CN101833863B - Method and device for detecting vehicle flow speed, as well as method and system for controlling traffic lights - Google Patents
Method and device for detecting vehicle flow speed, as well as method and system for controlling traffic lights Download PDFInfo
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Abstract
The invention discloses a method and device for detecting vehicle flow speed, as well as a method and system for controlling traffic lights, in order to overcome the defect that the traditional vehicle flow speed detecting technology or traffic light control technology has of low accuracy or inconvenient operation and the like during acquiring vehicle flow speed. The method for detecting vehicle flow speed comprises the following steps of: acquiring video images in an acquisition range in a vehicle driving direction in real time; comparing a first video image and a second video image which are continuous in time; and obtaining vehicle flow speed in the vehicle driving direction by determining a position of a certain vehicle which is in the second video image in the first video image. Compared with the prior art, the vehicle flow speed detecting technology can quickly acquire the vehicle flow speed and reduce the realization cost and has the advantages of high detection accuracy and convenient operation.
Description
Technical field
The present invention relates to the urban transportation technical field, relate in particular to a kind of wagon flow speed detection method and device, and a kind of method for controlling traffic signal lights and system.
Background technology
Along with The development in society and economy, urban transport problems more and more causes people's attention, how rationally and effectively to control the crossing traffic flow, for the safe operation that guarantees motor vehicles, keep the smooth and easy vital role that played of urban road, therefore, also be the problem that needs most solution in the City Traffic Monitor System all the time.
At present, the control of the vehicle flowrate of most of urban road junctions is to allow the directed current traffic lights of convoy spacing to realize by arranging.Traffic lights are realized the timing controlled of switching at interval by single-chip microcomputer or PLC under normal conditions, and in the traffic lights the bright time of the lamp of every kind of color be pre-set, obviously the strain property aspect time and space is relatively poor for this, can't solve the green light time of letting pass changes with the variation of vehicle flowrate, and it is more serious, when certain road junction is broken rules and regulations owing to unexpected, accident or other reasons are unidirectional or two-way, even all wagon flow directions garage all occurs slowly even when stopping up, the command function of traffic lights will weaken even be thoroughly useless usually.At this moment, often needing to spend long time iff the negotiation voluntarily by this crossing vehicle just can make this crossing unimpeded again, and in some occasions with good conditionsi, the traffic police understands floor manager and dredges, though solve and can shorten time than simple auto-negotiation this moment, but need man power and material's cost, and the traffic police also can not appear at the scene in the very first time basically, these all will cause the waste of traffic resource to a certain extent, increase the weight of road traffic pressure.
In order to address the above problem, can utilize real-time intersection vehicle flux information as the basis of traffic lights switching controls.And obtain real-time intersection vehicle flux informational needs the vehicle flow data is extracted, need carry out vehicle detection, vehicle stream detection method commonly used in the prior art has ultrasound examination, infrared detection, the detection of toroidal inductive circle and Computer Vision Detection etc., wherein, the ultrasound examination precision is not high, be subjected to vehicle easily and block influence with the pedestrian, detect distance and also lack (generally being no more than 12 meters); Infrared detection is subjected to the influence of the thermal source of vehicle own, and noise resisting ability is not strong, and accuracy of detection is not high yet; Toroidal inductive circle accuracy of detection height, but require to be arranged in the xoncrete structure on road surface, road pavement has damage, operation such as construction, installation and maintenance inconvenience; Computer Vision Detection is a technology of rising recent years, it detects video in the detection and control that is applied to vehicle flowrate, it is a kind of technology that combines digital video image and artificial mode identification, but this detection technique is having relatively high expectations for pending picture at present, and processing procedure is very complicated, generally need know detail features such as identification body color, the number-plate number.
Summary of the invention
A technical matters to be solved by this invention is that a kind of wagon flow speed detection technique need be provided, the defective such as lower or operation inconvenience with the precision that overcomes existing wagon flow speed detection technique.
In order to solve the problems of the technologies described above, the present invention at first provides a kind of wagon flow speed detector, and this device comprises taking module and contrast module, wherein:
This taking module is for the video image that obtains an acquisition range on the vehicle pass-through direction in real time;
This contrasts module, is used for first video image continuous in time and second video image are compared, and by determining the position of a certain vehicle in this first video image in this second video image, obtains the wagon flow speed on this vehicle pass-through direction.
Wherein, this contrast module is used for by determining the position of this a certain vehicle in this first video image of this second video image, obtain the average velocity of this a certain vehicle on this vehicle pass-through direction, this average velocity is considered as this wagon flow speed on this vehicle pass-through direction.
Wherein, this contrast module is used for the vehicle of this first video image and second video image is carried out edge extracting, determine the contour feature of vehicle in this first video image and second video image, determine the position of this a certain vehicle in this first video image in this second video image according to this contour feature.
Wherein, this contrast module is further carried out Fuzzy Processing to this first video image and second video image before carrying out described edge extracting for the vehicle to this first video image and second video image.
Wherein, this contrast module is used for when described first video image and second video image are coloured image described Color Image Processing being become black white image or gray level image, carries out described contrast again.
In order to solve the problems of the technologies described above, the present invention also provides a kind of wagon flow speed detection method, comprising:
Obtain the video image of an acquisition range on the vehicle pass-through direction in real time;
First video image continuous in time and second video image are compared, by determining the position of a certain vehicle in this first video image in this second video image, obtain the wagon flow speed on this vehicle pass-through direction.
Wherein, by determining the position of this vehicle in this first video image in this second video image, obtain the step of this wagon flow speed, comprising:
By determining the position of this a certain vehicle in this first video image in this second video image, obtain the average velocity of this a certain vehicle on this vehicle pass-through direction, this average velocity is considered as this wagon flow speed on this vehicle pass-through direction.
Wherein, determine the step of the position of this vehicle in this first video image in this second video image, comprising:
Vehicle in this first video image and second video image is carried out edge extracting, determine the contour feature of vehicle in this first video image and second video image, determine the position of this a certain vehicle in this first video image in this second video image according to this contour feature.
Wherein, the vehicle in this first video image and second video image carried out described edge extracting before, further this first video image and second video image are carried out Fuzzy Processing.
Wherein, this first video image and second video image comprise black white image or gray level image.
Wherein, when described first video image and second video image are coloured image, described Color Image Processing is become black white image or gray level image, carry out described contrast again.
Compared with prior art, wagon flow speed detection technique of the present invention can be obtained wagon flow speed fast, and the accuracy of detection height is easy to operate, has reduced the realization cost.
Another technical matters to be solved by this invention is that a kind of traffic lights control technology need be provided, to overcome the lower or defective such as operation inconvenience etc. of existing signal lamp control technology precision when obtaining wagon flow speed.
In order to solve the problems of the technologies described above, the present invention at first provides a kind of traffic light control system, be used for determining according to the wagon flow speed on the vehicle pass-through direction switching of signal lamp on this vehicle pass-through direction, wherein, this system comprises the wagon flow speed detector, this device comprises taking module and contrast module, wherein:
This taking module is for the video image that obtains an acquisition range on the vehicle pass-through direction in real time;
This contrasts module, is used for first video image continuous in time and second video image are compared, and by determining the position of a certain vehicle in this first video image in this second video image, obtains the wagon flow speed on this vehicle pass-through direction.
Wherein, this system comprises:
Control module when being used for this wagon flow speed less than the lower limit speed on this vehicle pass-through direction, being controlled this signal lamp and is reduced vehicle pass-through time on this vehicle pass-through direction.
In order to solve the problems of the technologies described above, the present invention also provides a kind of method for controlling traffic signal lights, determines the switching of signal lamp on this vehicle pass-through direction according to the wagon flow speed on the vehicle pass-through direction, wherein, obtain the method for the wagon flow speed on this vehicle pass-through direction, comprising:
Obtain the video image of an acquisition range on the vehicle pass-through direction in real time;
First video image continuous in time and second video image are compared, by determining the position of a certain vehicle in this first video image in this second video image, obtain the wagon flow speed on this vehicle pass-through direction.
Wherein, when this wagon flow speed during less than the lower limit speed on this vehicle pass-through direction, control this signal lamp and reduce vehicle pass-through time on this vehicle pass-through direction.
Compared with prior art, an embodiment of the control technology of traffic lights provided by the invention makes the crossing traffic situation can access monitoring in real time, and situation that the road is clear obtains adjusting effectively automatically.
Other features and advantages of the present invention will be set forth in the following description, and, partly from instructions, become apparent, perhaps understand by implementing the present invention.Purpose of the present invention and other advantages can realize and obtain by specifically noted structure in instructions, claims and accompanying drawing.
Description of drawings
Accompanying drawing is used to provide further understanding of the present invention, and constitutes the part of instructions, is used from explanation the present invention with embodiments of the invention one, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the schematic flow sheet of wagon flow speed detection method embodiment of the present invention;
Fig. 2 is the composition synoptic diagram of wagon flow speed detector embodiment of the present invention;
Fig. 3 is the schematic flow sheet of method for controlling traffic signal lights embodiment of the present invention;
Fig. 3 a is the schematic flow sheet of method for controlling traffic signal lights application example of the present invention;
Fig. 4 is the composition synoptic diagram of traffic light control system embodiment of the present invention;
Fig. 4 a is the composition synoptic diagram of traffic light control system application example of the present invention.
Embodiment
Describe embodiments of the present invention in detail below with reference to drawings and Examples, how the application technology means solve technical matters to the present invention whereby, and the implementation procedure of reaching technique effect can fully understand and implements according to this.
At first, if do not conflict, each feature among the embodiment of the invention and the embodiment can mutually combine, all within protection scope of the present invention.In addition, can in the computer system such as one group of computer executable instructions, carry out in the step shown in the process flow diagram of accompanying drawing, and, though there is shown logical order in flow process, but in some cases, can carry out step shown or that describe with the order that is different from herein.
In order to realize the detection of wagon flow speed of the present invention, set in advance a video camera, sampling instrument as the road video image, the installation site of video camera apart from ground be a certain setting height H (for example, be arranged on the mounting bracket of traffic lights), and set one and determine angle of depression θ (for example, 60 °).The setting of this height H and angle of depression θ size is determined by the crossing one-way distance of the required monitoring of this traffic light control system.Focus of camera is the physical attribute of video camera itself, can determine when determining video camera.
This video camera can be taken on the road on the same direction of traffic in the certain distance video image of vehicle in a few the tracks in real time, owing to can take same principle to carry out the detection of terrain vehicle flow velocity degree to many tracks that photograph, therefore, in the following narration, for succinct purpose, only the detection with the wagon flow speed in the track is the essentiality content that example illustrates technical solution of the present invention, but this only is illustrative and nonrestrictive, below method and apparatus/system of setting forth can be used for the detection of multilane wagon flow speed equally.
Video camera (perhaps other taking module) is after installation, its height H and angle of depression θ and current setting focal length are determined value, at this moment, its zone that can detect is the zone of a fixed size, in this zone, determine an acquisition range, the width of this acquisition range is at least the lane width on the vehicle pass-through direction of surveying, and its length is the distance on the vehicle pass-through direction.If this video camera is used for taking the wagon flow at crossing, track, then can determine the queue length of crossing vehicle as required.Thus, can carry out obtaining of traffic on the track, that is, the track flow velocity degree situation of getting on the bus be detected in real time.
Above-mentioned wagon flow speed refers to section mean speed, i.e. the mean value of the speed of a motor vehicle of the rolling stock in certain travels on a certain length-specific of road in a flash.In the present invention, because the picture acquisition time can be not excessive, so being similar to, the definition among the employing embodiment obtains.
Fig. 1 is the schematic flow sheet of wagon flow speed detection method embodiment of the present invention.As shown in Figure 1, this wagon flow speed detection method embodiment mainly comprises the steps:
Step S110, taking module obtain the video image of an acquisition range on the vehicle pass-through direction in real time, and can store the video image that obtains according to time sequencing; Acquisition range wherein refers on the track scope of certain running distance in the present embodiment; Even if taking module can photograph the transport information on this track, one or both sides, track, also be not used in processing follow-up on this track;
Above-mentioned taking module can be substituted by any harvester that can carry out video image acquisition, for example, and camera or monitor etc.;
Preferably, can adopt black white image video camera (can take the video camera of black white image) or gray level image video camera (can take the video camera of gray level image) to obtain the video image of acquisition range, perhaps obtain the coloured image of acquisition range by the coloured image video camera video camera of color image shot (can), then this coloured image is transformed into black and white or gray level image; Obtaining the purpose of black and white or gray level image, is to simplify follow-up processing;
Step S120, (wherein first video image is preceding to first video image continuous in time and second video image, second video image is in the back) compare, by determining the position (this can according to the contour feature information of vehicle compare obtain) of a certain vehicle in first video image in second video image, obtain the average velocity of this vehicle on its track, and this average velocity is considered as wagon flow speed on this vehicle pass-through direction; If the vehicle in this second video image does not all have to find identical contour feature (can think that the vehicle in first video image has all sailed out of acquisition range) in first video image, can be object of reference with last car in first video image then, look it and just sailed out of whole acquisition range, obtaining minimum on this vehicle pass-through direction with this may average velocity;
In this step, can determine the contour feature of each vehicle in two width of cloth video images by the vehicle in first and second video images is carried out edge extracting, according to the contour feature of vehicle this first video image and second video image be compared; This step can also obtain the vehicle number in two width of cloth video images according to the contour feature that extraction obtains; Before carrying out edge extracting in this step, can by to the Fuzzy Processing of video image to carry out the edge extracting of vehicle ' s contour fast.Fuzzy Processing wherein, the image that refers to be beneficial to the profile that identifies vehicle from video image is handled, and such as image value (as the gray-scale value of gray level image) part jumpy in the outstanding video image, changes little part and ignore image value.
In this step, vehicle is carried out edge extracting can select edge extracting method of the prior art for use, wherein, the operator in the edge extracting method can be selected Laplace operator, Prewitt operator, Sobel operator, Robert operator, Canny operator etc. for use; Preferably the Canny operator can be selected for use, the comparatively complete edge extracting result of effect can be obtained;
Determine garage's distance L in this acquisition time interval T according to the position of this vehicle in two width of cloth video images, according to this garage's distance L and this acquisition time interval T, just can obtain the average velocity of this vehicle in this acquisition time interval, the average velocity of this vehicle is considered as wagon flow speed on this vehicle pass-through direction, that is: wagon flow speed equals garage's distance L divided by the acquisition time interval T;
This step further can obtain in second video image vehicle number with respect to the variation delta N of vehicle number in first video image, if this variation delta N is less than 0 (namely the vehicle number in first video image is greater than the vehicle number in second video image), then illustrate in the acquisition time interval T that this first and second video image is separated by, vehicle can pass through smoothly on this vehicle pass-through direction, otherwise illustrate on this vehicle pass-through direction in this acquisition time interval T may blockage phenomenon;
During judgement this vehicle pass-through direction possibility blockage phenomenon (being that aforesaid variation delta N is more than or equal to 0) this moment, can judge this garage's direction that whether this acquisition time interval T is in this vehicle pass-through direction state that belongs to that no through traffic further (namely, be generally red light, can judge the binding signal lamp status signal time of living in, the signal that perhaps can the binding signal lamp switches is judged), if words, can be left intact for this result, otherwise judge whether first video image is identical with this vehicle in second video image, judge namely whether contour feature is identical, if, can determine that then this vehicle pass-through direction is in blocked state, otherwise obtain wagon flow speed according to this garage's distance and this acquisition time interval T.
After obtaining wagon flow speed, can determine vehicle pass-through strategy on this vehicle pass-through direction according to the minimum wagon flow speed on this wagon flow speed and predetermined this vehicle pass-through direction; Judge that whether this wagon flow speed is more than or equal to the minimum wagon flow speed on this predetermined vehicle pass-through direction; If show that then the current wagon flow speed of this vehicle pass-through direction faster than design load, can not process; Otherwise show that the current wagon flow speed of this vehicle pass-through direction is slow excessively; In order to prevent that chocking-up degree is aggravated further on this direction vehicle pass-through direction, can send a control signal to signal lamp control module (controlling the control module that various signal lamps are lighted time and switching instant), the indicator signal lamp control module prolongs the time that no through traffic on this direction vehicle pass-through direction, and prolong the time of passing through of allowing on another direction different with this direction (such as the eastbound direction of vehicle) (such as vehicle south line direction) vehicle pass-through direction, to alleviate the road pressure of this another direction.
If the speed of a motor vehicle is slower on certain direction, illustrate and to be in the not smooth state of garage on this direction, if make this highway section current constantly, may cause the vehicle on this direction to get more and more, this is actually the current pressure that has increased on this direction, even may be easy to cause this crossing thoroughly to be blocked by vehicle, make two crisscross all generations block up.And if the time of the state that prolongs that no through traffic on this direction, after can waiting on this direction the place ahead the slow excessively vehicle of speed having transferred out gradually, this direction of letting pass again, thereby alleviate garage's resistance on this direction effectively.
Can be fixed length a signal lamp transformation period, also can be random length, but the mode of determining one-period determines, that is: the right of way signal of certain direction (green light) this begin to the duration of back to back beginning next time; The size of certainly, also can be with the beginning of other signals or stopping to determine a signal lamp transformation period.
In wagon flow speed detection method embodiment shown in Figure 1, utilize taking module to obtain real-time video image, preferably can set the acquisition time interval of video image according to the storage space that allows, thereby under the situation that satisfies the detection needs, reduce data processing amount than that optimize even optimized, improve data-handling efficiency.
More preferably, the acquisition time of video image at interval with traffic lights in indication let pass (allowing current) pilot lamp (being generally green light) to continue the time of lighting identical, and it is synchronous with the switching time of green light, thus so that can analyse and compare to the vehicle flowrate data more efficiently, omitted the work of indicating during forbidden pilot lamp continues to light, can compare easily once and to allow in the current process number change of vehicle in certain road.
In addition, after above-mentioned step S120, can also utilize the contour feature information of vehicle, obtain during the signal lamp that allows vehicle pass-through is lighted vehicle queue length (namely, vehicle queue situation after vehicle queue situation before green light is opened and green light are closed), that is, in the described image last vehicle afterbody to the distance at crossing.Can obtain garage's situation of whole road thus on the whole.Usually, when opening, green light represents to allow garage's state, therefore if green light open and finish two moment, the words that the variation of vehicle queue length is very little, can think that garage is not smooth, the vehicle queue length during therefore allowing the signal lamp of vehicle pass-through to light also can be used as one of evaluation index of vehicle pass-through situation.
Among the above-mentioned steps S120, when garage's direction state that is in that no through traffic with when allowing the handoff procedure of current state (normal conditions are amber light or part collection period at red light, part collection period in green light period), variation delta N does not deal with more than or equal to 0 yet, the judgement of whether stopping up according to subsequent video images.In order to realize this mode, need to guarantee a signal lamp be transformation period transit time and forbidden time sum or itself and integral multiple, acquisition state is in allow current state and the handoff procedure of no through traffic state.In order to simplify implementation further, preferably, acquisition time can be arranged at interval integer/one (as five/first-class) of or green light period of change time consistent with the period of change of green light, the calculating of the variation of the vehicle on certain garage's direction number can be carried out easily like this, also is that wagon flow speed can obtain easily.
Among the above-mentioned steps S120, if the contour feature of each vehicle in second video image, all inequality with the contour feature of each vehicle in first video image, can think that then therefore vehicle in first video image all sailing out of acquisition range, can think that this moment, vehicle pass-through was smoothly.
Need to prove that the collection direction of above-mentioned video image to be to set forth over against garage's direction, in other embodiment, also can be towards garage away from direction, the method for its realization is similar, does not repeat them here.
Fig. 2 is the composition synoptic diagram of wagon flow speed detector embodiment of the present invention.In conjunction with method embodiment shown in Figure 1, this wagon flow speed detector embodiment shown in Figure 2 mainly comprises taking module 210 and contrast module 220, wherein:
Taking module 210 is used for obtaining the video image of an acquisition range on the vehicle pass-through direction in real time, and can stores the video image that obtains according to time sequencing; Acquisition range wherein refers on the track scope of certain running distance in the present embodiment; Even if taking module can photograph the transport information on this track, one or both sides, track, also be not used in processing follow-up on this track;
Above-mentioned taking module 210 can be substituted by any harvester that can carry out video image acquisition, for example, and camera or monitor etc.;
Preferably, this taking module 210 can be B, also can be the colour TV camera video camera of color image shot (can), also can be the video camera of taking gray level image; Difference is, for colour TV camera, need be transformed into black and white video image or greyscale video image to the color video frequency image that obtains; Obtaining the purpose of black and white video image or greyscale video image, is to simplify follow-up processing;
When contrast module 220 determines possible blockage phenomenon of this vehicle pass-through direction this moment (being that aforesaid variation delta N is more than or equal to 0), can judge this garage's direction that whether this acquisition time interval T is in this vehicle pass-through direction state that belongs to that no through traffic further (namely, be generally red light, can judge the binding signal lamp status signal time of living in, the signal that perhaps can the binding signal lamp switches is judged), if words, can be left intact for this result, otherwise judge whether first video image is identical with this vehicle in second video image, be whether judging characteristic point is identical, if, can determine that then this vehicle pass-through direction is in blocked state, otherwise obtain wagon flow speed according to this garage's distance and this acquisition time interval T.
Above-mentioned contrast module 220 can be carried out edge extracting to the vehicle in first and second video images, determines the contour feature of each vehicle in two width of cloth video images, according to this contour feature first video image and second video image is compared; Can also obtain vehicle number in each width of cloth video image according to this vehicle ' s contour point.Contrast is before module 220 carries out edge extracting, can by to the Fuzzy Processing of video image to carry out the edge extracting of vehicle fast.Fuzzy Processing wherein, the image that refers to be beneficial to the contour feature that identifies vehicle from video image is handled, and such as image value (as the gray-scale value of gray level image) part jumpy in the outstanding video image, changes little part and ignore image value.
210 pairs of vehicles of extraction module carry out edge extracting and can select edge extracting method of the prior art for use, wherein, the operator in the edge extracting method can be selected Laplace operator, Prewitt operator, Sobel operator, Robert operator, Canny operator etc. for use; Preferably the Canny operator can be selected for use, the comparatively complete edge extracting result of effect can be obtained.
Can also comprise a policy module 240 in embodiment illustrated in fig. 2, link to each other with this contrast module 220, be used for determining vehicle pass-through strategy on this vehicle pass-through direction according to the minimum wagon flow speed on this wagon flow speed and predetermined this vehicle pass-through direction; Such as judging that whether this wagon flow speed is more than or equal to the minimum wagon flow speed on this predetermined vehicle pass-through direction; If show that then the current wagon flow speed of this vehicle pass-through direction faster than design load, can not process; Otherwise show that the current wagon flow speed of this vehicle pass-through direction is slow excessively; In order to prevent that chocking-up degree is aggravated further on this vehicle pass-through direction, can send a control signal to the signal lamp control module, the indicator signal lamp control module is carried out and is prolonged the time that no through traffic on this vehicle pass-through direction, and prolong with another different direction vehicle pass-through direction of this direction on allow time of passing through, to alleviate the road pressure of this another direction.
Utilize above-mentioned taking module 210 to obtain real-time video image, preferably can set acquisition time at interval according to the storage space that allows, thereby under the situation that satisfies the detection needs, reduce data processing amount than that optimize even optimized, improve data-handling efficiency.
More preferably, the pilot lamp (being generally green light) that above-mentioned taking module 210 can be used for be determined acquisition time at interval and the traffic lights indication is let pass (allowing current) to continue the time of lighting identical, and it is synchronous with the switching time of green light, thus so that can analyse and compare to the vehicle flowrate data more efficiently, omitted the work of indicating during forbidden pilot lamp continues to light, can compare easily once and to allow in the current process number change of vehicle in certain road.
In addition, above-mentioned contrast module 220 can also be used for utilizing the contour feature information of vehicle, obtain vehicle queue length during the signal lamp that allows vehicle pass-through is lighted (close such as the vehicle queue situation before green light is opened and green light after vehicle queue situation), that is, in the described image last vehicle afterbody to the distance at crossing.Can obtain garage's situation of whole road thus on the whole.
Technical scheme proposed by the invention requires lower for the image quality of video image, the video image that only needs to obtain can carry out whole identification to the vehicle in the acquisition range and get final product, and do not need vehicle concrete details feature (for example, body color, the number-plate number etc.) is clearly identified.Compared to existing technologies, technical solution of the present invention has reduced the image quality requirement to video image, also namely reduced the requirement to image taking module imaging resolution and pixel etc., compare with needed high precision picture pick-up devices of technology such as digital video image used in the prior art and artificial mode identifications, cost obviously reduces.
The present invention is carrying out in the edge extracting processing procedure vehicle, can comprise the Fuzzy Processing to video image, this Fuzzy Processing is beneficial to the contour feature that identifies vehicle from video image, be convenient to carry out fast the edge extracting processing of vehicle, such as image value (as the gray-scale value of gray level image) part jumpy in the outstanding video image, change little part and ignore image value.This technology with digital video image used in the prior art and artificial mode identification is compared, and also is a diverse processing procedure.Common mode is at first to make image clearer to the video image of gathering by processing means such as sharpenings in the prior art, improving the identification degree of image, thereby identifies a plurality of remarkable characteristics of vehicle, and improves the precision of pattern-recognition.Need to prove that adopting two kinds of diametrically opposite image processing method formulas is to cause owing to the required purpose that reaches is different.Processing such as this Fuzzy Processing and sharpening of the prior art, not only processing mode and thought are obviously different, and the difficulty of handling is also different, the processing such as sharpening of this Fuzzy Processing that technical solution of the present invention adopts in compared to existing technology, obviously easier realization, and middle required computation process still less, reduced precision and hardware requirement to imaging device.
Utilize wagon flow speed detection method illustrated in fig. 1, can determine the wagon flow speed of each vehicle pass-through direction of road junction.As shown in Figure 3, method for controlling traffic signal lights embodiment of the present invention mainly comprises the steps:
Step S301 obtains the video image of an acquisition range on the vehicle pass-through direction in real time;
Step S302 compares first video image continuous in time and second video image, by determining the position of a certain vehicle in first video image in second video image, obtains the wagon flow speed on this vehicle pass-through direction;
Step S303 according to wagon flow speed and default lower limit speed, determines the switchover policy on the vehicle pass-through direction;
Step S304 is according to the switching of signal lamp on the switchover policy control vehicle pass-through direction.
Fig. 3 a is the schematic flow sheet of method for controlling traffic signal lights application example of the present invention.In conjunction with wagon flow speed detection method embodiment shown in Figure 1, wagon flow speed detector embodiment shown in Figure 2, how the method for controlling traffic signal lights application example shown in Fig. 3 a exemplarily carries out the switching controls of traffic lights according to the pass through wagon flow speed (following represent with the second wagon flow speed B) of direction (as North and South direction) of the wagon flow speed of the first current direction (as east-west direction) that predicts (following represent with the first wagon flow speed A) and second to explanation.
And the minimum value of the default first wagon flow speed is A
Min, the minimum value of the second wagon flow speed is B
Min, as A＜A
MinThe time, think that the first current direction wagon flow is not smooth, B＜B
MinThe time, think that the second current direction wagon flow is not smooth.
Shown in Fig. 3 a, this method for controlling traffic signal lights application example mainly comprises the steps:
Step S310 obtains the video image of an acquisition range on the first current direction in real time;
Step S320 obtains the video image of an acquisition range on the second current direction in real time;
Step S330, respectively on the first current direction and on the second current direction, first video image continuous in time and second video image are compared, by determining the position of a certain vehicle in first video image in second video image, obtain the first wagon flow speed A on the first current direction and the second wagon flow speed B on the second current direction respectively;
Step S340 is according to the first lower limit speed A on this first wagon flow speed A, the second wagon flow speed B, this first current direction
MinWith the second lower limit speed B on this second current direction
Min, determine first switchover policy on the first current direction and second switchover policy on the second current direction, wherein:
As A＞A
Min, and B＞B
MinThe time, illustrating that the first current direction and the second current direction are all smooth and easy, this first switchover policy and second switchover policy all represent to need not to adjust the control time of signal lamp each signal lamp in transformation period;
As A＜A
Min, and B＞B
MinThe time, illustrate that the first current direction is obstructed, but the second current direction is unimpeded, can suitably reduce vehicle pass-through time on the first current direction this moment at a signal lamp in transformation period, correspondingly increase the vehicle pass-through time on the second current direction, the content of first switchover policy is that the signal lamp control module on the first current direction lane sends and increases that no thoroughfare for vehicles signal lamp is lighted the signal of time, this signal lamp control module can be lighted the time according to certain time step increase, for example, increasing by 10 seconds (s) lights the time, simultaneously, the content of second switchover policy is that the signal lamp control module on the second current direction lane sends and reduces that no thoroughfare for vehicles signal lamp is lighted the signal of time, this signal lamp control module can reduce according to certain time step to be lighted the time, for example, reducing by 10 seconds (s) lights the time;
As B＜B
Min, and A＞A
MinThe time, illustrate that the second current direction is obstructed, but the first current direction is unimpeded, can suitably reduce vehicle pass-through time on the second current direction this moment at a signal lamp in transformation period, correspondingly increase the vehicle pass-through time on the first current direction, the content of first switchover policy is that the signal lamp control module on the first current direction lane sends and reduces that no thoroughfare for vehicles signal lamp is lighted the signal of time, this signal lamp control module can reduce according to certain time step to be lighted the time, for example, reducing by 10 seconds (s) lights the time, simultaneously, the content of second switchover policy is that the signal lamp control module on the second current direction lane sends and increases that no thoroughfare for vehicles signal lamp is lighted the signal of time, this signal lamp control module can be lighted the time according to certain time step increase, for example, increases 10s and lights the time;
As B＜B
Min, and A＜A
MinThe time, illustrate that the first current direction and the second current direction are all not smooth, at this moment, determine the content of this first switchover policy and second switchover policy according to the priority pass strategy that presets, allow transit time such as vehicle on the track of selecting to prolong one of the first current direction or second current direction; This priority pass strategy can be: the major trunk roads priority principle, perhaps selected vehicle queue length is than the current principle of short orientation preferentially, perhaps permission transit time and the other direction with the priority pass direction allows transit time to be set at a ratio value, changes two simultaneously and allows transit time.Priority pass strategy wherein refers to, the vehicle on a certain current direction of determining according to the current characteristics of intersection or category of roads etc. under equal conditions can be prior to the vehicle on another current direction.
Step S350 according to this first switchover policy, controls the switching of signal lamp on this first current direction, and according to this second switchover policy, controls the switching of signal lamp on this second current direction.
Can be drawn by the application example shown in Fig. 3 a, real time status according to road traffic can in time be adjusted lighting the time of crossing traffic signal lamp, can dynamically adjust road garage situation thus, and need not manual intervention, thereby effectively improve the traffic resource rate, alleviate road pressure.
The shown method for controlling traffic signal lights application example of Fig. 3 a only is schematically, switching direction and the time that can come the control signal lamp in practice as required, for example comprise further keep straight on direction such as turning on the relevant control of signal lamp.
Because the first current direction and the second current direction have two single file directions (be divided into east orientation single file direction and western to the single file direction as east-west direction, North and South direction is divided into south orientation single file direction and north orientation single file direction).In some practical applications, on two single file directions on the same current direction, allow current time span and unequal (such as each signal lamp in transformation period, the permission transit time of east orientation single file direction is 60 seconds, and the west is 45 seconds to the permission transit time of single file direction), so the application example shown in Fig. 3 a is not example with this application scenarios, but at simpler and common application scenarios, that is: on the same current direction on two single file directions, lighting of same signal lamp is all identical with close moment, and the method for controlling traffic signal lights application example among the present invention is described.
For allowing current time span and unequal application scenarios on two single file directions on the same current direction, can obtain the wagon flow speed on each single file direction respectively, and utilize control principle shown in Fig. 3 a, can obtain other embodiment and/or the application example of method for controlling traffic signal lights of the present invention easily.
Further, step S310 and step S320 can also obtain two queue lengths on the current direction respectively, utilize communication network (comprising for example GPRS etc. of wireline communication network or cordless communication network) the real-time traffic status at certain crossing to be sent to (comprising two wagon flow speed and queue lengths on the current direction) communication node of appointment, for example, be sent to next crossing traffic lamp control module contiguous on the same current direction, can enough carry out anticipation to the traffic status that does not freely influence this crossing owing to next crossing traffic.Specifically, if local crossing traffic lamp control module is received after the slow excessively information of certain direction wagon flow speed of next crossing, in order to alleviate the congestion that this direction may occur, can reduce this direction vehicle according to the strategy that presets and allow the current time, can realize continuous leading adjusting the automatically at a plurality of crossings thus, slow down road network pressure effectively, rationally regulate traffic flow, shorten the vehicle driving time, improve traffic network management and control ability.
The step of obtaining this first wagon flow speed A among the above-mentioned steps S310 can comprise, determine the contour feature of the vehicle on this first current direction, contour feature according to the vehicle on this first current direction carries out edge extracting to the vehicle on this first current direction, determine the speed of the vehicle on this first current direction, with the speed of the vehicle on this first current direction as this first wagon flow speed A.
The step of obtaining this second wagon flow speed B among the above-mentioned steps S320 can comprise, determine the contour feature of the vehicle on this second current direction, contour feature according to the vehicle on this second current direction carries out edge extracting to the vehicle on this second current direction, determine the speed of the vehicle on this second current direction, with the speed of the vehicle on this second current direction as this second wagon flow speed B.
Further, can also utilize communication network that the real-time traffic status at certain crossing is sent to such as supervisory communications nodes such as traffic surveillance and control centers the whole traffic in certain zone carried out the integral body control and to adjust.
As shown in Figure 4, traffic light control system embodiment of the present invention mainly comprises taking module 401, contrast module 402, decision-making module 403 and control module 404, wherein:
Taking module 401 is for the video image that obtains an acquisition range on the vehicle pass-through direction in real time;
Contrast module 402 links to each other with this taking module 401, is used for first video image continuous in time and second video image are compared, and by determining the position of a certain vehicle in first video image in second video image, obtains wagon flow speed;
Decision-making module 403 links to each other with this contrast module 402, is used for determining the switchover policy on the vehicle pass-through direction according to wagon flow speed and default lower limit speed;
Control module 404 links to each other with this decision-making module 403, is used for the switching according to signal lamp on the switchover policy control vehicle pass-through direction.
Traffic light control system embodiment shown in Figure 4 can also comprise a transport module 405, link to each other with this contrast module 402, this transport module 405 utilizes communication network will comprise that the real-time traffic status of this wagon flow speed sends to the communication node of appointment, as next crossing traffic lamp control module contiguous on the same current direction or traffic surveillance and control center etc., so that this communication node is according to realizing control measures such as leading adjusting and road grid traffic adjusting automatically by real-time traffic status.
Fig. 4 a is the composition synoptic diagram of traffic light control system application example of the present invention.In conjunction with the method application example shown in Fig. 3 a, the application example shown in Fig. 4 a mainly comprises first acquisition module 410, second acquisition module 420, decision-making module 440 and control module 450, wherein:
First taking module 410 is for the video image that obtains an acquisition range on the first current direction in real time;
Second taking module 420 is for the video image that obtains an acquisition range on the second current direction in real time;
Contrast module 430, link to each other with this first taking module 410 and second taking module 420, be used for respectively on the first current direction and the second current direction, first video image continuous in time and second video image are compared, by determining the position of a certain vehicle in first video image in second video image, obtain the first wagon flow speed A on the first current direction and the second wagon flow speed B on the second current direction respectively;
Decision-making module 440 links to each other with this contrast module 430, is used for according to this first wagon flow speed A, the second wagon flow speed B, and the first lower limit speed A on this default first current direction
MinWith the second lower limit speed B on this second current direction
Min, determine first switchover policy on the first current direction and second switchover policy on the second current direction, wherein:
As A＞A
Min, and B＞B
MinThe time, illustrating that the first current direction and the second current direction are all smooth and easy, this first switchover policy and second switchover policy all represent to need not to adjust the control time of signal lamp each signal lamp in transformation period;
As A＜A
Min, and B＞B
MinThe time, illustrate that the first current direction is obstructed, but the second current direction is unimpeded, can suitably reduce vehicle pass-through time on the first current direction this moment at a signal lamp in transformation period, correspondingly increase the vehicle pass-through time on the second current direction, the content of first switchover policy is that the signal lamp control module on the first current direction lane sends and increases that no thoroughfare for vehicles signal lamp is lighted the signal of time, this signal lamp control module can be lighted the time according to certain time step increase, for example, increase 10s and light the time, simultaneously, the content of second switchover policy is that the signal lamp control module on the second current direction lane sends and reduces that no thoroughfare for vehicles signal lamp is lighted the signal of time, this signal lamp control module can reduce according to certain time step to be lighted the time, for example, reduces by 10 seconds (s) and lights the time;
As B＜B
Min, and A＞A
MinThe time, illustrate that the second current direction is obstructed, but the first current direction is unimpeded, can suitably reduce vehicle pass-through time on the second current direction this moment at a signal lamp in transformation period, correspondingly increase the vehicle pass-through time on the first current direction, the content of first switchover policy is that the signal lamp control module on the first current direction lane sends and reduces that no thoroughfare for vehicles signal lamp is lighted the signal of time, this signal lamp control module can reduce according to certain time step to be lighted the time, for example, reducing by 10 seconds (s) lights the time, simultaneously, the content of second switchover policy is that the signal lamp control module on the second current direction lane sends and increases that no thoroughfare for vehicles signal lamp is lighted the signal of time, this signal lamp control module can be lighted the time according to certain time step increase, for example, increases the 10s no time of point;
As B＜B
Min, and A＜A
MinThe time, illustrate that the first current direction and the second current direction are all not smooth, at this moment, determine the content of this first switchover policy and second switchover policy according to the priority pass strategy that presets, allow transit time such as vehicle on the track of selecting to prolong one of the first current direction or second current direction; This priority pass strategy can be: the major trunk roads priority principle, perhaps selected vehicle queue length is than the current principle of short orientation preferentially, perhaps permission transit time and the other direction with the priority pass direction allows transit time to be set at a ratio value, changes two simultaneously and allows transit time.Priority pass strategy wherein refers to, the vehicle on a certain current direction of determining according to the current characteristics of intersection or category of roads etc. under equal conditions can be prior to the vehicle on another current direction;
Control module 450 links to each other with this decision-making module 440, is used for according to this first switchover policy, controls the switching of signal lamp on this first current direction, and is used for according to this second switchover policy, controls the switching of signal lamp on this second current direction.
Wherein this first acquisition module 410 is used for determining the contour feature of the vehicle on this first current direction, contour feature according to the vehicle on this first current direction carries out edge extracting to the vehicle on this first current direction, determine the speed of the vehicle on this first current direction, with the speed of the vehicle on this first current direction as this first wagon flow speed.
Wherein this second acquisition module 420 is used for determining the contour feature of the vehicle on this second current direction, contour feature according to the vehicle on this second current direction carries out edge extracting to the vehicle on this second current direction, determine the speed of the vehicle on this second current direction, with the speed of the vehicle on this second current direction as this second wagon flow speed.
Traffic light control system application example shown in Fig. 4 a can also comprise a transport module 460, link to each other with this contrast module 430, above-mentioned contrast module 430 can also be obtained the queue length on the first current direction and the second current direction respectively, this transport module 460 utilizes communication network will comprise this queue length and the first wagon flow speed A, the real-time traffic status of the second wagon flow speed B sends to the communication node of appointment, as next crossing traffic lamp control module contiguous on the same current direction or traffic surveillance and control center etc., so that this communication node is according to realizing control measures such as leading adjusting and road grid traffic adjusting automatically by real-time traffic status.
Wagon flow speed technical scheme of the present invention and based on the traffic lights control technology scheme of this wagon flow speed technical scheme, only need simply compare the video image of continuous shooting and get final product, do not need accurately to extract numerous minutias of vehicle, reduced the requirement of image imaging quality, reduced the performance requirement of equipment, make the entire system cost reduce greatly, and whole process to carry out the data volume of computing in handling less, the treatment effeciency height.
Wagon flow speed technical scheme of the present invention and based on the traffic lights control technology scheme of this wagon flow speed technical scheme, do not need to set in advance any sign for vehicle or road, improve nor need carry out intricately for existing equipment, installation and convenient later maintenance are quick, and be with low cost.
Those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with the general calculation device, they can concentrate on the single calculation element, perhaps be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in the memory storage and be carried out by calculation element, perhaps they are made into each integrated circuit modules respectively, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.
Though the disclosed embodiment of the present invention as above, the embodiment that described content just adopts for the ease of understanding the present invention is not in order to limit the present invention.Technician in any the technical field of the invention; under the prerequisite that does not break away from the disclosed spirit and scope of the present invention; can do any modification and variation in the details of implementing that reaches in form; but scope of patent protection of the present invention still must be as the criterion with the scope that appending claims was defined.
Claims (15)
1. a wagon flow speed detector is characterized in that, comprises taking module and contrast module, wherein:
This taking module is for the video image that obtains an acquisition range on the vehicle pass-through direction in real time;
This contrasts module, is used for first video image continuous in time and second video image are compared, and by determining the position of a certain vehicle in this first video image in this second video image, obtains the wagon flow speed on this vehicle pass-through direction; Also be used for obtaining the second video image vehicle number with respect to the variable quantity of vehicle number in first video image; Also be used for utilizing the contour feature information of vehicle, obtain the vehicle queue length during the signal lamp that allows vehicle pass-through is lighted, to obtain garage's situation of whole road on the whole;
If variable quantity, illustrates then that vehicle can pass through smoothly on this vehicle pass-through direction in the acquisition time interval that this first and second video image is separated by less than 0; If variable quantity, is judged this garage's direction that whether acquisition time is at interval this vehicle pass-through direction state that belongs to that no through traffic further more than or equal to 0; As the state that do not belong to that no through traffic, judge then whether first video image is identical with this vehicle in second video image, as identical, determine that then this vehicle pass-through direction is in blocked state, as inequality, then obtain wagon flow speed at interval according to garage's distance and this acquisition time; If the vehicle in this second video image does not all have to find identical contour feature in first video image, be object of reference with last car in first video image then, look it and just sailed out of whole acquisition range, obtaining minimum on this vehicle pass-through direction with this may average velocity;
If green light is opened and finished two moment, the variation of vehicle queue length is very little, thinks that then garage is not smooth.
2. device according to claim 1 is characterized in that:
This contrast module is used for by determining the position of this a certain vehicle in this first video image of this second video image, obtain the average velocity of this a certain vehicle on this vehicle pass-through direction, this average velocity is considered as this wagon flow speed on this vehicle pass-through direction.
3. device according to claim 2 is characterized in that:
This contrast module is used for the vehicle of this first video image and second video image is carried out edge extracting, determine the contour feature of vehicle in this first video image and second video image, determine the position of this a certain vehicle in this first video image in this second video image according to this contour feature.
4. device according to claim 3 is characterized in that:
This contrast module is further carried out Fuzzy Processing to this first video image and second video image before carrying out described edge extracting for the vehicle to this first video image and second video image.
5. device according to claim 1 is characterized in that:
This contrast module is used for when described first video image and second video image are coloured image described Color Image Processing being become black white image or gray level image, carries out described contrast again.
6. traffic light control system, be used for determining according to the wagon flow speed on the vehicle pass-through direction switching of signal lamp on this vehicle pass-through direction, it is characterized in that this system comprises as the described wagon flow speed detector of each claim in the claim 1 to 5.
7. system according to claim 6 is characterized in that, this system comprises:
Control module when being used for this wagon flow speed less than the lower limit speed on this vehicle pass-through direction, being controlled this signal lamp and is reduced vehicle pass-through time on this vehicle pass-through direction.
8. a wagon flow speed detection method is characterized in that, comprising:
Obtain the video image of an acquisition range on the vehicle pass-through direction in real time;
First video image continuous in time and second video image are compared, by determining the position of a certain vehicle in this first video image in this second video image, obtain the wagon flow speed on this vehicle pass-through direction, and obtain in second video image vehicle number with respect to the variable quantity of vehicle number in first video image, further utilize the contour feature information of vehicle, obtain the vehicle queue length during the signal lamp that allows vehicle pass-through is lighted;
If variable quantity, illustrates then that vehicle can pass through smoothly on this vehicle pass-through direction in the acquisition time interval that this first and second video image is separated by less than 0; If variable quantity, is judged this garage's direction that whether acquisition time is at interval this vehicle pass-through direction state that belongs to that no through traffic further more than or equal to 0; As the state that do not belong to that no through traffic, judge then whether first video image is identical with this vehicle in second video image, as identical, determine that then this vehicle pass-through direction is in blocked state, as inequality, then obtain wagon flow speed at interval according to garage's distance and this acquisition time; If the vehicle in this second video image does not all have to find identical contour feature in first video image, be object of reference with last car in first video image then, look it and just sailed out of whole acquisition range, obtaining minimum on this vehicle pass-through direction with this may average velocity;
If green light is opened and finished two moment, the variation of vehicle queue length is very little, thinks that then garage is not smooth.
9. method according to claim 8 is characterized in that, by determining the position of this vehicle in this first video image in this second video image, obtains the step of this wagon flow speed, comprising:
By determining the position of this a certain vehicle in this first video image in this second video image, obtain the average velocity of this a certain vehicle on this vehicle pass-through direction, this average velocity is considered as this wagon flow speed on this vehicle pass-through direction.
10. method according to claim 9 is characterized in that, determines the step of the position of this vehicle in this first video image in this second video image, comprising:
Vehicle in this first video image and second video image is carried out edge extracting, determine the contour feature of vehicle in this first video image and second video image, determine the position of this a certain vehicle in this first video image in this second video image according to this contour feature.
11. method according to claim 10 is characterized in that:
Before vehicle in this first video image and second video image carried out described edge extracting, further this first video image and second video image are carried out Fuzzy Processing.
12. method according to claim 8 is characterized in that:
This first video image and second video image comprise black white image or gray level image.
13. method according to claim 8 is characterized in that:
When described first video image and second video image are coloured image, described Color Image Processing is become black white image or gray level image, carry out described contrast again.
14. method for controlling traffic signal lights, determine the switching of signal lamp on this vehicle pass-through direction according to the wagon flow speed on the vehicle pass-through direction, it is characterized in that, according to the wagon flow speed that obtains as the described wagon flow speed detection method of each claim in the claim 8 to 13 on this vehicle pass-through direction.
15. method according to claim 14 is characterized in that:
When this wagon flow speed during less than the lower limit speed on this vehicle pass-through direction, control this signal lamp and reduce vehicle pass-through time on this vehicle pass-through direction.
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