CN101202905A - Method for image justification revision and vehicle safety caution system using the same - Google Patents
Method for image justification revision and vehicle safety caution system using the same Download PDFInfo
- Publication number
- CN101202905A CN101202905A CNA2006101611972A CN200610161197A CN101202905A CN 101202905 A CN101202905 A CN 101202905A CN A2006101611972 A CNA2006101611972 A CN A2006101611972A CN 200610161197 A CN200610161197 A CN 200610161197A CN 101202905 A CN101202905 A CN 101202905A
- Authority
- CN
- China
- Prior art keywords
- image
- zone
- unit
- standard substance
- primary standard
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention discloses an adjusting and correcting method used in the image region of interest which can be used in various climates and environments and can dynamically adjust the region of the interest (ROI) of the imagine processing according to different vehicles no matter when they are in the static state or in the dynamic state. The method looks for a baseline position in the region of interest or builds a comparison table between the image retrieving device installation height and the baseline position of the ROI in the manner of the imagine processing, and gets the scope of ROI by finding out the baseline position according to different vehicles. In addition, the invention discloses a vehicle safety warning system which uses the adjusting and correcting method used in the image region of interest to improve the performance and the identification rate for detecting lane lines. The system which is provided with an internal memory to record the baseline position has the advantages of allowing the baseline to be used for a long time after one adjustment and correction, avoiding the inconvenience of readjustment and the search of the baseline position when the system is started.
Description
Technical field
That the present invention relates to is a kind of ideal zone (Region ofInterest, ROI) adjusting process and caution system, refer in particular to a kind of can be when dynamic or static at different weathers or environment and vehicle, utilize the mode of image processing or set up the image capture unit setting height(from bottom) and the ROI baseline position table of comparisons, the driving security warning system seeking the adjustment of a kind of image ideal zone and the bearing calibration of ideal zone baseline position and use described method.
Background technology
Along with the science and technology progress, be well off, motor vehicles are general day by day and to each family, the convenience of traffic constantly promotes owing to the progress of vehicle science and technology.Yet along with vehicle use frequent, the death toll of using motor vehicles to cause is high all the time.According to alert political affairs administration of Ministry of Internal Affairs statistics, all maintain about 3,000 people because of the dead number of traffic accident in Taiwan every year over the years, number of injured people respectively is 2 as 94 years Taiwans of the Republic of China because of dead, the number of hurting sb.'s feelings of traffic accident then about 200,000 people, 894 and 200,009 people.Have 8 people because of traffic accident death average every day.
Analyze its accident reason, percentage more than 97 be drive improper due to, accident pattern accounts for large with the overtaking collision case again.These traffic accidents not only cause the burden of individual and family, expend the limited medical resource of society, and cause the loss of national productivity.
In view of this, if can be with video camera, set up an automobile-used security warning system, the image processing technique of application of advanced pick out this car surrounding vehicles and estimation and relative distance, the speed of a motor vehicle, information such as turn to, and when hypotelorism or under the speed of a motor vehicle situation that safe anxiety arranged such as too fast, alerting being proposed, the warning driver makes suitable disposal, as lowering speed of a motor vehicle or the like, to avoid the generation of accident, also can reduce traffic accident generation probability.
The effect of utilizing the image processing behind the video camera pick-up image is the important key of decision identification usefulness.And the quality of identification usefulness, more depend on ideal range in the image processing computing (Region of Interest, ROI).It is good that ROI chooses, and then image reprocessing and computing then can image identification rate and correctness increases.And in the prior art, the baseline position of ROI mostly is manual adjustment, thus when image capture unit during in different automobile types, the ROI zone can be because the set position of image capture unit be different difference to some extent, the personnel that make need adjust often.
In addition, in the prior art as the disclosed track of U.S. Pat .Pat.No.6978037 image recognition method, also disclose and utilized ROI to carry out image processing, but described technology also can't be adjusted the ideal zone (ROI) of image processing choosing place scope automatically, also can't adjust automatically to meet different vehicles, therefore locating of a lot of inconvenience still arranged.
Comprehensively above-mentioned, therefore need adjustment of a kind of image ideal zone and bearing calibration badly and use the vehicle safety caution system of described method to solve the problem that prior art produces.
Summary of the invention
Main purpose of the present invention is, adjustment of a kind of image ideal zone and bearing calibration are provided, it is to utilize the mode of image processing or set up the image capture unit setting height(from bottom) and the ROI baseline position table of comparisons, to seek the baseline position of adjusting ideal zone (ROI) automatically according to different automobile types, reach the purpose of the ideal zone (ROI) of automatic adjustment image processing choosing place scope.
Secondary objective of the present invention is, a kind of vehicle safety caution system is provided, and it is to utilize adjustment of image ideal zone and bearing calibration to adjust automatically to proofread and correct ROI, reaches to promote the purpose of image identification rate with the performance system effectiveness.
Another object of the present invention is, a kind of vehicle safety caution system is provided, it is to utilize adjustment of image ideal zone and bearing calibration to adjust automatically to proofread and correct ROI, and through the result that internal memory writes down the adjustment correction is set, make and only need adjust once at multiple vehicle, readjust when noting be used in each system boot, reach the purpose of increase system convenience.
To achieve the above object, the invention provides adjustment of a kind of image ideal zone and bearing calibration, it is to include the following step: an image capture unit is provided, and it is arranged on the vehicle; Capture the image of described outside vehicle environment; Determine a calculation zone in described image, described calculation zone is to contain a primary standard substance; The feature of the described primary standard substance of identification in described calculation zone; And according to primary standard substance characteristics determined one baseline that is picked out with form an ideal zone (Region of Interest, ROI).
Preferably, the mode in the described calculation of described decision zone also includes the following step: the image capture scope of setting horizontal direction; And in described image capture scope, determine required image height to form described calculation zone.
Preferably, the feature of the described primary standard substance of identification also includes the following step: described primary standard substance is carried out edge detection to seek out the edge of described primary standard substance; And described edge strengthened.
Preferably, described image ideal zone is adjusted and bearing calibration, and it is a step that also includes the described baseline position of record.
Preferably, described primary standard substance is an aligning tool.Wherein the mode of the described primary standard substance feature of identification also includes the following step: the image in described calculation zone is changed into a grey-tone image; And determine a brightness threshold value, the pixel of described grey-tone image and described brightness threshold value are compared, to obtain the feature of described aligning tool.
To achieve the above object, the present invention more provides adjustment of a kind of image ideal zone and bearing calibration, and it is to include the following step: an image capture unit (a) is provided, and it is arranged on the vehicle; (b) image of the described outside vehicle environment of acquisition; (c) determine a calculation zone in described image, described calculation zone is to contain a primary standard substance; (d) feature of the described primary standard substance of identification in described calculation zone; And (e) according to primary standard substance characteristics determined one baseline that is picked out; (f) stablize described baseline to form a standard baseline; And, form an ideal zone (g) according to described standard baseline position.
Preferably, described step (f) also includes the following step: (f1) repeat described step (b) to step (e) plural number; (f2) according to the resulting a plurality of described baseline positions of step (f1), determine described standard baseline position.
To achieve the above object, the present invention more provides a kind of vehicle safety caution system, comprising: at least one image capture unit, and it is the image information that can capture a vehicle periphery; One image processing and control module, it is to receive described image capture unit institute picked image information, perform calculations and resolve the identification traffic lane line, and estimate a track identification information, described image processing and control module more can be adjusted and proofread and correct an ideal zone and be chosen scope; One vehicle dynamic detecting unit, it is also to include turn to a detecting unit vehicle and car speed detecting unit, described vehicle dynamic detecting unit can produce a start signal and give image processing and control module; One display unit, it is to be connected with control module with described image processing, described display unit can receive signal that described image processing and control module transmit with show image; And one the caution unit, it is to be connected with control module with described image processing, described caution unit can receive described alerting with the generation alarm.
Preferably, described image processing and control module can be handled and then adjust described ideal zone according to the image information that described image capture unit passed and choose scope.
Preferably, described image processing and control module have more comparison list, its be one have described image capture unit be provided with the height and corresponding ideal zone baseline position relation table.
Description of drawings
Figure 1A is that image ideal zone of the present invention is adjusted and bearing calibration preferred embodiment schematic flow sheet;
Figure 1B calculates regional schematic flow sheet for the decision of image ideal zone of the present invention adjustment and bearing calibration;
Fig. 1 C is the flow process first preferred embodiment schematic diagram of the identification primary standard substance feature of image ideal zone adjustment of the present invention and bearing calibration;
Fig. 1 D is that image ideal zone of the present invention is adjusted the second preferred embodiment schematic diagram with the flow process of the identification primary standard substance feature of bearing calibration;
Fig. 2 A is another preferred embodiment schematic flow sheet of image ideal zone adjustment of the present invention and bearing calibration;
Fig. 2 B is the steady baseline schematic flow sheet of image ideal zone adjustment of the present invention and bearing calibration;
Fig. 3 is an ideal zone ROI schematic diagram;
Fig. 4 is the first preferred embodiment image schematic diagram of identification primary standard substance feature of the present invention;
Fig. 5 is the second preferred embodiment image schematic diagram of identification primary standard substance feature of the present invention;
Fig. 6 A is a vehicle safety caution system preferred embodiment schematic diagram of the present invention;
Fig. 6 B is the vehicle dynamic detecting unit preferred embodiment schematic diagram of vehicle safety caution system of the present invention;
Fig. 6 C is another preferred embodiment schematic diagram of vehicle dynamic detecting unit of vehicle safety caution system of the present invention.
Description of reference numerals: 1-image ideal zone is adjusted and bearing calibration; 10～15-step; 120～121-step; 130a～131a-step; 130b～131b-step; 2-image ideal zone is adjusted and bearing calibration; 20～27-step; 250～251-step; The 3-ideal zone; The 30-baseline; The 31-bottom line; 32,33,34,35-scope datum line; The 4-bonnet; 40-bonnet leading edge; The 5-aligning tool; The 9-display screen; The 6-driveway identification system; 60-image processing and control module; The 600-digital signal is handled and control unit; 601-image capture and decoding unit; 602-image random access memory; 603-image coding and output unit; But the non-volatile program internal memory of 604-; The 61-image capture unit; The 62-dynamic detecting device of vehicle; 621-Vehicular turn detecting unit; The 6210-structure; The described pass of 6211-fine motion; 6212,6213-photo resistance; 622-car speed detecting unit; 63-user's control unit; The 64-display unit; 65-warns the unit; 66,67,68-signal; 71-indicator control lever; 73,74-direction.
Embodiment
Below in conjunction with accompanying drawing, be described in more detail with other technical characterictic and advantage the present invention is above-mentioned.
See also Figure 1A and shown in Figure 3, wherein Figure 1A is that image ideal zone of the present invention is adjusted and bearing calibration preferred embodiment schematic flow sheet; Fig. 3 is an ideal zone ROI schematic diagram.Show image 9 among Fig. 3 is an image capture unit institute picked image, when carrying out that the track is carried out in image processing or image of object is judged arround other, need to select an ideal zone 3 (Region of Interest, ROI) in order to follow-up image processing, and seek ideal zone (ROI) 3 need be the top line 31 of ideal zone according to the suitable height of described baseline 30 choice of location h according to a baseline 30 (Base Line) then, and the scope that top line 31 and baseline are 30 is ideal zone 3.The flow process of Figure 1A is the method for seeking baseline and then making ideal zone.
Adjustment of described image ideal zone and bearing calibration 1 include the following step: at first carry out step 10, an image capture unit is provided, it is arranged on the vehicle.Described image capture unit is forward and backward, the left side or right that can select to be arranged on described vehicle.In the present embodiment, be to illustrate with identification track image, therefore described image capture unit is arranged on the position that can capture the vehicle front image, for example can be installed in the position of close windshield top in the car, but not subject to the limits.Carry out step 11 subsequently, capture the image of described outside vehicle environment.Next carry out step 12 and determine a calculation zone in described image, described calculation zone is to contain a primary standard substance.
See also Figure 1B and shown in Figure 4, wherein Figure 1B calculates regional schematic flow sheet for the decision of image ideal zone of the present invention adjustment and bearing calibration; Fig. 4 is the first preferred embodiment image schematic diagram of identification primary standard substance feature of the present invention.In the present embodiment, described primary standard substance is the bonnet 4 of vehicle.Determine described calculation zone then also to include the following step: at first to carry out the image capture scope that step 120 is set horizontal direction, also promptly in Fig. 4, determine the scope datum line 32,33 that two X axis scan earlier.This measure can increase the speed of system's image calculation process, reduces unnecessary Pixel calcualting.After carry out step 121 again, the required image height of decision also promptly determines the scope datum line 34,35 of Y direction to form described calculation zone in Fig. 4 in described image capture scope.Described calculation zone is scope datum line 32,33,34, the 35 formed zones of described X-axis scan direction and the Y-axis side of scanning line.
Return shown in Figure 1A, after the step 12, determine primary standard substance after, can carry out the feature of the described primary standard substance of step 13 identification.Consult shown in Fig. 4 and Fig. 1 C, Fig. 1 C is the flow process first preferred embodiment schematic diagram of the identification primary standard substance feature of image ideal zone adjustment of the present invention and bearing calibration.Because the primary standard substance of present embodiment is a bonnet 4, therefore, its feature can be the leading edge 40 of bonnet 4.So can see through step 130a to carrying out edge detection between bonnet and road surface to seek out described bonnet leading edge 40.In the present embodiment, the method for edge detection be may be selected to be a gradient method (gradient method) and fall function method (derivative method) one of them.Wherein said gradient method more can be chosen as Suo Beier (Sobel) algorithm, Laplce's (Laplacian) algorithm and Ke Sike drill (Kirsch) algorithm one of them.Seek out the edge after, in order to make the edge clearer, can carry out step 131a more described edge is strengthened.The mode of described reinforcement can use the mode of dynamic image that the front and back image is subtracted each other, and difference is taken absolute value, to strengthen the image at bonnet edge again.
See also Fig. 1 D and shown in Figure 5 shown in, wherein Fig. 1 D is that image ideal zone of the present invention is adjusted the second preferred embodiment schematic diagram with the flow process of the identification primary standard substance feature of bearing calibration; Fig. 5 is the second preferred embodiment image schematic diagram of identification primary standard substance feature of the present invention.Employed in the present embodiment primary standard substance is an aligning tool 5, and it is a lineament, as shown in Figure 5, but not subject to the limits.The flow process of identification primary standard substance feature is at first carried out step 130b, and the described image that calculates zone (also being edge datum line 33,34,35,36 zones that surrounded) is changed into a grey-tone image.Determine a brightness threshold value then, make the pixel of described grey-tone image and described brightness threshold value carry out automatic door relatively (Auto threshold), to obtain the feature of described aligning tool 5.
Return shown in Figure 1A, after the step 13, then carry out step 14, according to primary standard substance characteristics determined one baseline that is picked out.See also shown in Figure 5ly, behind decision baseline 30, can on display screen 9, demonstrate the position of baseline 30.Determine an ideal zone size according to described baseline 30 then, in the present embodiment for adding up that by described baseline 30 certain height h (calculates with pixel, as shown in Figure 3).Subsequently, carry out the step 15 among Figure 1A again, the position of described baseline is noted.So just do not need to adjust at any time the position of check baseline.
Aforementioned is vehicle is sought baseline under static state method.In addition, the present invention more provides the method that can seek baseline under the running dynamic situation of vehicle.See also shown in Fig. 2 A, described figure is another preferred embodiment schematic flow sheet of image ideal zone adjustment of the present invention and bearing calibration.Described method is to include the following step: at first carry out step 20, an image capture unit is provided, it is arranged on the vehicle.Carry out step 21 subsequently, capture the image of described outside vehicle environment.Next carry out step 22 and determine a calculation zone in described image, described calculation zone is to contain a primary standard substance.After, can carry out the feature of the described primary standard substance of step 23 identification.Step 22 and 23 part are not done at this and to be given unnecessary details as previously mentioned.
Then carry out step 24, according to primary standard substance characteristics determined one baseline that is picked out.Because vehicle when advancing, can quite shake along with the landform top, and therefore the unsettled phenomenon of baseline wander also can take place when the tracking of baseline, therefore sees through step 25 steady baseline to form the action of a standard baseline, can remove aforesaid problem.See also shown in Fig. 2 B, described figure is the steady baseline schematic flow sheet of image ideal zone adjustment of the present invention and bearing calibration.Described steady baseline flow process is to include the following step: at first carry out step 250, repeating step 21 is to step 24 plural number.Carry out step 251 then,, decide the position of described standard baseline according to the resulting a plurality of baseline positions of step 250.In the present embodiment, be to see through statistics position baseline the position number of times to occur and analyze, in the process of described plural number time, the position that the most repeatedly position is used as the standard baseline to occur.Subsequently, carry out step 26 again, on display screen, demonstrate baseline position, and the position of described baseline is noted.So just do not need to adjust at any time the position of check baseline.Aforesaid plural number can be described image capture unit in unit interval institute's picked image number of pages.
See also shown in Fig. 6 A, described figure is a vehicle safety caution system preferred embodiment schematic diagram of the present invention.Described vehicle safety caution system 6 includes: an image processing and control module 60, at least one image capture unit 61, a vehicle dynamic detecting unit 62, a display unit 64 and a caution unit 65.Described at least one image capture unit 61, it is arranged on the vehicle to capture the image information of vehicle periphery.Described image capture unit 61 is a video camera or infrared image capture device.Described video camera may be selected to be a photoelectric coupling assembly (charge-coupled Device; CCD) and the optics sensing component of a CMOS (Complementary Metal-Oxide Semiconductor, CMOS) one of them.Wherein said image capture unit 61 be preceding, side, back and the aforesaid composition that can select to be arranged on vehicle the position one of them.
Described image processing and control module 60, it is to receive 61 picked image information of described image capture unit, perform calculations and resolve the identification traffic lane line, and estimate a track identification information, described image processing and control module 60 more can be adjusted and proofread and correct an ideal zone and be chosen scope.Described track identification information be can be a vehicle shift money amount, turn to orientation, track curvature and aforesaid composition one of them.Described image processing and control module 60 can be handled and then adjust described ideal zone according to the image information that described image capture unit passed and choose scope, and the mode of its processing is not done at this and to be given unnecessary details shown in Figure 1A and Fig. 2 A.In addition, described image processing and control module 60 more also can be sought the action of baseline through setting up the comparison list of image capture unit 61 height with baseline position.Use the usefulness of the table of comparisons to mean, have the part car type to there is no headstock or headstock is shorter, baseline is sought in the foundation that therefore can see through the table of comparisons.
Set up the described table of comparisons before, can advanced quotations field on the size of various vehicles to do one be the investigation of row, selecting at least one particular types vehicle then is representative, sets up the action of the table of comparisons.The result of investigation as shown in Table 1, in table only with two kinds of vehicles as representative, but not as limit.
Table one, vehicle vehicle
| Vehicle | Overall height (meter) | Overall width (meter) | Vehicle commander's (meter) |
| 3.49 ton lorry | 2.130 | 1.86 | 4.675 |
| Benz (Smart) | 1.55 | 1.515 | 2.55 |
| ... | ... | ... | ... |
To select 3.49 tons lorry is example, and height specific on lorry is provided with image capture unit, is 145cm～195cm in the scope of present embodiment setting, but not as limit.In scope, get a plurality of positions then, carry out the ROI position and measure, can verify in other vehicle after finishing, and set up the table of comparisons of image capture unit setting height(from bottom) (cm) and corresponding ROI baseline position (pixel), as shown in Table 2.
Table two, image capture unit height and the baseline position table of comparisons
| Image capture unit setting height(from bottom) (cm) | Corresponding ROI baseline position (pixel) |
| 145 | 35 |
| 150 | 39 |
| 155 | 45 |
| 160 | 50 |
| 165 | 54 |
| 170 | 60 |
| 175 | 64 |
| 180 | 70 |
| 185 | 75 |
| 190 | 80 |
| 195 | 88 |
Return shown in Fig. 6 A, described vehicle dynamic detecting unit 62, it is also to include a Vehicular turn detecting unit 621 and a car speed detecting unit 622, and described vehicle dynamic detecting unit 62 is according to the speed of a motor vehicle that detects or turn to generation one start signal to give image processing and control module 60.Described car speed detecting unit 622 can be a global location device.Described Vehicular turn detecting unit 621 is for having the sense mechanism of sensitive switch 6211, and the described relation of fine motion is arranged on the structure 6210, with the action of the indicator control lever 71 of the described vehicle of sensing, shown in Fig. 6 B.Except that this, described Vehicular turn detecting unit 621 is indicator 73,74 starts of a photo resistance 6212,6213 with the described vehicle of sensing, shown in Fig. 6 C.
As shown in Figure 6A, described display unit 64, it is to be connected with control module 60 with described image processing, described display unit 64 can receive signal 66,67,68 that described image processing and control module 60 transmitted with show image.Signal 66 includes lane line and follows the trail of image, and ROI proofreaies and correct the result; Signal 67 includes the track identification information, for example the car body side-play amount, turn to orientation and track curvature etc.; 68 information that include abnormal driving of signal.Described display unit 64 can be LCD or light emitting diode indicator or other can device shown.
Described caution unit 65, it is to be connected with control module 60 with described image processing, described caution unit 65 can receive described alerting to produce alarm.Wherein said caution unit 65 can be to driving mode alertings such as can sending sound, light or vibration.In addition, described vehicle safety caution system 6, it is to have more user's control unit 63, described user's control unit 63 can provide the user one operation and control interface, carries out one for the user and sets action.Wherein said setting action includes startup from dynamic(al) correction ROI, security warning, car body side-play amount threshold value, track curvature threshold value and the high/low threshold value of the speed of a motor vehicle, and the set information of described setting action can reach described image processing and control module 60 with the usefulness as judgement.
Described image processing and control module 60 more comprise: an image capture and decoding unit 601, a digital signal are handled and control unit 600 and an image coding and output unit 603.Described image capture is to be connected with described image capture unit 61 with decoding unit 601, changes into a digitized image information with the information that described image capture unit 61 is captured.Described digital signal is handled and control unit 600, and it is to receive described digitized image information, performs calculations and resolves.Described image coding and output unit 603, it is to handle with described digital signal to be connected with control unit 600 and described display unit 64, and described image coding and output unit 603 can receive the controlling signal 66 that described digital signal is handled and control unit is exported and give described display unit with image coding and image output video signal.Described digital signal is handled and control unit 60 exportable signals 67,68, as: track identification information and described ideal zone are chosen range information output and are directly transferred to described display unit demonstration 64.
In addition, described image processing and control module 60 more comprise: but an image random access memory 602 and a non-volatile program internal memory 604.Described image random access memory 602, it is can remember described digitized image information and handle the image that disposes with control unit 600 via described digital signal, and described image random access memory 602 can provide described digitized image information to handle with control unit 600 to described digital signal and provide the image that disposes to described image coding and output unit 603.But described non-volatile program internal memory 604 can write down described ideal zone and choose scope.
Comprehensively above-mentioned, image ideal zone provided by the invention adjustment and bearing calibration and the vehicle safety caution system that uses described method, the advantage that can under any situation, carry out the ideal zone adjustment and be write down, therefore can satisfy the demand of industry, and then improve the competitiveness of described industry and drive arround the development of industry, really met the required important document that possesses of patent of invention method defined application invention, so be the application of putting forward patent of invention in accordance with the law.
The above only is preferred embodiment of the present invention, only is illustrative for the purpose of the present invention, and nonrestrictive.Those skilled in the art is understood, and can carry out many changes to it in the spirit and scope that claim of the present invention limited, revise, even equivalence, but all will fall within the scope of protection of the present invention.
Claims (29)
1. an image ideal zone is adjusted and bearing calibration, and it is characterized in that: it is to include the following step:
One image capture unit is provided, and it is arranged on the vehicle;
Capture the image of described outside vehicle environment;
Determine a calculation zone in described image, described calculation zone is to contain a primary standard substance;
The feature of the described primary standard substance of identification in described calculation zone; And
According to primary standard substance characteristics determined one baseline that is picked out to form an ideal zone.
2. image ideal zone as claimed in claim 1 is adjusted and bearing calibration, and it is characterized in that: described primary standard substance is the bonnet of described vehicle, the edge that is characterized as described bonnet of described primary standard substance.
3. image ideal zone as claimed in claim 1 is adjusted and bearing calibration, it is characterized in that: the mode in the described calculation of described decision zone also includes the following step:
Set the image capture scope of horizontal direction; And
In described image capture scope, determine required image height to form described calculation zone.
4. image ideal zone as claimed in claim 1 is adjusted and bearing calibration, and it is characterized in that: the feature of the described primary standard substance of described identification also includes the following step:
Described primary standard substance is carried out edge detection to seek out the edge of described primary standard substance; And
Seek out to have more behind the edge of described primary standard substance described edge is strengthened.
5. image ideal zone as claimed in claim 4 is adjusted and bearing calibration, it is characterized in that: the method for edge detection be chosen as a gradient method and fall function method one of them, described gradient method be chosen as sobel algorithm, Laplce's algorithm and Ke Sike algorithm one of them.
6. image ideal zone as claimed in claim 1 is adjusted and bearing calibration, it is characterized in that: it also includes a step of the described baseline position of record.
7. image ideal zone as claimed in claim 1 is adjusted and bearing calibration, and it is characterized in that: described primary standard substance is an aligning tool.
8. image ideal zone as claimed in claim 7 is adjusted and bearing calibration, and it is characterized in that: the mode of the described primary standard substance feature of identification also includes the following step:
The image in described calculation zone is changed into a grey-tone image; And
Determine a brightness threshold value, the pixel of described grey-tone image and described brightness threshold value are compared, to obtain the feature of described aligning tool.
9. an image ideal zone is adjusted and bearing calibration, and it is characterized in that: it is to include the following step:
A, provide an image capture unit, it is arranged on the vehicle;
The image of b, the described outside vehicle environment of acquisition;
C, determine a calculation zone in described image, described calculation zone is to contain a primary standard substance;
D, in described calculation zone the feature of the described primary standard substance of identification; And
E, according to primary standard substance characteristics determined one baseline that is picked out;
F, stablize described baseline to form a standard baseline; And
G, according to described standard baseline position, form an ideal zone.
10. image ideal zone as claimed in claim 9 is adjusted and bearing calibration, and it is characterized in that: described primary standard substance is the bonnet of described vehicle, the edge that is characterized as described bonnet of described primary standard substance.
11. image ideal zone as claimed in claim 10 is adjusted and bearing calibration, it is characterized in that: the mode in the described calculation of described decision zone also includes the following step:
The image capture scope of c1, setting horizontal direction; And
C2, the required image height of decision is regional to form described calculation in described image capture scope.
12. image ideal zone as claimed in claim 10 is adjusted and bearing calibration, it is characterized in that: the feature of the described primary standard substance of identification also includes:
D1, described primary standard substance is carried out edge detection to seek out the edge of described primary standard substance; And
D2, described edge is strengthened.
13. image ideal zone as claimed in claim 12 is adjusted and bearing calibration, it is characterized in that: the method for edge detection be chosen as a gradient method and fall function method one of them, described gradient method be chosen as sobel algorithm, Laplce's algorithm and Ke Sike algorithm one of them.
14. image ideal zone as claimed in claim 9 is adjusted and bearing calibration, it is characterized in that: it is also to include the step that a step h writes down described standard baseline position.
15. image ideal zone as claimed in claim 9 is adjusted and bearing calibration, it is characterized in that: described primary standard substance is an aligning tool.
16. image ideal zone as claimed in claim 15 is adjusted and bearing calibration, it is characterized in that: the mode of the described primary standard substance feature of identification also includes the following step:
C3, the image in described calculation zone is changed into a grey-tone image; And
C4, determine a brightness threshold value, the pixel of described grey-tone image and described brightness threshold value are compared, to obtain the feature of described aligning tool.
17. image ideal zone as claimed in claim 9 is adjusted and bearing calibration, it is characterized in that: described step f also includes the following step:
F1, repeat described step b to step e plural number;
F2, according to the resulting a plurality of described baseline positions of step f1, determine described standard baseline position.
18. a vehicle safety caution system, it is characterized in that: it comprises:
At least one image capture unit, it captures the image information of a vehicle periphery;
One image processing and control module, it receives described image capture unit institute picked image information, perform calculations and resolve the identification traffic lane line, and estimate a track identification information, described image processing and control module more can be adjusted and proofread and correct an ideal zone and be chosen scope;
One vehicle dynamic detecting unit, it also includes a Vehicular turn detecting unit and a car speed detecting unit, and described vehicle dynamic detecting unit produces a start signal and gives image processing and control module;
One display unit, it is connected with control module with described image processing, and described display unit receives signal that described image processing and control module transmit with show image; And
One caution unit, it is connected with control module with described image processing, and described caution unit receives described alerting to produce alarm.
19. vehicle safety caution system as claimed in claim 18 is characterized in that: described image processing and control module also have comparison list, its be one have described image capture unit be provided with the height and corresponding ideal zone baseline position relation table.
20. as claim 18 or 19 described vehicle safety caution systems, it is characterized in that: described image capture unit is a video camera, described video camera be chosen as a photoelectric coupling assembly and a CMOS the optics sensing component one of them.
21. as claim 18 or 19 described vehicle safety caution systems, it is characterized in that: described image capture unit is to can be an infrared image capture device.
22., it is characterized in that as claim 18 or 19 described vehicle safety caution systems: described image capture unit select to be arranged on vehicle preceding, side, back and aforesaid composition the position one of them.
23. as claim 18 or 19 described vehicle safety caution systems, it is characterized in that: described caution unit sends the alerting of sound, light or mode of vibration to driving.
24. as claim 18 or 19 described vehicle safety caution systems, it is characterized in that: it is also to have user's control unit, and described user's control unit provides the user one operation and control interface, carries out one for the user and sets action.
25. as claim 18 or 19 described vehicle safety caution systems, it is characterized in that: described image processing and control module also comprise:
One image capture and decoding unit, it is connected with described image capture unit, the information that described image capture unit was captured is changed into a digitized image information;
One digital signal is handled and control unit, and it receives described digitized image information, performs calculations and resolves, and described digital signal is handled and with control unit the track identification information directly transferred to described display unit and show; And
One image coding and output unit, it is connected with control unit and described display unit with described digital signal processing, described image coding and output unit can receive the controlling signal that described digital signal is handled and control unit is exported and give described display unit with image coding and image output video signal, and described image coding and output unit are chosen range information with described ideal zone and exported described demonstration list to.
26. vehicle safety caution system as claimed in claim 25 is characterized in that: described image processing and control module also comprise:
One image random access memory, it is remembered described digitized image information and handles the image that disposes with control unit via described digital signal, and described image random access memory provides described digitized image information to described digital signal processing and control unit and provide the image that disposes to described image coding and output unit; And
But a non-volatile program internal memory writes down described ideal zone and chooses scope.
27., it is characterized in that as claim 18 or 19 described vehicle safety caution systems: described track identification information be can be a vehicle shift money amount, turn to orientation, track curvature and aforesaid composition one of them.
28. as claim 18 or 19 described vehicle safety caution systems, it is characterized in that: described car speed detecting unit is a global location device.
29. as claim 18 or 19 described vehicle safety caution systems, it is characterized in that: described Vehicular turn detecting unit is chosen as a photo resistance with the indicator start of the described vehicle of sensing and the sense mechanism with sensitive switch, with the action of the indicator action bars of the described vehicle of sensing one of them.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006101611972A CN101202905A (en) | 2006-12-11 | 2006-12-11 | Method for image justification revision and vehicle safety caution system using the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006101611972A CN101202905A (en) | 2006-12-11 | 2006-12-11 | Method for image justification revision and vehicle safety caution system using the same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101202905A true CN101202905A (en) | 2008-06-18 |
Family
ID=39517835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2006101611972A Pending CN101202905A (en) | 2006-12-11 | 2006-12-11 | Method for image justification revision and vehicle safety caution system using the same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101202905A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101470801B (en) * | 2007-12-24 | 2011-06-01 | 财团法人车辆研究测试中心 | Vehicle shift inspection method |
| CN102970460A (en) * | 2011-08-31 | 2013-03-13 | 帷丰科技有限公司 | Method and system for adjusting vehicle imaging device |
| CN103117005A (en) * | 2011-11-16 | 2013-05-22 | 财团法人工业技术研究院 | Lane deviation warning method and system |
| CN103310500A (en) * | 2012-03-09 | 2013-09-18 | 华晶科技股份有限公司 | License plate shooting device and image white balance adjusting method |
| CN105719365A (en) * | 2016-02-14 | 2016-06-29 | 海安欣凯富机械科技有限公司 | Adjustment method for automobile driving record video red, green and blue three-primary-color mixed degree |
| CN105761327A (en) * | 2016-02-14 | 2016-07-13 | 海安欣凯富机械科技有限公司 | Driving recorder for automobile |
| CN109316202A (en) * | 2018-08-23 | 2019-02-12 | 苏州佳世达电通有限公司 | Image correcting method and detection device |
| CN111693254A (en) * | 2019-03-12 | 2020-09-22 | 纬创资通股份有限公司 | Vehicle-mounted lens offset detection method and vehicle-mounted lens offset detection system |
-
2006
- 2006-12-11 CN CNA2006101611972A patent/CN101202905A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101470801B (en) * | 2007-12-24 | 2011-06-01 | 财团法人车辆研究测试中心 | Vehicle shift inspection method |
| CN102970460A (en) * | 2011-08-31 | 2013-03-13 | 帷丰科技有限公司 | Method and system for adjusting vehicle imaging device |
| CN102970460B (en) * | 2011-08-31 | 2015-08-26 | 帷享科技有限公司台中分公司 | The method of adjustment vehicle image device and system thereof |
| CN103117005B (en) * | 2011-11-16 | 2015-12-02 | 财团法人工业技术研究院 | Lane deviation warning method and system |
| CN103117005A (en) * | 2011-11-16 | 2013-05-22 | 财团法人工业技术研究院 | Lane deviation warning method and system |
| US8902053B2 (en) | 2011-11-16 | 2014-12-02 | Industrial Technology Research Institute | Method and system for lane departure warning |
| CN103310500A (en) * | 2012-03-09 | 2013-09-18 | 华晶科技股份有限公司 | License plate shooting device and image white balance adjusting method |
| CN105719365A (en) * | 2016-02-14 | 2016-06-29 | 海安欣凯富机械科技有限公司 | Adjustment method for automobile driving record video red, green and blue three-primary-color mixed degree |
| CN105761327A (en) * | 2016-02-14 | 2016-07-13 | 海安欣凯富机械科技有限公司 | Driving recorder for automobile |
| CN109316202A (en) * | 2018-08-23 | 2019-02-12 | 苏州佳世达电通有限公司 | Image correcting method and detection device |
| CN109316202B (en) * | 2018-08-23 | 2021-07-02 | 苏州佳世达电通有限公司 | Image correction method and detection device |
| CN111693254A (en) * | 2019-03-12 | 2020-09-22 | 纬创资通股份有限公司 | Vehicle-mounted lens offset detection method and vehicle-mounted lens offset detection system |
| CN111693254B (en) * | 2019-03-12 | 2022-09-20 | 纬创资通股份有限公司 | Vehicle-mounted lens offset detection method and vehicle-mounted lens offset detection system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101202905A (en) | Method for image justification revision and vehicle safety caution system using the same | |
| US11393217B2 (en) | Vehicular vision system with detection and tracking of objects at the side of a vehicle | |
| US10078789B2 (en) | Vehicle parking assist system with vision-based parking space detection | |
| US10449899B2 (en) | Vehicle vision system with road line sensing algorithm and lane departure warning | |
| CN104657735B (en) | Method for detecting lane lines, system, lane departure warning method and system | |
| US20070225933A1 (en) | Object detection apparatus and method | |
| DE102008006375B4 (en) | monitoring system | |
| CN108629292B (en) | Curved lane line detection method and device and terminal | |
| DE102014216285B4 (en) | Imaging system for automotive safety applications | |
| JP2007255979A (en) | Object detection method and object detector | |
| US10423843B2 (en) | Vehicle vision system with enhanced traffic sign recognition | |
| CN105047019B (en) | A kind of passenger stock prevent rear car overtake other vehicles after lane change determination methods and device suddenly | |
| US10318824B2 (en) | Algorithm to extend detecting range for AVM stop line detection | |
| US20160180158A1 (en) | Vehicle vision system with pedestrian detection | |
| KR101756848B1 (en) | Unlawfulness parking and no standing control system and method thereof | |
| CN103440785B (en) | One is traffic lane offset warning method fast | |
| CN110738150A (en) | Camera linkage snapshot method and device and computer storage medium | |
| CN101408423B (en) | Method for detecting angle of image viewfinding device and vehicle collision alarming system thereof | |
| CN101204957A (en) | Traffic lane offset warning method and device | |
| US20080036855A1 (en) | Sensing apparatus and method for vehicles | |
| JP2007293672A (en) | Photographing apparatus for vehicle and soiling detection method for photographing apparatus for vehicle | |
| CN112417976A (en) | Pavement detection and identification method and device, intelligent terminal and storage medium | |
| DE102011111856B4 (en) | Method and device for detecting at least one lane in a vehicle environment | |
| Patil et al. | Automatic number plate recognition system for vehicle identification | |
| JP7359541B2 (en) | Image processing device and image processing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Open date: 20080618 |