CN101419069A - Vehicle distance measurement method based on visible light communication - Google Patents
Vehicle distance measurement method based on visible light communication Download PDFInfo
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Abstract
The measurement of spaces of vehicles is a required basic function in the intelligent transportation system.The present invention adopts visible light communication and image process method to realize the measurement of spaces of vehicles between vehicle.The pair of LEDs taillight of front truck sends the modulated light signal of information such as comprising identify label, body width, taillight spacing backward, back car utilizes face array photoelectric sensor to gather the front truck image and receives the light signal that front truck sends, spacing, relative velocity and relative position according to the communication information of being extracted and two car lights between position calculation two cars in image.
Description
Technical field
The invention belongs to the intelligent transport technology field, what be specifically related to is the measuring method of utilizing the communication network realization spacing of LED car light and face array photoelectric sensor formation, the relative speed of a motor vehicle and relative position.
Background technology
In intelligent transportation system, distance between the vehicle and the relative velocity between the vehicle, positional information are to realize the main foundation of intelligent traffic safety control algolithm.Various vehicle active safety technology, as automobile forward direction collision warning system, forward direction initiatively anti-collision system, adaptive cruise control system etc. all be measure information such as distance, relative velocity and relative orientation between main car and other vehicle by vehicle-mounted distance-measuring equipment, and its control module that sends system to is implemented.
The distance-finding method that is used at present on the automobile mainly contains ultrasound wave short distance range finding, the long distance ranging of millimetre-wave radar, laser ranging, camera system range finding etc.Ultrasonic ranging is simple, cost is low, but vehicle that is unsuitable for running at high speed and telemeasurement generally are applied on the reversing collision avoidance system.Millimetre-wave radar utilizes target that electromagnetic reflection is found target and measured its position, relative velocity, the influence that its detection range is far away, reliable, performance is subjected to weather is less, but cost is too expensive, and can't accurately work under the traffic environment of complexity.The position, angle that laser distance measuring system is determined target range and target according to the scanning laser beam travel-time and the emission angle of emission.But the transmission of laser is subjected to the influence of weather conditions bigger, and optical facilities are also relatively more responsive to vibrations.Camera range finding simulation human eye visual theory uses two video cameras to same scenery imaging simultaneously, two width of cloth images is carried out Computer Analysis handle, and can determine the three-dimensional coordinate of each object in the visual field, but image taking speed is slower at present, is unsuitable for real-time measurement.
Owing to the unsurmountable limitation of above-mentioned various ranging technologies, all be difficult to become unique main flow equipment of vehicle-mounted distance-measuring equipment in future.Therefore be necessary to seek new distance-finding method, the existing means that this distance-finding method can substitute or additional spaces of vehicles is measured.
Current LED (light emitting diode) has used more and more in various types of illuminators, because advantages such as it is energy-conservation, reliable, long-lives, estimating promptly may become main light fixture in the near future.LED has had use widely on the taillight of medium-to-high grade vehicle.
LED-based optical communication research also launches, and tentative confirmation use the feasibility of illuminating LED communication under the varying environment, comprising the application in intelligent transportation.This also makes between the vehicle and vehicle and street lamp, road sign between communicate by the LED lamp and to become possibility.(use the visible light communication of two-dimensional image sensor such as in this respect research paper " Visible Light Communication with LED-based Traffic Lights Using2-Dimensional Image Sensor " based on the LED traffic lights, IEEE CCNC 2006 proceedings), " A New Receiving System of VisibleLight Communication for ITS " (Proceedings of the 2007 IEEE IntelligentVehicles Symposium Istanbul, Turkey, June 13-15,2007), patent " the band camera portable terminal that visible light communication is used " (Chinese patent 200580003881.1), " visible light space division multiple access multichannel communication system " (Chinese patent 200710047554.7) etc.
But above-mentioned research does not all relate to the notion that realizes range finding when LED communicates by letter when being applied to intelligent transportation system.This patent file has proposed a kind of range finding that realizes on the basis of LED communication, test the speed, survey the method for relative position simultaneously.
Summary of the invention
The objective of the invention is in intelligent transportation system to realize measurement based on realizing distance, relative velocity and relative position between the vehicle on the basis of LED visible light communication.
Chinese patent " visible light space division multiple access multichannel communication system " (200710047554.7), " signal output method of light receiver area array sensor " (CN101159821A), " mobile tracking method of face array photoelectric sensor output signals " (CN101170359A) in, propose a kind of CCD array image sensor that utilizes and realize the LED method for communicating.When utilizing this method to carry out communicating by letter between the vehicle, the present invention realizes the measurement of out of Memory such as distance between the vehicle.
The ultimate principle of the method for setting forth is the light signal of LED emission modulation in the above-mentioned patent, posts the particular communication information that carries in these light signals.Some photo detecting unit (respective pixel) of matrix CCD receives the light signal of these modulation, and flow to the information that signal processor processes obtains the LED transmission after being converted into electric signal, can judge the position of corresponding detector unit in the time of signal Processing.
In the time of on applying it to vehicle, the LED taillight of automobile (comprises brake lamp, steering indicating light, or LED headlight, LED side lamp etc., perhaps be specifically designed to the LED of communication) as the transmitter of optical communication, the front portion of automobile (perhaps while rear portion, side) is provided with and can carries out the video camera that above-mentioned communicate optical signal receives, and the output of video camera is connected to the security alarm and the control system of automotive system.These video cameras can be special-purpose also can be dual-purpose, promptly undertaking tasks such as supervision deviation, assisting car backing such as video camera itself.
When front and back (or about) when two cars all is equipped with such equipment, in certain distance range, consistent communication/control protocol will make them set up correspondence.So, in the driving stream on road, numerous vehicles will constitute the network of an all around mutual communication.A vehicle is considered as a node in the network, and the transmission of information can feed through to whole wagon flow incessantly by adopting the mode of relaying between the node so.
Such communication network can provide many important information for the safety driving system of vehicle.For example, to the front and back two cars, then can allow the back car perceive the brake signal of front truck more in time, this perception does not just realize detecting more in time than human eye the wigwag of brake by camera system, but undertaken by communication information transmission more timely, car perception after any velocity variations of front truck, attitude variation etc. can allow by the transmission optical information, from car then after carrying out necessary information processing and judging, make corresponding decision-making, comprise alarm, perhaps directly control the operation of vehicle by the Main Control Unit of vehicle to the occupant.And, then can in time realize the transmission and the processing of information such as traffic congestion, traffic hazard to whole wagon flow.
The present invention is directed to above-mentioned application background,, realize the measuring method in spaces of vehicles, speed, orientation when proposing to communicate by letter between the vehicle based on the imaging and the optical communication dual-use function of Array CCD sensor.This method is realized by following measure.
Before and after the two cars driving process in, front truck is positioned at by it that LED taillight of both sides sends light signal backward continuously behind car, is comprising the spacing W of 2 LED car lights in the light signal
LED, body width W
Body, car identification information (as ID number), and out of Memory.The preposition camera of back car passes through its ccd sensor to the object image-forming in the specific field angle, comprising the taillight of front truck and transmission light signal thereof.Simultaneously, the corresponding detector cells of CCD detects the light signal of 2 LED lamps, and outputs to the lamp that obtains being sent after the signal processing unit processes of receiver apart from information.Signal processor is down collaborative institute's receiving optical signals feature, analyzes, determines 2 taillight positions in the image, obtains one apart from d in image
2Suppose the width of entire image, promptly lateral separation is d
1So from geometric angle, d
1Corresponding the whole field angle α of imaging (under a certain state of α when video camera is taken pictures is specific), d
2Should be corresponding 2 taillights subtended angle δ with respect to shooting point.Because d
1, d
2With α be known, signal processor just can obtain δ by trigonometric function operation.In the image apart from d
2Dui Ying distance is W in practice
LED, after δ is known, just can pass through W
LEDThe utilization trigonometric function calculate camera position between the car light apart from S, i.e. distance between two cars.Because the car light image space is consistent with the position of the detector cells of responding communication signal on ccd detector, therefore in image, identify paired taillight ID number that is easy to according to the vehicle that receives, to be different from other vehicle of the place ahead that enters equally in the camera field of view.If auxiliary method with image recognition, under the good situation of imaging, can also the different vehicle in the same frame image is separated, by the body width information W that sends
Body, equally also can obtain between two cars apart from S.Two kinds of measurement results can be complementary.
It is vehicle at the dead ahead that above-mentioned measurement has more than, be in the visual field can exchange message the range information of any vehicle all can estimate.Simultaneously, can also go out relative orientation between the vehicle according to the location estimation of each vehicle in the two field picture.
If the distance between the vehicle can The real time measure,, just can estimate the instantaneous relative velocity v between two cars according to the time interval Δ t between twice measurement.
Above-mentioned measuring method can be two-way.As long as back head lamp for vehicle, such as daytime running lamps (DRL:Day Running Light), send forward and carry the light signal of car light pitch information, front truck is equipped with rearview camera (as the assisting car backing camera) or other similar Electro-Optical Sensor Set that can receive communicate optical signal, and front truck also can be measured the spacing of back car and the relative velocity between two cars.Front truck is judged the back car purpose etc. of whether overtaking other vehicles according to this.
Obviously, this method is suitable equally to parallel vehicle, as long as two (group) LED and the camera of a determining deviation are installed in the side of car.
Light is multiplexing for the signal of LED optical sender of the present invention and vehicle (or illumination), photoreceiver and vehicle-mounted pick-up system multiplexing, technology is simple, reliably, cost is low, and suitable operating distance and reach arranged.Simultaneously can also realize vehicle and LED traffic lights, LED road Pointing sign board, other traffic mark board the communication except realizing between the vehicle, and and the street by LED billboard etc. between information exchange.
Description of drawings
Fig. 1: a kind of structural representation of LED tail-light.
Fig. 2: the composition frame chart of realizing the optical communication transmitter function by the LED car light.
Fig. 3: the composition frame chart of realizing optical communication receiver by the vehicle-mounted pick-up head.
Fig. 4: the concrete enforcement examples of circuits of optical sender.
Fig. 5: based on the photoreceiver of face battle array photodetector.
Fig. 6: the geometric relationship figure of imaging
Fig. 7: transport information board with optical communication capabilities
Fig. 8: the measurement flow process of body width in the image and car light spacing
Embodiment
System forms:
Main body is the wagon flow that vehicle and vehicle form, and a camera is installed in the front portion of car, in the two sides of tail of car the LED taillight is installed.Camera can also receive modulated light signal and the output information of LED, and have image processing function except the conventional imaging function from its imageing sensor.The LED taillight can also be launched the signal of modulation except that the indication of routine, illumination functions, carry information specific in the signal.
Working environment:
Different kinds of roads and relevant peripheral facility comprise complicated viaduct, urban district, particularly highway etc.
Describe in detail:
Adopt the tail-light of LED, generally be made up of a plurality of high-brightness LEDs unit, various arrangement modes are arranged, Fig. 1 promptly is a kind of structure wherein, and wherein 1-1 is the substrate of fixing a plurality of LED, and 1-2 is the LED unit.These LED are driven by analog line driver usually.Conventional LED taillight, its function usefulness of only giving instruction does not have communication function.After the signal of driving LED is modulated, just can post and carry information specific.Fig. 2 is that the system that can realize light and optical communication transmitter function simultaneously forms synoptic diagram.Wherein luminescent device is formed light emitting array/group (2-2) by LED unit (2-1), and its luminous power and frequency are subjected to driver (2-3) control, and driver provides required energy by the control power supply to LED, makes LED stabilized illumination under the efficient of the best.The device that can realize this kind function has a lot, is exactly available a integrated drive by the switch mosfet driving LED as MAX16834 (4-2).It wherein has a PWMDIM input pin and a DIMOUT pin.PWMDIM can directly be connected with the output of DLC (digital logic circuit), and DIMOUT directly drives outside switch mosfet (4-3) and controls the current lead-through that is added on the LED (4-1).Usually only make the type of drive that pilot lamp or illuminating LED adopt PWM (pulse-length modulation), (general frequency is constant, changes the width of pulse for the dutycycle by changing pwm pulse.) change the brightness of light.When simultaneously as optical communication, modulator (2-4) with MCU (microcontroller) (2-5) (also can be device, the system that any output such as digital signal processor transmits data, the direct DsPIC30F6012 digital signal controller of output pwm signal etc. for example.) data that transmit are converted to modulation signal, according to the modulation system that is adopted, control led array luminous.
The light signal that directly detects the light wireless communication system transmission of system adopts pulse amplitude modulation (PAM), pulse frequency modulation (PFM), pulse-length modulation (PWM) or pulse-position modulation (PPM) etc. usually.Which kind of modulation system no matter, its performance all is the light signal of discontinuity.PPM is fairly simple and effective a kind of modulation system, can be used as one of implementation example in the present invention and adopts.The function of modulator (2-4) is that 0,1 digital signal with (2-5) MCU output is converted to the PPM signal, with 0,1 with the level match that is mapped and is implemented to driver (2-3) that has or not of gating pulse.Figure 3 illustrates the corresponding relation that Serial No. (3-1) is converted to PPM pulse train (3-2).If the input of driver (2-3) and the phase of output signal of MCU and level compatibility, then modulator (2-4) can save when PPM modulates, and the PWM input port that driver (2-3) is directly arrived in the output of MCU gets final product.Above-mentioned MAX16834 driver can be directly be connected with the numeral output of MCU, and by the output of the high and low level control DIMOUT of numeral output, the modulation that its PWM input control mouth directly is used as PPM is imported.
Constitute by optical system (5-1), CCD face battle array photoelectric commutator array (5-2), video/picture information processing unit DSP (5-4), communicate optical signal output control unit with the shared optical communication receiver (5-0) of communicating by letter based on shooting.Optical system is conventional image pickup optical system, and all light signals in the visual field converge on the planar array detector after by optical system.The normally integrated device of CCD face battle array photoelectric commutator has comprised the planar array detector (5-2) of realizing photoelectric converting function, and the row address selector switch (5-3) and the Output Shift Register (5-5) that are used to export control.
When normally making a video recording or taking pictures, CCD is according to speed fixing or that set, and such as 30 frame/seconds, the picture signal of exporting each unit of CCD by shift register (5-5) serial is to DSP (5-4).The output of each two field picture at first by the row address selector switch with the photoresponse information transfer of each probe unit stored of CCD in embedded column register, each row CCD unit is close to a column register.The synchronization of clock signals of being expert at then triggers down, once to the parallel picture signal of sending into delegation of shift register (5-5).Under the driving of bit clock, shift register (5-5) ladies and gentlemen shift out picture signal.
When carrying out optical communication,, increased outlet selector (5-6) in order to make detector cells (the corresponding pixel of the detector cells) output at a high speed of selected certain (or some) response receiving optical signals.Be expert under the cooperation of address selector, select specific probe unit output, to reduce or to suppress the output of non-Communication ray signal response unit.This is to carry out under the control of DSP.
DSP (5-4) is comprehensive digital signal processing unit, undertakes the processing of video/image signal, signal of communication, and the major function among the present invention: location algorithm.Video is mainly finished functions such as the compression, demonstration, broadcast of video when handling; When handling, mainly finishes signal of communication demodulation, the decoding function of signal; During range finding a two field picture of gathering is carried out processing such as vehicle is cut apart, identification, car light identification,, estimate that camera arrives the distance of a certain vehicle in the visual field or object in conjunction with the communication information that receives.The processing power of DSP is had relatively high expectations, the method for realization can be selected different schemes according to system requirements herein.Such as DSP+FPGA (field programmable gate array), perhaps ASIC (special IC), perhaps more powerful DSP is as the OMAP3530 device of TI company (comprising 4 main modular: ARM Cortex-A8 nuclear, 2D/3D graphics accelerator, imaging and video accelerator IVA, TMAS320C64x+DSP nuclear).
After DSP handles, obtain for information about, comprise the ranging information of needs, be sent to vehicle-mounted main signal processor or the processor of responsible safe driving (5-7).MCU (5-7) produces corresponding alarm or control signal further combined with the information (such as speedometer) from other board units.
The measurement of spacing information is calculated according to geometric relationship.At first, the cycle sends and comprises two taillight actual pitch W backward for two of front truck LED taillights
Led, car light numbering (as left lamp, right lamp), body width W
BodyAnd the signal of information such as testing vehicle register (such as relevant), sign with license plate.When taking the front truck photo, the preposition camera of back car receives the light signal that front truck sends in real time, and the information that obtains transmitting through operations such as demodulation, decodings.
In the imaging geometry of Fig. 6 signal, suppose that (6-1) is a two field picture of taking, this width of cloth image is taken with specific, known field angle (6-6) at the A point of distance front truck (6-3) certain distance by the video camera (6-2) of back car, and promptly the angle that forms between the BAC among Fig. 6 is made as α.d
1The transverse width of representative image, this determines; d
2Width in the representative image between two tail-lights (6-4), (6-5), this is obtained according to the position and the image process method of the probe unit of response light signal by the DSP in the video camera (5-4); d
3The width of vehicle body in the representative image, this is also obtained by the DSP in the video camera (5-4) utilization image process method.
d
2, d
3Calculation process as shown in Figure 8, these function algorithms all are conventional algorithm in Flame Image Process.At first obtain a two field picture, because the vehicle operating environmental difference is very big, the difference of these images also can be very big, and the image captured such as daytime and night just having very big difference aspect the illumination, need at first carry out pre-service according to the statistical nature of obtaining image to image.Comprising filtering and eliminating noise, edge enhancing etc.According to the vehicle template of making in advance or the vehicle identification characteristic parameter of extraction, the vehicle in the image is split then.The separate vehicle that splits according to its position that occupies, calculates the spacing d of vehicle body in image in image
3The most direct unit of this calculating is a pixel count.For example, the width of entire image is 1024 pixel values, and the width that occupies of vehicle body may be 120 pixel values wherein so, represents spacing to get final product with this.d
2Obtain the position that need at first in image, identify paired car light.In the illumination preferable image, can be partitioned into vehicle ' s contour easily by Flame Image Process, but the center that accurately is partitioned into car light, particularly car light therein difficulty relatively still; In the very poor image of illumination, the profile of vehicle can't split from image exactly, though shape, the brightness of car light are discerned in image easily, determine, only depend on image process method can't be specified to right car light (if there are many cars and other street lamp in the place ahead).Therefore, the LED car light with communication function becomes the main discriminant information that is identified as car light.Because it is identical to belong to the identification information that the LED car light of same vehicle sends, when adopting the CCD receiving optical signals, because the luminous characteristics that is different from other object in the visual field that it is determined can easy identification be come out, and to go out with the pixel according to its position calculation be the interval of unit.
d
2Obtain can with d
3Obtain mutual support, the result can do fusion treatment, also can independent operation or use separately.At different image-forming conditions, can formulate different support rules.
Image and virtual shooting point A are combined Fig. 6 that the back forms, d
1Corresponding α, d
2The angle of corresponding A point is (6-8), is made as δ, d
2The angle of corresponding A point is (6-7), is made as θ.So because d
1, d
2, d
3Between proportionate relationship, its corresponding angle [alpha], the also proportional relation of δ, θ.Postulated point A is S apart from the distance of front truck (being shown 6-3 in the image), and promptly the A point is to the distance between the BC, so:
Wherein α, d
1Known, therefore can obtain angle δ and θ by following formula.
Because figure middle distance d
2, d
3Respectively corresponding in practice car light spacing W
LedWith body width W
Body, and known (each car is by LED communication transmission data separately), then can obtain by the relation of the trigonometric function among Fig. 6:
Ideally: S=S
1=S
2
But in the reality, because d
2, d
3Be that mode by Flame Image Process estimates, therefore also there is error in δ and the θ that estimates, so S
1, S
2The result can be too consistent.
If in a time interval Δ t, record two respectively apart from S
a, S
b, the relative instantaneous velocity between two cars can be assessed out by following formula so:
A plurality of continuous instantaneous velocitys are averaged, then can obtain its average velocity.
Front truck can draw the angle in their off-center the place aheads by the distance between vehicle (6-3) and other parallel vehicle and the image border in the judgement image with respect to the orientation of back car with above-mentioned same method.
Said method is even the front and back vehicle not on a straight line time, still can be obtained distance and drift angle with trigonometric function.And this method is fairly simple, all can easily realize on any microcontroller.
When the place ahead have a plurality of automobile storage and enter shooting during the visual field, have two kinds of methods to identify different vehicles and demarcate its relative position.The one, by image recognition technology independently, the difference of different vehicles according to graphic feature split; Another is the identification information difference that taillight sent according to different vehicle, by being identified as right taillight different vehicles is split.
Said method also can be used for front truck and measure back car and its spacing, as long as front truck is equipped with the camera communication system of backsight, the headlight of back car sends the car light pitch information.
Range finding between the vehicle that said method also can be used for walking abreast.Camera is installed in side at vehicle body, and another vehicle body side is equipped with 2 or 2 groups of LED luminotrons separated by a distance.If it is identical that the spacing of these two LED on all vehicles of standard code is arranged, only depends on a two field picture of collection just can obtain range information between the vehicle so, and do not need LED to send pitch information again.If but 2 (or 2 groups) LED spacings on every kind of vehicle are inequality, so still need to have concurrently the function of optical communication.
This distance-finding method is not limited between the vehicle, between vehicle and LED traffic mark board, even also can realize between the billboard, only need have the significant LED in two places to get final product thereon, as shown in Figure 7.Be a LED transport information board (7-1), two groups of LED (7-2) are wherein arranged and (7-3) use as communication transmitter respectively.Distance between two groups of LED is known and send approaching vehicle to, and approaching vehicle just can judge actual distance.Conversely, message board also can be tested the distance and the speed of a motor vehicle near vehicle as long as camera communication system (7-4) is installed, and shows immediately to remind human pilot.
By on numerous vehicles, the first-class use said method of transport information board, can in whole wagon flow, constitute optical communication network, and can be linked on other communication network.
Claims (6)
1. optical communication emitter:
A) form by 2 (or a plurality of) tool optical senders at regular intervals, be installed on the vehicle that travels or fixing object on;
B) optical sender is made up of controller, modulator, driver and light emitting diode; Controller provides 0 of transmission, the coded data of 1 form, modulator received code data also are converted into the level signal of specific modulation form, driver driven for emitting lights diode luminous under the control of modulation signal, and light emitting diode is that light signal sends with electrical signal conversion;
C) the optical sender signal that sends has comprised range information and other supplementary between 2 transmitting illuminants.
2. one kind has the shooting and the receiver of optical communication capabilities concurrently:
A) be installed on the vehicle that travels or fixing object on;
B) form by optical system, face array photoelectric sensor, signal output apparatus and information-processing circuit, optical system converges to the light in the visual field on the face array photoelectric sensor, face array photoelectric sensor realize photoelectric converting function and under the control of output circuit output communication signal or picture signal, information-processing circuit is handled the information of obtaining the optical sender transmission to communication and picture signal.
3. be installed in the optical communication emitter described in the claim 1 of (or on object) on the vehicle and in certain distance, set up optical communication link with the optical communication receiver described in the claim 2 that is installed in (or on object) on the another one vehicle.
4. the photoreceiver described in the claim 3 receives the information such as actual pitch of the light signal and the optical sender that extraction is carried of optical sender emission, in the image that obtains, measure the spacing of two optical senders in image, again according to the specific field angle of taking pictures, calculate the angle of the corresponding shooting point of optical sender, extrapolate actual range and relative velocity between photoreceiver and the optical sender by the optical sender spacing of reality at last.
5. the identification information that carries according to optical sender of the photoreceiver described in the claim 3 is differentiated paired optical sender and is determined its position of photoreceiver relatively in practice by their positions in image.
6. when photoreceiver described in the claim 3 and optical sender are installed on a plurality of vehicles (or on object), form between a plurality of vehicles of wagon flow (or and close object between) and constitute optical communication network.
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2008
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