字图像信息获取单元由其内置的数码摄像装置获取车辆周围的实景图像,并生成预处理数字图像信息送给所述系统图像处理与决策控制单元; 所述系统图像处理与决策控制单元对所述预处理数字图像信号进行分析处理,生成威胁种类和威胁等级信号,当威胁种类和威胁等级到达告警标准时,向所述声光告警装置发送告警指令,进行告警,其特征在于: 所述车载嵌入式计算机单元的总线连接有移动数字通信装置,所述系统图像处理与决策控制单元对其生成的威胁种类和等级信号进行判断,当威胁种类和威胁 1, a vehicle travel safety monitoring system, comprising a vehicle information acquisition unit, and the digital image embedded onboard computer platforms, as well as sound and light alarm device by the onboard computer platform embedded bus contact, wherein: said vehicle fitted internet computer image processing system provided with the decision control unit; digital image of the vehicle information acquisition unit by a built-in digital camera acquires a photographed image around the vehicle, and generates digital image information to the pre-processing of the image processing system and decision control means; and decision of the image processing system of the control unit of the pre-processed digital image signal is analyzed to generate the type of threat and the threat level signal, and when the type of threat level reaches the threat alarm criteria, to the sound and light alarm sending alarm instruction means, an alarm, wherein: said embedded computer onboard a bus connected to the mobile unit digital communication apparatus, the image processing system and the decision unit determines the control type and its threat level signal generated when threatened species and threats 级到达紧急求援标准时,向所述移动数字通信装置发出紧急求援指令,启动所述移动数字通信装置依照预订的方式发送紧急求援信号。 When the level reaches the standard emergency help, emergency help command sent to the mobile digital communication device, said mobile digital communication device starts transmitting an emergency call for help in such manner reservation.
  2. 2、 如权利要求1所述的汽车行驶安全监控系统,其特征在于所述车载嵌入式计算机单元的总线连接有车载显示器,所述系统图像处理与决策控制单元接收所述预处理数字图像信息后,生成矢量数字图像信息并发送至所述车载显示器显示。 2, as claimed in cars with safety monitoring system according to claim 1, characterized in that said vehicle bus is connected to the embedded computer board display unit, the image processing system and decision control unit receives the digital image information pre- generating digital image information and the vector is transmitted to the onboard monitor.
  3. 3、 如权利要求1所述的汽车行驶安全监控系统,其特征在于所述车载嵌入式计算机单元的总线连接车辆自身的一个或多个电控单元,所述系统图像处理与决策控制单元对其生成的威胁种类和等级信号进行判断,当威胁种类和威胁等级到达紧急避险自动控制标准时,向车辆相应的电控单元发送紧急避险自动控制指令,以控制车辆动作。 3, as claimed in cars with safety monitoring system according to claim 1, characterized in that the bus connection element embedded computer onboard the vehicle itself, one or more electronic control unit, the image processing system and its decision control unit and generating a threat level signal type judgment, when the type of threat and the threat level reaches the emergency automatic control standards, the emergency automatic transmission control instruction to the respective vehicle electronic control unit, to control the vehicle operation.
  4. 4、 如权利要求l、 2或3所述的汽车行驶安全监控系统,其特征在于所述的车载数字图像信息获取单元可以由若干数码摄像装置、缓冲电路、数字图像预处理模块组成,所述的数字图像预处理模块主要由设有图像预处理模块的数字信号处理芯片组成,用于进行图像失真校正、平滑滤波降噪处理、图像增强与锐化处理、边沿检测处理,以有效滤除各种干扰、减少图像失真,由自动变焦数码摄像机和数码摄像头等数码摄像装置产生的原始图像信号,通过缓冲电路送到所述数字信号处理芯片的信号进行处理,生成高保真数字图像数据,然后通过CAN/LIN总线和串口RS-232送入车载嵌入式计算机平台的系统图像处理与决策控制单元做进一步处理,所述若干数码摄像装置包括一架高性能自动变焦数码摄像机和若干个数码摄像头,所述高性能自动变焦数码摄像机和数码 4, as claimed in claim l, cars with safety monitoring system of claim 2 or 3, wherein said vehicle information acquisition unit may be a digital image by a number of digital imaging device, a buffer circuit, the digital image pre-processing module, the digital image pre-processing module is provided with the image preprocessing module mainly composed of a digital signal processing chips, for performing image distortion correction, smoothing the noise reduction processing, image enhancement and sharpening, edge detection processing, in order to effectively filter out the respective species interference, reduce image distortion, the original image signal generated by the automatic zoom digital cameras, digital video cameras and digital camera, the digital signal processing chip for processing signals supplied by the buffer circuit for generating a high-fidelity digital image data, then CAN / LIN serial RS-232 bus and the vehicle embedded into the image processing system of a computer platform and decision control unit for further processing, said apparatus comprising a plurality of high-performance digital camera digital camera auto-focus and a plurality of digital cameras, the said high-performance automatic zoom digital cameras and digital 像头一般均应带有遮光防护罩,其中所述的高性能自动变焦数码摄像机通过防震支架被安置在汽车的正前端,而数码摄像头则通过防震支架固定分布在汽车的前面两侧、侧面及后面。 Shall generally like head with a light-blocking shield, wherein the high-performance automatic zoom digital camera is placed in the front end of the car by the positive shock mount, while the digital camera through the shock bracket in the automotive front sides, and side surfaces Behind.
  5. 5、 如权利要求4所述的汽车行驶安全监控系统,其特征在于所述系统图像处理与决策控制单元包括视频图像主处理模块、图像显示控制模块、威胁优先级处理模块、系统决策控制模块,所述的视频图像主处理模块通过总线接收车载数字图像信息获取单元输出的预处理数字图像信息,处理后生成所述的矢量数字图像,并将该矢量数字图像信息分别送给图像显示控制模块和威胁优先级处理模块,以便进行图像显示和威胁种类和威胁等级判定,威胁优先级处理模块从矢量数字图像中提取威胁种类和威胁等级信息,并将该信息一路送至所述车载显示器进行威胁种类和威胁等级的显示, 一路送至所述系统决策控制模块进行处理,所述系统决策控制模块将所述威胁种类和威胁等级数据同预设的威胁处理方案数据库的数据进行比较,生成与该威胁种类和威胁等级 5, as claimed in cars with safety monitoring system according to claim 4, wherein said image processing system includes a video image decision unit control main processing module, an image display control module, threat priority handling module, system decision control module, the video image obtaining unit outputs the primary processing module through a bus onboard digital image information received digital image information preprocessing, post-processing for generating a digital image of the vector, the vector and the digital image information to the image display control module respectively, and threat priority handling module, for image display and the threat type and threat level determination, the processing module extracts the threat priority vector from the threat type and threat level of the digital image information, and the information is sent all the way to the in-vehicle display threat type and a display threat level, all the way to said system control module for processing the decision, the decision control system module type and the threat data with the threat level data preset threat database processing scheme by comparing the generated threat the type and level of threat 相应的所述告警、紧急避险自动控制和紧急求援指令。 Corresponding to the alarm, and automatic control of the emergency instructions emergency help.
  6. 6、 如权利要求5所述的汽车行驶安全监控系统,其特征在于所述的图像显示控制模块设有基于象素与屏幕尺寸关系的车载显示器分区控制程序和图像显示控制程序,在所述车载显示器分区控制程序的支持下,把车载显示器分为主显示区、威胁参数显示区、汽车图标显示区和触摸键盘显示区;在所述图像显示控制程序的支持下,对来自视频图像主处理模块与威胁优先级处理模块的输出数据信息进行识别和分类,将识别分类后的矢量数字图象数据送到车载显示器的主显区进行图象显示,将威胁优先级属性参数数据送到威胁参数显示区进行表格显示,或根据人机对话命令对所显示的图像进行无级縮放、平移、滚动、任意角度旋转和/或动态更新处理。 6, as with automobile safety monitoring system claimed in claim 5, wherein said image display control module is provided with vehicle-based relationship between the pixel and screen size of a display control program partition and the image display control program, the vehicle partitioning support display control program, the display area is divided into main-board display, the threat parameter display area, the car icon display region and the touch keyboard display area; support display control program in the image, from the video image of the main processing module to identify and classify the output data threat priority handling module, the vector digital image data to identify and classify the main display area of ​​the display vehicle for image display, the threat priority attribute parameter data to display threat parameters zone table shows, interactive command or according to the displayed image stepless zoom, pan, scroll, rotated at any angle and / or dynamic update process.
  7. 7、 一种汽车行驶安全监控方法,包括如下几个主要步骤:(1)用系统的车载数码摄像装置获取车辆周围道路等的实景图像并进行预处理,得出车辆周围实景的高保真数字图象;(2) 将车辆周围的实景高保真数字进行主处理,得出本车周围的矢量数字图像;(3) 从所述本车周围的矢量数据图像中提取出车道线、周围其他车辆或障碍物等目标与本车的相对位置信息,以本车边沿离周围目标种类以及距目标图像边沿的距离大小为判据, 生成本车目前的威胁种类和威胁等级信息;(4) 根据威胁种类和威胁等级进行相应的告警、紧急自动避险控制和/或紧急求援,其特征在于:所述步骤(1)的具体过程主要是:(1.1) 采用车载数码摄像装置获取本车周围包括车道边界线、前后车辆、以及其他行车标志在内的目标景物的原始图象;(1. 2)对目标景物的原始图象进行处理, 7, a vehicle driving safety monitoring method, comprising the following main steps: (1) acquire real image of the vehicle around the road or the like with the vehicle-mounted digital camera system and pretreatment obtain high-fidelity digital real scene surrounding the vehicle of FIG. like; (2) surrounding the high-fidelity digital real vehicle main processing, the digital image derived vector around the own vehicle; (3) from the extracted lane mark around the image vector of the present vehicle, or other vehicles around relative position information of the target obstacle and the vehicle to the vehicle from the edge around the target species and the distance from the edge of the target image as a criterion, the current cost of raw threat type and threat level car information; (4) according to the type of a threat and a threat level corresponding alarm, emergency hedge automatic control and / or emergency help, characterized in that: said step (1) of the specific procedure are: (1.1) the digital camera acquires vehicle around the host vehicle lane boundary comprises original image line, front and rear of the vehicle, traffic signs and other objectives, including the scene; (. 12) original image target scene is processed, 括图像失真校正、平滑滤波降噪处理、图像增强与锐化处理、边沿检测处理等,以有效滤除各种干扰,减少图像失真,得出车辆周围实景的高保真数字图象;所述步骤(3)的具体过程主要是:(3. 1)从车辆周围目标的矢量数字图像中提取并计算出车道线、周围其他车辆或障碍物等目标的边沿与本车边沿之间的距离,并以此为判据,对该车目前的威胁种类和威胁等级给出定量描述;(3.2) 对照预设的威胁处理方案数据库,判断在本车目前所处的威胁种类和威胁等级下, 是否需要进行告警、紧急避险自动控制和/或紧急求援,如需要,发出相应的指令,控制相应的装置做相应的动作,其中所述告警、紧急避险自动控制和紧急求援采用下列方式进行:(a) 向车载显示器发送威胁种类和威胁等级显示指令,由车载显示器显示出威胁种类和威胁等级信息;(b) 向车 Including image distortion correction, smoothing the noise reduction processing, image enhancement and sharpening, edge detection processing or the like, and can effectively eliminate various interferences, reduce image distortion, high-fidelity digital images obtained in real vehicle surroundings; said step (3) the specific process are: (. 31) extracted from a digital image of the vehicle around the target vector and the calculated distance between the edge of the lane line, around an obstacle such as another vehicle or object with the edge of the vehicle, and as a criterion for the car and the current threat level of threat categories give a quantitative description; (3.2) controls the predetermined processing scheme threat database, the vehicle is determined at which the current threat type and threat level, the need for an alarm, automatic control of the emergency and / or emergency for help, if necessary, issue the appropriate commands, the control means make the respective corresponding action, wherein the alert, the emergency control and automatic emergency help following way :( a) transmitting to the threat type and threat level board monitor display instruction, the display displays the vehicle and the type of threat level information threats; (b) the vehicle 自身的相应电控单元发出紧急避险自动控制指令,通过电控单元控制车辆做相应的紧急避险动作;(c) 向移动数字通信装置发送紧急求援指令,启动移动数字通信装置依照预设的方式向外界发出紧急求援信号。 Own respective electric control unit automatically controls the emergency command sent by the electronic control unit controls the emergency vehicle operation accordingly; (c) instructions to send emergency help mobile digital communication device, a mobile digital communication apparatus starts in accordance with a preset way issued an urgent call for help to the outside world.
  8. 8、如权利要求7所述的汽车行驶安全监控方法,其特征在于所述对威胁种类和威胁等级的分析主要包括如下几个具体步骤:(3. 1)从所述矢量数字图中提取出车道线、周围其他车辆以及其他障碍物和标志物边沿在动态坐标系中的位置信息及其动态坐标[^(/,),h("],其中下标k用于区分行车线、本车前后车辆,以及其他标志物、障碍物,下标i用于表示当前时间;(3.2)根据所述目标边沿的动态位置坐标[A(r,),h(O],分别计算本车的纵/横向边沿到坐标原点的垂直距离/9,w、 yO,v,车道左、右边界线至坐标原点的垂直距离/^,A,,本车前后的车辆到坐标原点的垂直距离/V,A"车道宽度及前后车辆间的安全距离n;、 以及横向误差《^A(0-P掘和纵向误差《-P,(0-P揚'("";(3.3)根据误差d及4的数值及符号,结合道路的直观图象,用威胁优先级处理模块、 系统决策控制模块,按下述 8, as claimed in cars with safety monitoring method according to claim 7, wherein said analysis of the threat and the threat level type mainly includes the following specific steps: (. 31) is extracted from the vector numbers in the figures coordinate position information and dynamic lane mark around obstructions and other vehicles, and other markers in the moving coordinate system rim of [^ (/,), h ( "], where the subscript k for distinguishing lane, the vehicle front vehicle, as well as other markers, obstacle, subscript i is used to indicate a current time; (3.2) based on the dynamic position coordinates of the target edge [a (r,), h (O], respectively, of the vehicle longitudinal calculated the vertical distance / lateral edge to the vertical distance from the origin of coordinates / 9, w, yO, v, left lane, the right boundary vertical distance to the origin of coordinates / ^, a ,, vehicle before and after the vehicle to the origin of coordinates / V, a "safe distance between the front and rear of the vehicle and the lane width n ;, and a lateral error" ^ a (0-P and the longitudinal leg error "-P, (0-P Y '(" "; (3.3) the error of 4 d and values ​​and symbols, combined visual image of the road, with the threat priority handling module, system decision control module, according to the following 法给车辆当前的安全等级给出定量描述,并给出控制对策-① 当0《《以及Z^S《Soo时,U = r,/; 7 = /》)告警控制系统不发出告警信号,车载显示器显示的告警威胁等级颜色为绿色,本车可以继续在自己的车道内安全行驶;② 当《SO但化,^《、oo时,车载显示器显示的告警威胁等级颜色为黄色,声光告警装置发出柔和告警信号,告警本车司机迅速使车返自己的行车道行车;③ 当0S《但《Si^时,车载显示器显示的威胁等级信号为橙色,声光告警装置向本车司机发出告警提示,而且控制本车的喇叭/照明灯等,向位于本车前/后的车辆发出声光告警信号,让它们加快或降低行车速度,以免发生碰撞或追尾;④ 当《S0且《Si^时,告警控制系统发出高声告警信号,车载显示器显示的威胁等级信号为红色,此时,系统一方面通过声光告警装置用特殊声光告诉本车司机 The current method to give a quantitative description of the security level of the vehicle, and when a given control strategy -① 0 "" and Z ^ S "Soo time, U = r, /; 7 = /") warning alarm signal is not the control system, alert threat level color-board monitor display is green, the vehicle can continue to drive safely within their lane; ② when "SO but of, ^", oo, the alert threat level color-board monitor display is yellow, sound and light alarms means emits a soft alarm signal, the alarm of the vehicle driver quickly bring the vehicle back to its own carriageway lane; ③ when 0S "but" Si ^, the threat level signal on-board monitor display orange, sound and light alarm means alerts the vehicle driver tips, and the control of the vehicle horn / lamp, etc., sent to the vehicle is located in the vehicle front / rear sound and light alert signal, so that they accelerate or reduce the driving speed, in order to avoid a collision or a rear-end; ④ when "S0 and" Si ^ when, the alarm emits a loud alarm signal control system, the vehicle-mounted display to display threat level signal is red, then, an aspect of the optical system to tell the driver of the vehicle with a special sound and light alarm sound by means ,另一方面则通过鸣笛、亮车灯等方式,向位于本车前后的车辆发出声光告警提示信号,与此同时,系统在所述系统工作协调服务软件的协调下,由所述的车载嵌入式计算机平台将系统决策控制模块输出的决策控制信息通过总线送给电控单元,通过自动控制油门的大小改变行车速度,通过刹车制动使车迅速停止行驶,或通过地盘加力系统改变车的行驶方向,使本车迅速脱离危险;(D当本车与其他车辆发生追尾、碰撞、擦伤或其他重大交通事故,以至于使本车无法继续正常行车时,所述监控告警系统可通过车载无线通信单元及时向交管中心发出告警、求救信息。 , On the other hand through the whistle, etc. bright lights, audible warning signal to alert the vehicle located in front of the vehicle, at the same time, the system under the coordination of the work coordinate system service software from the embedded computer onboard the platform decision system decision control module outputs control information to the electronic control unit via a bus, to change the size of the driving speed by the automatic throttle control, so that by braking the vehicle quickly stop driving, or by site-energizing system change vehicle traveling direction, so that the vehicle quickly out of danger; (D when the vehicle rear-end collision with other vehicles, collision, abrasions or other major accident, so much so that the vehicle can not continue normal driving, the monitoring alarm system sent through the wireless communication unit time to the vehicle traffic control center alarm, help information.
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