CN101604461A - A kind of vehicle travel security data recording system based on video acquisition and treatment technology - Google Patents
A kind of vehicle travel security data recording system based on video acquisition and treatment technology Download PDFInfo
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Abstract
The invention discloses a kind of vehicle travel security data recording system based on video acquisition and treatment technology.This system comprises: the video signal collective module of being responsible for the transmission of video signal collective and signal; Be used for redundant vision signal is detected, the data that contain noise are carried out cleaning treatment, also can be sent the automatic cleaning module of vision signal of report to other modules; Be responsible for the working parameters of real-time collection vehicle, and supplemental characteristic be uploaded to the control desk data acquisition module of bus; Be used for coordinating other module work, data-interface be provided, storage related data and data are carried out certain analyzing and processing, when reason and data storage of pointing out and processing module appear analyzing when unusual in system.In the above-mentioned module, the video signal collective module inserts the CAN bus by connecting the automatic cleaning module of vision signal; Control desk data acquisition module and data storage and processing module directly insert the CAN bus; Constitute a cover embedded system.
Description
Technical field:
The present invention relates to automotive safety and information data recording field, the particularly a kind of video information of logging machine motor-car driving process and embedded system of security information of being used for.
Background technology:
Rapid increase along with the current mobility vehicle fleet size, relevant security incident presents the situation of quick growth, these accidents bring massive losses also for the country and people's property, and according to new law on road traffic safety regulation, the back litigant is taken place and need be collected evidence in mishap, but the evidence obtaining work under most of situation all has suitable difficulty, so invent a kind of system of the comprehensive safety information of can the logging machine motor vehicle travelling, can reach the bad habit of constraint human pilot, the containment fatigue driving, act of violating regulations such as drive over the speed limit, and ensure the motor vehicles traffic safety of travelling, identify also significant for road safety accident analysis afterwards.
Running information record instrument in the market generally is that the national record instrument standard according to the 80s and 90s designs, lagged behind the design standards of modern electronic equipment, and the partial data information that is mostly vehicle ' of record, problem such as use cost and equipment volume in addition, have only the large-scale coach of part that the running information record instrument is installed when dispatching from the factory, and the data standard of record differs, can not be used as the strong evidence of analysis accident power and responsibility, some register instrument is not considered user's privacy rights and interests when design in addition, write down a part of information that may invade user's right of privacy, made that product is difficult to promote.
Summary of the invention:
In view of above-mentioned technical matters and the actual demand of this application at present, the purpose of this invention is to provide a kind of vehicle travel security data recording system based on video acquisition and treatment technology.As a kind of application system of insertion type, this system can gather in real time, analysis, logging machine motor vehicle various types of security data in the process of moving.
Specifically describe technical scheme of the present invention below:
This vehicle travel security data recording system based on video acquisition and treatment technology, its structure mainly comprises four parts:
Be responsible for the video signal collective module of video signal collective and signal transmission;
Be used for the vision signal of redundancy is detected, the data that contain noise are carried out cleaning treatment, also can be sent the automatic cleaning module of vision signal of report to other modules;
Be responsible for the working parameters of real-time collection vehicle, and supplemental characteristic be uploaded to the control desk data acquisition module of bus;
Be used for coordinating other module work, data-interface be provided, storage related data and data are carried out certain analyzing and processing, when reason and data storage of pointing out and processing module appear analyzing when unusual in system.
In these four modules, the video signal collective module inserts CAN (CAN-CONTROLLER AREA NETWORK by connecting the automatic cleaning module of vision signal, controller area network) bus, and and directly insert the control desk data acquisition module of CAN bus and data storage and processing module and constitute embedded system of the present invention.
Certainly, above-mentioned each module specifically be provided with as follows:
(1) video signal collective module:
This module uses the high-speed camera head to gather vision signal, and the data in real time of gathering is sent to the CAN bus, is received by other modules on the bus again.
The concrete Philips SPC900NC high-speed camera head that adopts, per second is taken 90 two field pictures, and volume is little, easy for installation, focusing speed fast, driving is write simply, and USB2.0 is provided interface.
(2) control desk data acquisition module:
This module is when the various types of signal of collection vehicle, various types of signal is collected by sensors such as wheel speed sensors, wheel steering angle transducer, vertical/the transverse acceleration sensor, oil pressure sensor, fuel level sensors earlier, again simulating signal is wherein carried out the A/D conversion, the switch amount signal carries out the photoelectricity coupling, pulse signals is carried out processing such as shaping and frequency division, be sent to the bus control chip at last, signal is packed according to CAN communication protocol by it, formation meets the form of CAN bus data frame, sends with message mode.
The transport layer aspect, we adopt advanced at present CAN bus as data transmission network, adopt SJA1000 or MCP2510 chip that signal is gathered and changed, and between signals collecting chip and CAN bus, increase CAN bus controller and CAN transceiver and strengthen control and anti-interference function data.
(3) the automatic cleaning module of vision signal:
Two acquisition camera of this module application, the video analog signal of being gathered is converted to two ways of digital signals through two Video Decoders on the image processing board, this two-path video signal is sent among the CPU of DSP, signal is carried out walkaway, if being in the thresholding of regulation, noise figure do not need to handle, otherwise use wave filter that signal is carried out denoising, the digital signal after handling by CPU by bus transfer to data storage and processing module.
For the video data that needs are handled cushions, in this module, be provided with the synchronous DRAM (SDRAM) of two auxiliary storer: 32M, the flash memory (Flash Memory) of 64M, they all the external memory interface (EMIF) by processor in seamless link.Their main application is respectively: the flash memory of 64M is used for depositing the system software and the Dynamic Link Library Function of processor, and the SDRAM of 32M is used to expand the memory headroom of processor, the view data during stores processor.
(4) data processing and memory module:
This module is further processed and formats the data from CAN bus input, and with data storage in database; Transport condition to vehicle in deal with data is analyzed, if abnormal conditions give a warning in real time; Vision signal for the automatic cleaning module input of vision signal is carried out video compress, and adopts the circulation storage mode that it is stored among the Flash RAM; Externally provide USB interface and serial interface, the convenient external unit that loads.
It is core processor that the particular hardware aspect adopts the PXA270 of Intel Company processor, operating system adopts embedded Linux system, the erasable Flash RAM that uses the 4GB capacity is as data storage part, wherein solidified information such as operating system, hardware abstraction layer, API built-in function, the RAM chip is needing in the stored programme operational process to be used for the Various types of data used.
Total system is carried out data recording when motor vehicle moves, after motor vehicle meets accident accident, the travel condition of vehicle data that native system write down can be derived, and brings convenience and provide important law evidence for the processing of accident.
In addition, compared with prior art, advantageous effect of the present invention is embodied in:
1. have video acquisition and processing capacity, can judge and in time make feedback according to video information;
2. adopt Can bus and USB interface, message transmission rate is fast, and antijamming capability is strong;
3. the monitoring of vision signal and processing power;
4. have extendability preferably, can be by other functions of increase (as: antitheft, location) of interface moduleization.
Description of drawings:
Further specify the present invention below in conjunction with the drawings and specific embodiments.
Fig. 1 is the structural representation of system of the present invention.
Fig. 2 is the process flow diagram of the automatic cleaning module of vision signal related walkaway Processing Algorithm in operational process.
Fig. 3 is the circuit structure diagram of control desk data acquisition module.
Fig. 4 is the data frame format synoptic diagram of CAN bus.
Fig. 5 is data processing and storage module system structural drawing.
Fig. 6 is data processing and memory module bottom hardware structured flowchart.
Fig. 7 is the synoptic diagram in the system of the present invention specific implementation process.
Embodiment:
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention by describing specifically being provided with in the actual fabrication systematic procedure.
As shown in Figure 1, the structure of four modules in system that is comprised in the system of the present invention is: the video signal collective module inserts the CAN bus by connecting the automatic cleaning module of vision signal, and and directly inserts the control desk data acquisition module of CAN bus and data storage and processing module and constitute embedded system of the present invention.
In the present embodiment, in this system four modules specifically be provided with as follows:
The designing requirement of video acquisition module is: realize the vehicle periphery collection of video signal, video is transferred to data processing module with the form of AVI and in conjunction with related algorithm data are handled.Use the high-speed camera head to gather, acquisition frame speed was about for 90 frame/seconds, and promptly when vehicle travelled with 100 kilometers/hour speed, vehicle is whenever advanced one meter can take 3 two field pictures, can regulate according to travel speed according to the different concrete frame speed of the speed of a motor vehicle.
The designing requirement of the automatic cleaning module of vision signal is: realize walkaway and denoising to vision signal, make the sharpness of video reach imperial requirement, if signal quality after treatment is still not up to standard, then to data storage in the processing module error code.Pollutant, light change, vehicle displacement factors such as (vibrations, shakes) causes because the video noise in the native system is generally adhered to by extraneous dust, camera lens, therefore from the statistics of noise amplitude distribution, the noise in the native system belongs to Gaussian and impulse type more.
As shown in Figure 2, at above-mentioned this noise like, here our innovative design a kind of walkaway Processing Algorithm it is carried out walkaway, after noise appears in vision signal it is carried out filtering and noise reduction and handle detecting, and then the signal after the denoising carried out secondary detection, through the signal of filtering if still contain noise then module can transmit error code to data storage and processing module.
This Processing Algorithm is in operation, and at first reads in vision signal, then it is carried out walkaway, walkaway be by present picture element point value and thresholding relatively come to determine signal and noise spot, with the position coordinates of tense marker noise spot.Concrete steps are: choose the one-dimensional data piece that a length is N (20-N-40), to N data ordering, getting maximum data is X
Max, minimal data is X
Min, next step determines the value of thresholding T, chooses a regulated variable t according to the noise profile type, t generally is not more than 10, T
Max=X
Max-t; T
Min=X
Min+ t also has some other method to determine the value of T in the reality, look concrete applicable cases and decide, and it is good that thresholding T chooses, and then the marking image noise spot is just accurate, and denoising effect might as well.Next step is judged signaling point and noise spot, gets a pixel X in the current two field picture that needs to detect
i, the eigenwert and the thresholding T that choose it compare, if T
Min＜X
i＜T
Max, then this picture element is a signaling point, if T
Min＞X
iOr T
Max＜X
i, then this is a noise spot, and the frame that does not contain noise spot can directly be exported, and the signal demand that contains noise spot transfers to wave filter and carries out Filtering Processing.
Above-mentioned this walkaway Processing Algorithm uses C++ to write test under the PC platform, later stage is transplanted in the dsp chip, the dynamic base function that algorithm needs in service are linked to then is stored in the Flash chip, need the video data of denoising temporary with SDRAM in, do not need denoising or the data handled are directly transferred to data storage and processing module.
Control desk data acquisition module designing requirement is: realize real-time collection to the vehicle operation condition parameter, and by bus with data transmission to data processing and memory module.The parameter that this module is gathered in real time comprises: analog signalses such as oil temperature, water temperature, battery tension, amount of fuel; Switching value signals such as clutch coupling/range state, throttle, braking state, vehicle door status, air bag state, steering indicating light indication; The speed of a motor vehicle, engine speed isopulse signal.
As shown in Figure 3, the function of singlechip chip is: simulating signals such as temperature, pressure, voltage are carried out changing at sheet A/D, signals such as throttle, brake, air bag, the speed of a motor vehicle, engine speed are carried out photoelectricity isolation, shaping and frequency division, to the PORTB port, sample to ADC after F/V conversion by another road through frequency dividing circuit for signal one tunnel after treatment.The model of singlechip chip can adopt P80C593, PIC16C73A etc.The function of CAN controller is: the encapsulation of data being carried out the CAN protocol package is to meet the transmission requirement of bus, and the chip model that can adopt is SJA1000, MCP2510, C8051F040 etc.; The function of CAN transceiver is: provide differential transmission and ability to accept to the data on the CAN bus, increase the antijamming capability of bus, can adopt the chip of models such as ATA6660, TJA1040, PCA82C250.
In addition, the data frame format of CAN bus is illustrated in fig. 4 shown below.The CAN bus provides the message transmission rate of 1MB, it is at most the short frame structure of 8 data that each frame adopts the effective word joint number, such bandwidth makes that carrying out the data in real time transmission becomes feasible, the video signal collective module of native system utilizes the CAN bus to carry out the transmission of data equally, and the CAN bus directly and data processing and memory module communicate.
Data processing and memory module designing requirement are: coordinate other several module work, data-interface be provided, data are carried out certain analyzing and processing, and the storage related data.As shown in Figure 5, we are divided into three zones with FlashROM, respectively storage operating system data, hardware abstraction layer and Database Systems.Wherein to the video data storage that circulates, turn back to first address when being about to overflow in the memory block, old data before follow-up data are covered are provided with marker bit and concluding time point when end of record (EOR), make things convenient for the operations such as retrieval, playback in later stage; Control desk image data and video data adopt same storage mode.
As shown in Figure 6, the core of this module is a PXA270 processor, and it is the flush bonding processor of a Highgrade integration, based on the XSCALE framework of Intel company, the reason of selecting this process chip for use is because it has added Wireless MMX technology, has very strong Video processing ability.
In addition, embedded OS adopts the operating system Linux that increases income, the reason that adopts linux system is because it has customizable, but cutting, be fit to the simple relatively characteristic of native system function, and linux system has a large amount of drivings and application program, alleviated the cost of development of system, also provides very big convenience to the amplification of later systemic-function.The file system that Linux is safe and reliable, well the data in real time storage in the back-up system.The Database Systems of this module adopt Berkeley DB, it is a kind of lightweight embedded database, same open source code, can well with the linux system collaborative work in this module, and the operating mechanism of these Database Systems and bottom physical store mechanism are irrelevant, it can provide data access service efficiently for application program by file system access daily record and database file, and this has satisfied our needs to the real-time storage mass data.Because it adopts the two-phase lock technology and writes consistance and the reliability that the daily record strategy guarantees data earlier,, therefore guaranteed recorded security in conjunction with journal file restore data from disaster.
This module also provides a block RAM to keep in executory routine data, and the designed size of this chip is 64MB, and concrete frequency of operation is determined according to the frequency of operation of PXA270 processor.Lcd controller and LCD display are formed display system, are mainly used to show sorts of systems information and abnormal information.
In sum, system of the present invention when practical application referring to Fig. 7.Position, the visual field is mounted with and has the video signal collective module before and after the automobile, and handles through the automatic cleaning module of vision signal and to be used for the camera head 1 of recorded video signal.Wheel position is mounted with the sensor 2 that has data acquisition module.The car body positioned inside has the pen recorder 3 and the electronic control unit 4 of data processing of being used for and storage, and the CAN bus 5 that connects these two devices.
More than show and described ultimate principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (9)
1, a kind of vehicle travel security data recording system based on video acquisition and treatment technology is characterized in that, comprising:
Be responsible for the video signal collective module of video signal collective and signal transmission;
Be used for the vision signal of redundancy is detected, the data that contain noise are carried out cleaning treatment, also can be sent the automatic cleaning module of vision signal of report to other modules;
Be responsible for the working parameters of real-time collection vehicle, and supplemental characteristic be uploaded to the control desk data acquisition module of bus;
Be used for coordinating other module work, data-interface be provided, storage related data and data are carried out certain analyzing and processing, when reason and data storage of pointing out and processing module appear analyzing when unusual in system.
In the above-mentioned module, the video signal collective module inserts the CAN bus by connecting the automatic cleaning module of vision signal; Control desk data acquisition module and data storage and processing module directly insert the CAN bus; Constitute a cover embedded system.
2, according to the digital data recording system of claim 1, it is characterized in that, described video signal collective module uses the high-speed camera head to gather vision signal, the concrete Philips SPC900NC high-speed camera head that adopts, per second is taken 90 two field pictures, volume is little, easy for installation, focusing speed fast, driving is write simply, and USB2.0 is provided interface; Simultaneously the data in real time of gathering is sent to the CAN bus, receives by other modules on the bus again.
3, digital data recording system according to claim 1, it is characterized in that, described control desk data acquisition module is when the various types of signal of collection vehicle, various types of signal is earlier by wheel speed sensors, the wheel steering angle transducer, vertical/the transverse acceleration sensor, oil pressure sensor, sensors such as fuel level sensor are collected, again simulating signal is wherein carried out the A/D conversion, the switch amount signal carries out the photoelectricity coupling, pulse signals is carried out processing such as shaping and frequency division, be sent to the bus control chip at last, signal is packed according to CAN communication protocol by it, formation meets the form of CAN bus data frame, sends with message mode.
4, according to the digital data recording system of claim 1 or 3, it is characterized in that, described control desk data acquisition module adopts the CAN bus as data transmission network, adopt SJA1000 or MCP2510 chip that signal is gathered and changed simultaneously, and between signals collecting chip and CAN bus, increase CAN bus controller and CAN transceiver and strengthen control and anti-interference function data.
5, according to the digital data recording system of claim 1, it is characterized in that, the video analog signal that the automatic cleaning module of described vision signal utilizes two acquisition camera to gather is converted to two ways of digital signals through two Video Decoders on the image processing board, this two-path video signal is sent among the CPU of DSP, signal is carried out walkaway, if being in the thresholding of regulation, noise figure do not need to handle, otherwise use wave filter that signal is carried out denoising, the digital signal after handling by CPU by bus transfer to data storage and processing module.
6, according to the digital data recording system of claim 1 or 5, it is characterized in that, be provided with the synchronous DRAM of two auxiliary storer: 32M, the flash memory of 64M in the automatic cleaning module of described vision signal, the external memory interface that they all pass through processor in seamless link.
According to the digital data recording system of claim 1, it is characterized in that 7, described data processing and memory module are further processed and format the data from CAN bus input, and with data storage in database; Transport condition to vehicle in deal with data is analyzed, if abnormal conditions give a warning in real time; Vision signal for the automatic cleaning module input of vision signal is carried out video compress, and adopts the circulation storage mode that it is stored among the Flash RAM; Externally provide USB interface and serial interface, the convenient external unit that loads.
8, according to the digital data recording system of claim 1 or 7, it is characterized in that, it is core processor that described data processing and memory module specifically adopt the PXA270 of Intel Company processor, operating system adopts embedded Linux system, the erasable Flash RAM that uses the 4GB capacity is as data storage part, wherein solidified information such as operating system, hardware abstraction layer, API built-in function, the RAM chip is needing in the stored programme operational process to be used for the Various types of data used.
According to the digital data recording system of claim 1 or 5, it is characterized in that 9, the walkaway Processing Algorithm concrete steps in the automatic cleaning module of vision signal are:
(1) choose the one-dimensional data piece that a length is N (20-N-40), to N data ordering, getting maximum data is X
Max, minimal data is X
Min
(2) determine the value of thresholding T, choose a regulated variable t according to the noise profile type, t generally is not more than 10, T
Max=X
Max-t; T
Min=X
Min+ t; Also have some other method to determine the value of T in the reality, look concrete applicable cases and decide.It is good that thresholding T chooses, and then the marking image noise spot just accurately.
(3) signaling point and noise spot are judged, got a pixel X in the current two field picture that needs to detect
i, the eigenwert and the thresholding T that choose it compare, if T
Min＜X
i＜T
Max, then this picture element is a signaling point, if T
Min＞X
iOr T
Max＜X
i, then this is a noise spot, and the frame that does not contain noise spot can directly be exported, and the signal demand that contains noise spot transfers to wave filter and carries out Filtering Processing.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103024541A (en) * | 2012-12-19 | 2013-04-03 | 四川长虹电器股份有限公司 | Data storage and visualization method of intelligent television |
| CN103426211A (en) * | 2012-05-24 | 2013-12-04 | 株式会社堀场制作所 | Vehicle traveling condition analysis system, analysis apparatus and analysis method |
| CN104007734A (en) * | 2014-06-05 | 2014-08-27 | 南通鸿鹄信息技术有限公司 | Data collection system based on CAN bus |
| CN108418892A (en) * | 2018-03-20 | 2018-08-17 | 苏州天瞳威视电子科技有限公司 | A kind of vehicle and the method and device of environment sensing data processing and storage |
| CN109522823A (en) * | 2018-10-30 | 2019-03-26 | 杭州鸿泉物联网技术股份有限公司 | A kind of image analysis apparatus |
| CN111081025A (en) * | 2018-10-18 | 2020-04-28 | 北京松果电子有限公司 | Traffic supervision method, device and storage medium |
| CN111540078A (en) * | 2020-04-02 | 2020-08-14 | 东软睿驰汽车技术（沈阳）有限公司 | Travel data storage method, travel data storage device, electronic device, and storage medium |
| CN112288023A (en) * | 2020-11-03 | 2021-01-29 | 浙江天行健智能科技有限公司 | Modeling method for aggressive driving recognition based on simulated driver and SVM algorithm |
| CN114095301A (en) * | 2021-11-17 | 2022-02-25 | 广州小鹏自动驾驶科技有限公司 | Method and device for processing data in vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103426211A (en) * | 2012-05-24 | 2013-12-04 | 株式会社堀场制作所 | Vehicle traveling condition analysis system, analysis apparatus and analysis method |
| CN103024541A (en) * | 2012-12-19 | 2013-04-03 | 四川长虹电器股份有限公司 | Data storage and visualization method of intelligent television |
| CN103024541B (en) * | 2012-12-19 | 2016-03-30 | 四川长虹电器股份有限公司 | A kind of intelligent television machine data stores and visualization method |
| CN104007734A (en) * | 2014-06-05 | 2014-08-27 | 南通鸿鹄信息技术有限公司 | Data collection system based on CAN bus |
| CN108418892A (en) * | 2018-03-20 | 2018-08-17 | 苏州天瞳威视电子科技有限公司 | A kind of vehicle and the method and device of environment sensing data processing and storage |
| CN111081025A (en) * | 2018-10-18 | 2020-04-28 | 北京松果电子有限公司 | Traffic supervision method, device and storage medium |
| CN109522823A (en) * | 2018-10-30 | 2019-03-26 | 杭州鸿泉物联网技术股份有限公司 | A kind of image analysis apparatus |
| CN111540078A (en) * | 2020-04-02 | 2020-08-14 | 东软睿驰汽车技术（沈阳）有限公司 | Travel data storage method, travel data storage device, electronic device, and storage medium |
| CN112288023A (en) * | 2020-11-03 | 2021-01-29 | 浙江天行健智能科技有限公司 | Modeling method for aggressive driving recognition based on simulated driver and SVM algorithm |
| CN114095301A (en) * | 2021-11-17 | 2022-02-25 | 广州小鹏自动驾驶科技有限公司 | Method and device for processing data in vehicle |
| CN114095301B (en) * | 2021-11-17 | 2024-03-12 | 广州小鹏自动驾驶科技有限公司 | Method and device for processing data in vehicle |
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