CN102314772A - Vehicle over-speed detection method, vehicle over-speed detection device and vehicle over-speed alarm system - Google Patents

Vehicle over-speed detection method, vehicle over-speed detection device and vehicle over-speed alarm system Download PDF

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CN102314772A
CN102314772A CN2010102239019A CN201010223901A CN102314772A CN 102314772 A CN102314772 A CN 102314772A CN 2010102239019 A CN2010102239019 A CN 2010102239019A CN 201010223901 A CN201010223901 A CN 201010223901A CN 102314772 A CN102314772 A CN 102314772A
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speed
vehicle
vehicle speed
limit
current
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CN2010102239019A
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Chinese (zh)
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王俊艳
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北京中星微电子有限公司
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Priority to CN2010102239019A priority Critical patent/CN102314772A/en
Publication of CN102314772A publication Critical patent/CN102314772A/en

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Abstract

The invention relates to the technical field of automobile electronics relevant to vehicle safety driving and discloses a vehicle over-speed detection method, a vehicle over-speed detection device and a vehicle over-speed alarm system. The vehicle over-speed detection method comprises the following steps of: according to speed identification information and removal speed limit signboard information on a speed limit signboard in a shot outside image, determining a limited speed of a road section where a vehicle currently runs; according to speed indication information on a shot inside vehicle speed display instrument image, determining a current vehicle speed of the detected vehicle; and according to the current vehicle speed and the limited speed, performing over-speed detection. The vehicle over-speed alarm system comprises a vehicle over-speed detection device, a first shooting device which shoots the outside image, a second shooting device which shoots the inside vehicle speed display instrument image, and an alarm device which gives an alarm in real time during over-speed. By the invention, the over-speed of the vehicle can be automatically determined, and the alarm for over-speed can be given in real time.

Description

一种车辆超速检测方法和装置及车辆超速报警系统 A vehicle speed detecting method and apparatus and a vehicle speed alarm system

技术领域 FIELD

[0001] 本发明涉及车辆安全驾驶相关的汽车电子技术领域,尤其涉及一种车辆超速检测方法和装置及车辆超速报警系统。 [0001] The present invention relates to the field of automotive electronics related vehicle driving safety, more particularly to a method and apparatus for detecting a vehicle speed and a vehicle speed alarm system.

背景技术 Background technique

[0002] 目前,不同路段设有不同的限制速度,车辆在不同的路段行驶时,车速应限制在行驶路段对应的限制速度以内,否则会发生超速而导致各种危险发生。 [0002] Currently, different sections with different speed limit, the vehicle travels at different sections, should be limited to the speed corresponding to the running road speed limit, otherwise, lead to the occurrence of overspeed occurs dangers.

[0003] 为了保持车辆行驶过程中,车速始终限制在行驶路段对应的限制速度以内,目前可以采用以下方式: [0003] In order to maintain running of the vehicle, the vehicle speed is always limited to within the driving route corresponding to the speed limit, currently in the following ways:

[0004] 1)驾驶者自行判断 [0004] 1) the driver's discretion

[0005] 不同路段上设置有限速标志牌和对应的解除限速标志牌,限速标志牌上标有限制速度,解除限速标志牌上用于标识限制速度的解除,这两种标志牌用不同颜色和不同图形区分。 [0005] Set speed limits and signs corresponding to the different sections of the lifting speed-limit signs, speed limit signs on the card is marked with a speed limit, the speed-limit signs is released for releasing the identification of the speed limit, the two signs with different colors and different graphical distinction. 驾驶者可以通过上述两种标志牌来确定车当前所在路段的限制速度。 The driver can determine the current vehicle speed limit through road sections where the two signs.

[0006] 车辆内有车速显示仪表,驾驶者可以通过观看车速显示仪表获知当前车速。 The [0006] vehicle, a vehicle speed display instrument, the driver can know by looking at the current vehicle speed display instrument. 通过当前车速和限制速度的比较,从而可以判断是否超速。 By comparing the current vehicle speed and the speed limit, so as to judge whether the speed.

[0007] 采用该方式保证不超速驾驶具有以下缺点: [0007] In this manner does not guarantee speeding has the following disadvantages:

[0008] 驾驶者需要保证知道此路段的限制速度,并经常观察车速显示仪表保证不超过限制速度。 [0008] The need to ensure the driver to know the speed limit for this step, and is frequently observed vehicle speed display instrument not to exceed the speed limit. 经常观察车速显示仪表可能导致危险发生,当然,有经验的驾驶者可能不需要观看车速显示仪表也能确定当前的大概车速。 Often observe the speed indicator may lead to danger, of course, an experienced driver may not need to watch the speed display instrument can determine the current approximate speed. 但是,如果行驶速度接近限制速度,大概车速还是可能超速的,在赶时间的时候,这种情况更容易发生。 However, if the driving speed approaching the speed limit, the speed is probably still possible speeding, when in a hurry, this is more likely to occur.

[0009] 如果驾驶者驾车时没有注意到限速标志牌,就不能确定车当前所在路段的限制车速,只有到下一个限速标志牌出现时才会确定限制速度,中间的行驶路段就很有可能出现超速情况。 [0009] did not notice the speed limit signs if the driver is driving, you can not determine where the speed limit of the current road car, only to the next speed limit sign will appear to determine the speed limit, on the very middle of the road running overspeed situation may arise.

[0010] 2)路面测速警示 [0010] 2) warning road speed

[0011] 为了对驾驶者的超速起到警示作用,在路段上设置有车辆测速系统,包括测速雷达和拍摄装置。 [0011] In order to serve as a warning on speeding driver, is provided on the road speed of a vehicle, comprising speed radar and imaging apparatus. 利用测速雷达对经过的车辆测速,检测到超速时启动拍摄装置对超速车辆进行图像拍摄,然后对超速驾驶进行处罚。 Start Recording device when using the radar gun on the vehicle speed passes, detected speeding speeding vehicle image capture, and then speeding penalties.

[0012] 该方式对驾驶者超速起到一定警示作用,使驾驶者在设有雷达测速区的路段尽量不超速驾驶,但无法对其它路段起到警示作用。 [0012] The way to play a speeding driver a warning, so that drivers with a radar gun in the area of ​​road try not speeding, but can not serve as a warning to other sections.

[0013] 可见,目前缺乏一种提示驾驶者的自动车辆超速报警的方法和装置。 [0013] seen that the current method and apparatus for the driver's lack of automatic vehicle speed alarm as a reminder. 发明内容 SUMMARY

[0014] 本发明实施例提供一种车辆超速检测方法和装置及车辆超速报警系统,实现车辆是否超速的自动检测。 Embodiment [0014] The present invention provides a method and apparatus for detecting the vehicle speed and the vehicle speed alarm system, automatic detection of whether the vehicle speed.

[0015] 本发明提供一种车辆超速检测方法,包括: [0015] The present invention provides a method for detecting a vehicle speed, comprising:

[0016] 根据所拍摄的车外图像中限速标志牌上的速度标识信息和解除限速标志牌信息,确定车当前所在路段的限制速度; [0016] The speed of identification signs on the exterior of the vehicle captured image information and the release rate limiting speed limit signs information, determining the vehicle speed limit of the current road segment is located;

[0017] 根据所拍摄的车内车速显示仪表图像上的速度指示信息,确定被检测车的当前车速; [0017] The vehicle speed-vehicle speed displayed on the captured image information indicating the meter, determining a current vehicle speed detected by the vehicle;

[0018] 根据所述当前车速和限制速度,进行超速检测。 [0018] The vehicle speed and the current speed limit, overspeed detection.

[0019] 本发明还提供一种车辆超速检测装置,包括: [0019] The present invention also provides a vehicle speed detecting device, comprising:

[0020] 当前限制速度确定单元,用于根据所拍摄的车外图像中限速标志牌上的速度标识信息和解除限速标志牌信息,确定车当前所在路段的限制速度; [0020] The current speed limit determination means, identification information on the sign of the speed out of the image captured by the vehicle speed and lifting speed limit signs information, determine a current road segment where the vehicle speed limit;

[0021] 当前车速确定单元,用于根据所拍摄的车内车速显示仪表图像上的速度指示信息,确定被检测车的当前车速; [0021] Current vehicle speed determining unit for velocity meter in accordance with the image information indicative of the vehicle speed display photographed, determines the current vehicle speed detected by the vehicle;

[0022] 超速检测单元,用于根据所述当前车速和限制速度,进行超速检测。 [0022] The overspeed detection means, according to the vehicle speed and the current speed limit, overspeed detection.

[0023] 优选地,该装置还包括: [0023] Preferably, the apparatus further comprising:

[0024] 控制报警单元,用于在所述超速检测单元检测到超速时,控制报警装置进行报警。 [0024] The alarm control means for when said detecting means detects the overspeed speed, alarm control and alarm devices.

[0025] 本发明还提供一种车辆超速报警系统,包括: [0025] The present invention further provides a vehicle speed alarm system comprising:

[0026] 上述包括控制报警单元的车辆超速检测装置; [0026] The alarm unit comprises a control vehicle speed detecting means;

[0027] 第一摄像装置,安装在所述车辆上,以第一设定频率进行车外图像拍摄,并将拍摄的车外图像发送给所述车辆超速检测装置; The first imaging device [0027], mounted on the vehicle, the vehicle out-of-image capturing at a first set frequency, and transmits the photographed image to the exterior of the vehicle speed detecting means;

[0028] 第二摄像装置,安装在所述车辆上,以第二设定频率进行车内车速显示仪表图像拍摄,并将拍摄的车速显示仪表图像发送给所述车辆超速检测装置; The second imaging device [0028], mounted on the vehicle, the second vehicle speed set frequency image pickup display instrument, and a vehicle speed display instrument photographed image is transmitted to the vehicle speed detecting means;

[0029] 报警装置,由所述车辆超速检测装置中的控制报警单元控制,在车辆超速时报警。 [0029] The alarm device, the vehicle speed detected by said control means controls the alarm device, the alarm when the vehicle speed.

[0030] 利用本发明提供的车辆超速检测方法和装置及车辆超速报警系统,实现车辆是否超速的自动检测及实时超速报警,提高了超速检测的自动性、准确性、实时性和全面性。 [0030] The present invention provides the use of a vehicle speed and a method and apparatus for detecting a vehicle speed alarm system, automatic detection of whether the vehicle speed and the real speed alarm, automatic increase of the speed detection accuracy, timeliness and comprehensiveness.

附图说明 BRIEF DESCRIPTION

[0031] 图1为本发明车辆超速检测方法流程图; [0031] FIG vehicle overspeed detection flowchart of a method of the present invention;

[0032] 图2依照本发明实施例的一种实施方式的车辆超速检测方法流程图; Vehicle [0032] FIG. 2 an embodiment according to the present embodiment of the invention is a method flowchart overspeed detection;

[0033] 图3为依照本发明的实施例中另一实施方式的车辆超速检测方法流程图; [0033] FIG. 3 is a vehicle in accordance with embodiments of the present invention in a further embodiment of the overspeed detection flowchart of a method embodiment;

[0034] 图4为依照本发明的实施例中车辆超速检测装置结构图; [0034] FIG 4 is a configuration diagram of the overspeed detection device in a vehicle in accordance with embodiments of the present invention;

[0035] 图5为依照本发明实施例中车辆超速报警系统框图。 [0035] FIG. 5 is a block diagram of a vehicle speed alarm system according to the present invention embodiment.

具体实施方式 Detailed ways

[0036] 下面结合附图和实施例对本发明提供的车辆超速检测方法和装置及车辆超速报警系统进行更详细地说明。 [0036] The following method and apparatus for detecting speed and vehicle speed alarm system is described in more detail in conjunction with the accompanying drawings and embodiments of the vehicle of the present invention is provided.

[0037] 本发明提供一种车辆超速检测方法,实现车辆超速的自动检测,如图1所示,该方法包括步骤:步骤S10,根据所拍摄的车外图像中限速标志牌上的速度标识信息和解除限速标志牌信息,确定车当前所在路段的限制速度;步骤S20,根据所拍摄的车内车速显示仪表图像上的速度指示信息,确定被检测车的当前车速;步骤S30,根据所述当前车速和车当前所在路段的限制速度的比较结果,进行超速检测。 [0037] The present invention provides a method for detecting a vehicle speed, automatic detection of the vehicle speed, as shown in FIG. 1, the method comprising the steps: step S10, the image outside the vehicle according to the captured speed limit on the speed of identification signs information and speed limit signs release information, determining the speed limit of the road the vehicle is currently located; step S20, the instruction information on the vehicle speed of the vehicle speed display instrument captured image, determining a current vehicle speed detected by the vehicle; step S30, the depending said current comparison result of the current speed limit of the road where the vehicle speed and the vehicle, for detecting overspeed. 优选地,该还包括步骤S40,检测到超速时,控制报警装置进行报警。 Preferably, further comprising the step S40, the speed is detected, the control alarm warning device. 该方法中车当前所在路段的限制速度的确定以接收到车外图像为触发条件,当前车速的确定以接收到拍摄的车速显示仪表为触发条件,两个步骤之间无严格的先后执行顺序。 In this method where the speed limit of the current road segment the vehicle is determined to receive the image outside the vehicle as the trigger condition, current vehicle speed is determined to receive the captured indicator trigger condition has no strict order of execution between the two steps. 该方法基于现有成熟的图像采集技术,自动检测车辆是否超速,从而可以及时提示驾驶者注意车速,整个过程不需要驾驶者参与,大大提高了超速检测的自动性、准确性、实时性和全面性。 The method is based on the existing mature image capture technology to automatically detect whether the vehicle is speeding, which can prompt the driver to pay attention to speed, the whole process does not require drivers to participate, greatly improving the automatic detection of speed, accuracy, timeliness and overall sex. 随着汽车技术的发展,该系统还可以和汽车的行车电脑相结合,用于进行汽车行驶速度的控制。 With the development of automobile technology, and the system may also be combined with vehicle trip computer, for controlling the vehicle speed.

[0038] 依照本发明的实施例一中,提供一种车辆超速检测方法,该方法的详细流程如图2 所示,步骤SlO具体包括以下步骤: [0038] In accordance with an embodiment of the present invention, there is provided a method for detecting a vehicle speed, a detailed flow of the method shown in FIG. 2, step SlO includes the following steps:

[0039] 步骤S101,确定接收到所拍摄的车外图像时,执行步骤S102 ; [0039] In step S101, the vehicle upon receiving the external image captured, step S102 is determined;

[0040] 具体地,上述车外图像由安置在车辆上如车外部的摄像头拍摄,当然,上述拍摄车辆外图像的摄像头如果可以保证拍摄到车外图像,也可以安装在车内。 [0040] Specifically, the image captured by the vehicle exterior disposed externally on the vehicle, such as vehicle camera, of course, the captured camera images outside the vehicle that can ensure the captured image to the outside of the car, may be installed in the vehicle. 摄像头的视野应保证能拍到路上的限速标志牌或解除限速标志牌。 Field of view of the camera should be guaranteed to take speed-limit signs on the road and off speed-limit signs. 摄像头采集车外图像的频率应保证限速标志牌或解除限速标志牌不会漏拍。 Camera capture frequency of the external image of the vehicle should ensure that the speed limit signs or speed limit signs will not lift the leak beat.

[0041] 步骤S102,检测所拍摄的车外图像中是否有限速标志牌或解除限速标志牌,若检测到限速标志牌,执行步骤S103,若检测到解除限速标志牌,执行步骤S104 ; Whether the vehicle speed is limited exterior image [0041] step S102, the captured detecting signs or releasing speed-limit signs, speed limit signs detected when performing step S103, the detected if the release speed-limit signs, step S104 is executed ;

[0042] 检测到车外图像中限速标志牌时,说明开始限速,检测到车外图像中的解除限速标志牌,说明限速解除。 [0042] When detecting the image outside the vehicle speed limit signs, speed limit start instructions, the image outside the detected vehicle speed limit signs release, releasing speed described. 因此可以利用现有的图像处理技术,获得车外图像中限速标志牌和解除限速标志牌信息,从而可以确定车当前所在路段是否进行限速,在进行限速时具体的限制速度及何时解除限速。 It is possible to use a conventional image processing techniques, to obtain the image outside the vehicle speed and lifting speed limit signs signs information, so that the vehicle is currently located may be determined whether the road speed limit, particularly where the speed limit and the speed limit during when lifting the speed limit.

[0043] 步骤S103,确定车当前所在路段的限制速度Vth为所述限速标志牌中的速度,并将限制速度Vth设为有效; [0043] step S103, the vehicle is currently located is determined link speed limit velocity Vth is a sign of the speed, and the limit speed Vth is set active;

[0044] 步骤S104,将车当前所在路段的的限制速度Vth设为无效; [0044] step S104, the current vehicle speed limit of the road where Vth is invalidated;

[0045] 由于限速标志牌或解除限速标志牌具有特定的图像特征,且这两种标志牌具有明显的图像特征区别。 [0045] Since the speed-limit signs or releasing speed-limit signs have specific image features, and both signs obvious difference image features. 因此,采用一般的图像处理方法,如采用图像特征匹配方法,可以实现检测图像中是否存在限速标志牌或解除限速标志牌。 Thus, using the general method of image processing, such as using image feature matching method may be implemented, or whether there is a speed limit signs releasing speed-limit signs detected image.

[0046] 检测到车外图像中有限速标志牌时,进行图像分割。 [0046] Upon detecting the image outside the vehicle speed is limited signs, image segmentation. 具体过程为找出限速标志牌所在的位置、尺寸,如采用常用的轮廓线定位方法找出限速标志牌的轮廓后进行图像分割。 To identify the specific process where the position of the speed-limit signs, dimensions, such as using the conventional positioning method to find the contour image segmentation contour after speed-limit signs. 分割出限速标志牌后进行速度识别,从而确定当前行驶路段的限制限速Vth,具体的速度识别可以采用数字识别方法,这里不再详述。 Divided after identifying speed limit signs speed, to determine the current road speed limit Vth of travel restrictions, identification number identifying a specific speed method may be used, not described in detail here. 国内限速标志牌上的数字单位为公里/小时,与车速单位一致,因此识别出的限速标志牌中速度赋值给Vth,在有新的限速标志牌出现之前, 该限速值Vth保持不变。 The number of units on the national speed limit signs in kilometers / hour, in line with the speed units, so the recognized speed limit signs are assigned to the speed Vth, the new speed limit signs have appeared before, to maintain the speed limit value Vth constant.

[0047] 本实施例中限制限速Vth有两种状态:有效和无效。 [0047] In this example embodiment to limit speed Vth has two states: active and inactive. 限制速度Vth有效时,说明当前车速应受Vth的限制。 When the limit speed Vth effective to indicate the current vehicle speed should be limited by the Vth. 限制速度Vth无效时,说明当前车速不受Vth的限制。 Invalid limit speed Vth, the current vehicle speed limit is not described Vth. 因此在步骤S103中在某一帧图像中检测到限速标志牌,则将Vth设为有效,后面的若干帧只要不检测到解除限速标志牌或新的限速标志牌,则该限速值Vth —直是有效的。 Thus in step S103 the image is detected in a certain frame in the speed-limit signs, it will set the effective Vth of, several frames later as long as no detected speed limit signs or release a new speed limit signs, the speed limit value Vth - straight is valid.

[0048] 当然对上述步骤可以按照下面另一种方式实施,如图3所示,包括: [0048] The above embodiments may of course be one of the following steps in accordance with another embodiment, as shown in FIG 3, comprising:

[0049] 步骤S101',确定接收到所拍摄的车外图像时,执行步骤S102' ; [0049] Step S101 ', it is determined the received image outside the vehicle captured, step S102';

[0050] 步骤S102',检测所述车外图像中是否由限速标志牌,若有,执行步骤S103',若无,执行步骤S104' ; [0050] Step S102 ', a speed limit sign detecting whether the vehicle exterior image, if so, step S103', and if not, step S104 ';

[0051] 步骤S103',确定限制速度Vth为所述限速标志牌中的速度,并将限制速度Vth设为有效;[0052] 步骤S104',确定限制速度Vth是否有效,若有效,执行步骤S105',否则退出对该车外图像处理,返回执行步骤S101' ; [0051] Step S103 ', a speed determined speed limit sign Vth of the speed, and limit the effective speed Vth is set; [0052] Step S104', the speed limit is determined Vth is valid, if valid, step S105 ', or exit the vehicle exterior image processing, returns to step S101';

[0053] 步骤S105',检测所述车外图像中是否有解除限速标志牌,若有,执行步骤:将限制速度设为无效,退出对该车外图像的处理。 [0053] Step S105 ', the image of the vehicle detecting whether there is an outer release speed-limit signs, if so, perform the steps of: limit speed is set invalid, to exit the car out of the image processing.

[0054] 即首先进行限速标志牌检测,在没有检测到限速标志牌且Vth有效时,才进行解除限速标志牌的检测。 [0054] That is first detected speed limit signs, in the absence of detected speed limit signs and Vth valid only detects speed limit signs of lifting. 图3中其它步骤与图2中步骤相同。 The other steps in FIG. 3 in step 2 the same as FIG.

[0055] 由于拍摄的车外图像是以比较高的采集频率进行采集,所以在检测到车外图像中既不存在限速标志牌,也不存在解除限速标志牌时,可以将该帧车外图像丢弃,以避免采集的大量车外图像占据过多的存储空间。 [0055] Since the image outside the vehicle captured by a relatively high acquisition frequency is collected, the detected vehicle speed limit signs are neither exterior image, when there is no speed limit signs is released, the frame can drive dropped out of the image, in order to avoid large-vehicle image acquisition occupies too much storage space.

[0056] 在执行上述确定限制速度步骤的同时,执行确定当前车速的步骤,为了使当前车速的确定不过于频繁,优选地,本实施例中是在确定限制速度Vth有效时,才根据车速显示仪表进行当前车速确定,步骤S20具体包括以下步骤: When [0056] While the above determination limit speed step is performed to determine the current step vehicle speed to the vehicle speed is determined that the current not too frequently, it is preferred in this embodiment in determining the limit speed Vth effective only in accordance with the vehicle speed display instrument for determining current vehicle speed, step S20 includes the following steps:

[0057] 步骤S201,确定限制速度Vth有效时,执行步骤S202 ; [0057] step S201, the speed limit is determined that the effective Vth, step S202;

[0058] 步骤S202,确定接收到所拍摄的车速显示仪表图像时,执行步骤S203 ; [0058] Step S202, the vehicle speed is determined that the received captured image instrument display, step S203;

[0059] 步骤S203,基于预先学习到的车速显示仪表图像的图像特征,从所拍摄的车速显示仪表图像中检测出车速显示仪表所在区域; [0059] step S203, the image feature of an image displayed based on the vehicle speed meter previously learned, the image display instrument detects the vehicle speed from the vehicle speed display instrument Area taken;

[0060] 步骤S204,根据检测到的车速显示仪表所在区域,确定所述车速显示仪表的读数; [0060] step S204, based on the detected vehicle speed display instrument Area, determining the vehicle speed display instrument readings;

[0061] 步骤S205,根据所确定的读数确定当前车速。 [0061] step S205, it is determined based on the determined current vehicle speed reading.

[0062] 根据车速显示仪表的不同读数方式,进行不同方式的仪表读数识别。 [0062] Depending on the vehicle speed display instrument readings embodiment, the meter readings for the identification of different ways. 现有的车速显示仪表常采用指针式仪表,具体地,基于预先学习到的指针式仪表表盘组成部分的图像特征,在检测到的指针式仪表表盘所在区域中检测出各个内表表盘所在区域;根据检测到的各个内表表盘所在区域,确定各个内表的读数,以及各个内表读数的运算关系;根据确定出的各个内表的读数,以及所述各个内表读数的运算关系,确定所述指针式仪表的读数;基于确定指针式仪表的读数确定当前车速。 Conventional speed indicator pointer instrument often used, specifically, based on previously learned pointer instrument dial wherein the image composition section detects a region located in the respective inner area of ​​the detected dial pointer instrument dial resides; the region where the respective inner dial is detected, determining the reading of the respective inner, and an operation relationship between the respective inner readings; determined according to each of the inner table reading, and an operation relationship of the respective inner readings, determining said pointer instrument readings; determining a current vehicle speed based on the determined pointer instrument readings. 当然,在采用数字式显示仪表时,基于数字识别可以更简单、直观、准确的确定当前车速。 Of course, when the digital display meter, based on the identification number can be more simple, intuitive, accurate determination of the current vehicle speed.

[0063] 基于确定的限制速度Vth和当前车速V,执行超速检测的步骤,优选地,进行超速检测是在Vth有效的时候进行的,步骤S30具体包括: [0063] Based on the determined speed limit Vth and the current vehicle speed V, the step of performing speed detection, is preferably carried out in the overspeed detection is effective when Vth, step S30 comprises:

[0064] 步骤S301,确定Vth有效时,比较当前车速和限制速度; [0064] step S301, the Vth is determined valid, and to compare the current vehicle speed limit;

[0065] 步骤S302,根据所述当前车速和限制速度差值所属的预设数值范围,确定超速程度,不同预设数值范围对应不同程度的超速。 [0065] Step S302, the predetermined value in accordance with the scope and limitations of the current vehicle speed difference belongs, to determine the extent of overspeed, different predetermined values ​​corresponding to a range of different speed levels.

[0066] 步骤S40中,具体对不同程度的超速,控制报警装置以不同方式进行报警。 [0066] In Step S40, specific for different levels of speed, controls the alarm means an alarm in different ways.

[0067] 根据超速程度进行不同方式报警,有助于驾驶者确定当前超速程度。 [0067] carried out in different ways depending on the degree speeding alarm, help determine the current level of speeding motorists. 优选地,本实施例中不同预设数值范围具体通过如下方法确定: Preferably, in the present embodiment different predetermined numerical ranges embodiment specifically determined by the following method:

[0068] 设置一组不同的α值,其中0彡I α I彡1,将不同α值与限制速度Vth的乘积α *Vth后得到的各离散值按数值大小进行排序,将小于最小离散值的数值范围、排序后各相邻离散值确定的数值范围、及大于最大离散值的数值范围确定为所述不同预设数值范围。 [0068] provided with a different set of [alpha] values, where 0 San I α I San 1, each discrete value different from [alpha] value with the limit velocity Vth of the product α * Vth obtained after sorted by numerical values, will be less than the minimum discrete value numerical ranges, each numerical range adjacent discrete value determined after sorting, and discrete values ​​greater than the maximum value of the range is determined as a different preset value range. 例如,将该α值分别设为-O. 1、0、0. 1,0. 2.... 1,则确定的预设数值范围为: For example, the set values ​​α -O 1,0,0 1,0 2 .... 1, the predetermined value range is determined...:

[0069]小于-0. l*Vth ;-0. l*Vth 〜0 ;0 〜0. l*Vth ;0. l*Vth 〜0. 2*Vth ;. · ·大于Vth。 [0069] less than -0 l * Vth;. -0 l * Vth ~0;. 0 ~0 l * Vth;... 0 l * Vth ~0 2 * Vth;. · · Is greater than Vth. [0070] 设当前车速V和限制速度Vth差值为:th = V-Vth,则可以确定: [0070] Set the current vehicle speed V and the limit speed Vth difference is: th = V-Vth, it may be determined:

[0071] th 彡-0. l*Vth,不超速; . [0071] th San -0 l * Vth, speed limit;

[0072] -0. l*Vth < th 彡0,接近超速; . [0072] -0 l * Vth <th San 0, close overspeed;

[0073] 0 < th ^ 0. l*Vth,超速10% ; [0073] 0 <th ^ 0. l * Vth, speed 10%;

[0074] 0. l*Vth < th 彡0. 2*Vth 超速20% [0074] 0. l * Vth <th San 0. 2 * Vth overspeed 20%

[0075] th > Vth,超速100% [0075] th> Vth, speeding 100%

[0076] 这样,通过设置一组不同的α值,可以实现超速的分档报警,根据不同的超速分档,对不同的分档报警设置不同的声光警示,超速越多声光报警越明显,以引起驾驶者的注意。 [0076] Thus, by providing a set of different α values, may be implemented speeding binning alarm, depending on the speed binning different binning alarm setting different sound and light warning, speed more sound and light alarm more obvious to the driver's attention.

[0077] 进一步地,可以简化为设置两个分档报警,所述不同的α值为0和α ',α '为大于-1小于0的系数,所述不同程度的超速具体包括超速和接近超速,这样可以在将要超速就提示驾驶者,进行超速检测具体包括: [0077] Further, it can be simplified to provide two sub-file alarm, the different [alpha] is 0 and α ', α' is a coefficient greater than 0 to less than -1, the different levels of speed and proximity speed comprises speeding, so you can be in the driver speeding on the tips, overspeed detection including:

[0078] 所述当前车速和限制速度差值为正数时,即V > Vth时,说明当前车速高于限制速度,确定超速; When the [0078] difference between the current speed limit and the vehicle speed is positive, i.e., V> Vth of time, it shows that the current vehicle speed is higher than the speed limit, is determined speed;

[0079] 所述当前车速和限制速度的差值为非正数且大于设定负数α ' *Vth时,确定接近超速: [0079] The difference between the current vehicle speed and the speed limit is greater than the set nonpositive and negative α '* when Vth, determining the proximity speed:

[0080] 0 彡V-Vth > α ' *Vth [0080] San 0 V-Vth> α '* Vth

[0081] 这样,如果车速接近限制速度,能够对驾车者进行警示,以让驾车者了解当前车速状态。 [0081] Thus, if the vehicle speed close to the speed limit, it is possible to warn motorists to allow motorists to understand the current state of the vehicle speed.

[0082] 报警信息的输出可以采用警示音、声音、警示灯、图像等方法,可以为超速和接近限速值设置两种不同的报警信息,以便于驾车者做出不同的操作。 [0082] The alarm information may be output using the method warning tone sounds, warning lights, images, etc., and may be a speed close to the speed limit value of the two different alarm information to the operator in order to make the different drivers.

[0083] 依照本发明实施例二中,提供一种车辆超速检测装置,如图4所示,该装置包括: 当前限制速度确定单元10,用于用于根据所拍摄的车外图像中限速标志牌上的速度标识信息和解除限速标志牌信息,确定车当前所在路段的限制速度;当前车速确定单元20,用于根据所拍摄的车内车速显示仪表图像上的速度指示信息,确定被检测车的当前车速;超速检测单元30,用于根据所述当前车速和限制速度,进行超速检测。 [0083] In accordance with the second embodiment of the present invention, there is provided a vehicle speed detecting means 4, the apparatus comprising: a current limiting speed determination unit 10, a speed limit for the vehicle according to the external image photographed signs on the velocity information and the identification information lifting speed-limit signs, to determine the current vehicle speed limit of the road section located; current vehicle speed determining unit 20, a velocity meter in accordance with the image information indicative of the vehicle speed displayed captured, determining detecting the current vehicle speed the vehicle; overspeed detection means 30, according to the vehicle speed and the current speed limit, overspeed detection. 上述当前限制速度确定单元10限制速度的确定以接收到车外图像为触发条件,当前车速确定单元20确定当前车速以接收到拍摄的车速显示仪表图像为触发条件。 Above a speed limit current determination unit 10 determines the speed limit to the vehicle for the image receiving external trigger condition, the current vehicle speed determining unit 20 determines that the current vehicle speed to the received speed display instrument images captured trigger condition.

[0084] 优选地,该装置还包括:控制报警单元40,用于在所述超速检测单元30检测到超速时,控制报警装置进行报警。 [0084] Preferably, the apparatus further comprising: an alarm control unit 40, configured to, when the overspeed detection means 30 detects the speed, controls the alarm means an alarm.

[0085] 本实施例中当前限制速度确定单元10,具体包括: [0085] In the present embodiment, the current limit speed determination unit 10, specifically comprising:

[0086] 限速单元101,用于在所拍摄的车外图像中检测到限速标志牌时,根据所述限速标志牌中的速度标识信息确定车当前所在路段的限制速度vth,并将所述限制速度Vth设为有效; [0086] 101 the speed limit means for detecting when the speed limit signs in the captured image outside the vehicle, the vehicle determines the current speed limit road segment where vth speed-limit signs in accordance with the speed of the identification information, and the limit speed Vth is set active;

[0087] 解除限速单元102,用于在所拍摄的车外图像中检测到解除限速标志牌时,将限制速度Vth设为无效; [0087] The release rate limiting means 102 for detecting the speed limit signs is released outside the vehicle in the captured image, the limit speed Vth is invalidated;

[0088] 所述当前车速确定单元20确定当前车速和超速检测单元30检测超速,均以限制速度Vth有效为前提。 The [0088] current vehicle speed determining unit 20 determines that the current vehicle speed and the overspeed detection means 30 detects the speed, the limit speed Vth are effective as a precondition.

[0089] 优选地,可以先将所拍摄的车外图像交由所述限速单元101进行限速标志牌检测,在所述限速单元101未检测到限速标志牌,且确定Vth有效时,才将所述车外图像转发给所述解除限速单元102。 [0089] Preferably, the first exterior photographed image referred to the speed limit means 101 detects the speed limit signs, speed limit when the unit 101 does not detect speed-limit signs, and determine the effective Vth only the outer vehicle speed image transfer to the releasing unit 102.

[0090] 这样,如果当前输入的车外图像中不存在限速标志牌,则检查限制速度Vth是否有效,如果限制速度Vth有效,说明前面曾经检测到限速标志牌,则当前帧可能存在解除限速标志牌,则将车外图像输入给解除限速单元102。 [0090] Thus, if the speed limit signs do not exist outside of the vehicle in the current input image, it is checked whether the limit speed Vth valid, if the limit velocity Vth effective, the foregoing description has detected the speed limit signs, the current frame may exist released speed-limit signs, then released to the exterior speed image input unit 102. 如果Vth无效,说明前面也未检测到限速标志牌,则当前帧也不可能存在解除限速标识牌,对此帧图像的处理结束,可以直接丢弃。 If Vth is invalid, the foregoing description does not detect speed-limit signs, the current frame is also impossible to lift speed signage, ends the processing of this frame image, it can be discarded.

[0091] 本实施例中的当前车速确定单元20,具体可以基于预先学习到的车速显示仪表图像的图像特征,从所拍摄的车速显示仪表图像中检测出车速显示仪表所在区域;根据检测到的车速显示仪表所在区域,确定车速显示仪表的读数;根据所确定的读数确定当前车速。 [0091] In this embodiment of the current vehicle speed determination unit 20, the specific image can be displayed feature meter image based on the vehicle speed previously learned, the indicator image detected by the vehicle speed display instrument Area from the vehicle speed taken; according to the detected area speed indicator, determining the speed display instrument readings; determined based on the determined current vehicle speed reading.

[0092] 超速检测单元30具体用于根据所述当前车速和限制速度差值所属的预设数值范围,确定超速程度,不同预设数值范围对应不同程度的超速;控制报警单元40具体用于对不同程度的超速,控制报警装置以不同方式进行报警。 [0092] The speed detecting unit 30 is specifically configured to belong to the preset value range based on said current vehicle speed and the speed difference between the limits, the degree of overspeed determination, different numerical ranges corresponding to predetermined different levels of speed; alarm control unit 40 is specifically configured to varying degrees of speed, controls the alarm means an alarm in different ways.

[0093] 优选地,超速检测单元30通过如下方法确定不同预设数值范围: [0093] Preferably, the overspeed detection unit 30 determines a different preset numerical ranges by the following method:

[0094] 设置一组不同的α值,其中0彡I α I彡1,将不同α值与限制速度Vth的乘积α *Vth后得到的各离散值按数值大小进行排序,将小于最小离散值的数值范围、排序后各相邻离散值确定的数值范围、及大于最大离散值的数值范围确定为所述不同预设数值范围。 [0094] provided with a different set of [alpha] values, where 0 San I α I San 1, each discrete value different from [alpha] value with the limit velocity Vth of the product α * Vth obtained after sorted by numerical values, will be less than the minimum discrete value numerical ranges, each numerical range adjacent discrete value determined after sorting, and discrete values ​​greater than the maximum value of the range is determined as a different preset value range.

[0095] 进一步第,所述不同的α值为0和α ' , α '为大于-1小于0的系数,超速检测单元30确定所述当前车速和限制速度差值为正数时,即V > Vth时,说明当前车速高于限制速度,确定超速; When [0095] Further on, the different [alpha] 0 and values ​​α ', α' is a coefficient greater than 0 to less than -1, the overspeed detection unit 30 determines the difference between the current speed limit and the vehicle speed is positive, i.e. V > Vth of time, shows that the current vehicle speed is higher than the speed limit, is determined speed;

[0096] 超速检测单元30确定所述当前车速和限制速度的差值为非正数且大于设定负数α ' *Vth时,确定接近超速: [0096] overspeed detection unit 30 determines the difference between the current vehicle speed and the speed limit is greater than the set nonpositive and negative α '* when Vth, determining the proximity speed:

[0097] 0 彡V-Vth > α ' *Vth [0097] San 0 V-Vth> α '* Vth

[0098] 这样,如果车速接近限制速度,能够对驾车者进行警示,以让驾车者了解当前车速状态。 [0098] Thus, if the vehicle speed close to the speed limit, it is possible to warn motorists to allow motorists to understand the current state of the vehicle speed.

[0099] 报警信息的输出可以采用警示音、声音、警示灯、图像等方法,可以为超速和接近限速值设置两种不同的报警信息,以便于驾车者做出不同的操作。 [0099] The alarm information may be output using the method warning tone sounds, warning lights, images, etc., and may be a speed close to the speed limit value of the two different alarm information to the operator in order to make the different drivers.

[0100] 依照本发明实施三中,提供一种车辆超速报警系统,如图5所示,该系统包括: [0100] In accordance with embodiments of the present invention III, there is provided a vehicle speed alarm system, as shown in Figure 5, the system comprising:

[0101] 上述实施例二中所提供的车辆超速检测装置501 ; [0101] In the aforementioned vehicle according to the second embodiment provided in the overspeed detection means 501;

[0102] 第一摄像装置502,安装在所述车辆上,以第一设定频率进行车外图像拍摄,并将拍摄的车外图像发送给所述车辆超速检测装置; [0102] The first image pickup device 502, is mounted on the vehicle, the vehicle out-of-image capturing at a first set frequency, and transmits the photographed image to the exterior of the vehicle speed detecting means;

[0103] 第一摄像装置502优选安置在车外部,当然,如果可以保证拍摄到车外图像,也可以安装在车内。 [0103] The first imaging device 502 is preferably disposed outside the vehicle, of course, you can guarantee that the captured image to the outside of the car, may be installed in the vehicle. 第一摄像装置502的视野应保证能拍到路上的限速标志牌或解除限速标志牌。 The first field of view 502 of the imaging device should be able to take to ensure that the road speed limit signs or releasing speed limit signs. 摄像头采集车外图像的频率应保证限速标志牌或解除限速标志牌不会漏拍。 Camera capture frequency of the external image of the vehicle should ensure that the speed limit signs or speed limit signs will not lift the leak beat.

[0104] 第二摄像装置503,安装在所述车辆上,以第二设定频率进行车内车速显示仪表图像拍摄,并将拍摄的车速显示仪表图像发送给所述车辆超速检测装置; [0104] The second imaging device 503 is mounted on the vehicle, the second vehicle speed set frequency image pickup display instrument, and a vehicle speed display instrument photographed image is transmitted to the vehicle speed detecting means;

[0105] 为了减少不必要的数据采集,优选地,在限制限速Vth有效时,车辆超速检测装置启动第二摄像装置503进行车速显示仪表图像采集。 [0105] In order to reduce unnecessary data collection, preferably at the limit speed Vth effective, vehicle speed detecting means for starting the second speed imaging apparatus 503 displays the meter image acquisition.

[0106] 报警装置504,由所述车辆超速检测装置中的控制报警单元控制,在车辆超速时报 [0106] Alarm device 504, controlled by the vehicle speed detecting means control alarm unit, the vehicle speed Times

m[0107] 报警信息的输出可以采用警示音、声音、警示灯、图像等方法,可以为超速和接近限速值设置两种不同的报警信息,以便于驾车者做出不同的操作。 m [0107] The alarm information may be output using the method warning tone sounds, warning lights, images, etc., and may be a speed close to the speed limit value of the two different alarm information to the operator in order to make the different drivers.

[0108] 显然,本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。 [0108] Obviously, those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. 这样,倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内,则本发明也意图包含这些改动和变型在内。 Thus, if these modifications and variations of the present invention fall within the claims of the invention and the scope of equivalents thereof, the present invention intends to include these modifications and variations.

Claims (12)

1. 一种车辆超速检测方法,其特征在于,包括:根据所拍摄的车外图像中限速标志牌上的速度标识信息和解除限速标志牌信息,确定车当前所在路段的限制速度;根据所拍摄的车内车速显示仪表图像上的速度指示信息,确定被检测车的当前车速; 根据所述当前车速和限制速度,进行超速检测。 A vehicle speed detecting method, comprising: identification information on the speed of the signs out of the image captured by the vehicle speed and lifting speed limit signs information, determining the vehicle speed limit of the current road segment is located; according vehicle speed captured image on the instrument display speed indication information, determining current vehicle speed detected by the vehicle; according to the vehicle speed and the current speed limit, overspeed detection.
2.如权利要求1所述的方法,其特征在于,还包括: 检测到超速时,控制报警装置进行报警。 2. The method according to claim 1, characterized in that, further comprising: upon detecting overspeed, alarm control and alarm devices.
3.如权利要求1所述的方法,其特征在于,所述确定限制速度具体包括:在所拍摄的车外图像中检测到限速标志牌时,根据所述限速标志牌中的速度标识信息确定车当前所在路段的限制速度,并将所述限制速度设为有效;在所拍摄的车外图像中检测到解除限速标志牌时,将限制速度设为无效; 所述确定当前车速和超速检测,均以限制速度有效为前提。 3. The method according to claim 1, wherein the determining the speed limit comprises: detecting when the speed limit signs in the captured image outside the vehicle, identifying speed limit signs in accordance with the speed information for determining current vehicle speed limit where the road segment, the speed limit and the set effective; when the detected speed limit signs is released outside the vehicle in the captured image, the speed limit is invalidated; determining the current vehicle speed and overspeed detection, speed restrictions are effective as a precondition.
4.如权利要求1所述的方法,其特征在于,所述确定当前车速具体包括:基于预先学习到的车速显示仪表图像的图像特征,从所拍摄的车速显示仪表图像中检测出车速显示仪表所在区域;根据检测到的车速显示仪表所在区域,确定车速显示仪表的读数; 用于根据所确定的读数确定当前车速。 4. The method according to claim 1, wherein said determining the current vehicle speed comprises: an image feature of an image displayed based on the vehicle speed meter previously learned, the vehicle speed display instrument displays the meter image detected from the captured vehicle speed area; accordance with the detected vehicle speed display instrument area, determines the vehicle speed display instrument readings; means for determining based on the determined current vehicle speed reading.
5.如权利要求2所述的方法,其特征在于,所述进行超速检测具体包括:根据所述当前车速和限制速度差值所属的预设数值范围,确定超速程度,不同预设数值范围对应不同程度的超速;所述控制报警,具体包括: 对不同程度的超速,控制报警装置以不同方式进行报警。 5. The method according to claim 2, wherein the overspeed detection comprises: a predetermined range of values ​​in accordance with the vehicle speed and the current speed limit difference value belongs, to determine the extent of overspeed, different ranges of values ​​corresponding to the preset varying degrees of speed; the alarm control comprises: for different levels of speed, controls the alarm means an alarm in different ways.
6.如权利要求5所述的方法,其特征在于,所述不同预设数值范围具体通过如下方法确定:设置一组不同的α值,其中0彡I α I彡1,将不同α值与限制速度Vth的乘积α *Vth 后得到的各离散值按数值大小进行排序,将小于最小离散值的数值范围、排序后各相邻离散值确定的数值范围、及大于最大离散值的数值范围确定为所述不同预设数值范围。 6. The method according to claim 5, wherein said different predetermined ranges of values ​​specifically determined by the following method: providing a set of different values ​​of [alpha], where 0 San San I α I 1, [alpha] values ​​different Numerical ranges of discrete values ​​of the limit speed Vth α * Vth product obtained after sorting by numerical values, the range will be less than the minimum value of discrete values, each adjacent discrete value after sorting numerical value range is determined, and the determined value is greater than the maximum dispersion It is different from the preset value range.
7.如权利要求6所述的方法,其特征在于:所述不同的α值为0和α ',α '为大于-1小于0但接近0的系数,所述进行超速检测具体包括:所述当前车速和限制速度差值为正数时,确定超速;所述当前车速和限制速度的差值为非正数且大于设定负数α ' *vth时,确定接近超速。 7. The method according to claim 6, wherein: said different value [alpha] 0 and α ', α' is less than 0 but greater than -1 coefficient close to 0, the overspeed detecting comprises: the when the current vehicle speed and said limit speed difference is positive, determining speed; the difference between the current vehicle speed and the speed limit is greater than the set nonpositive and negative α '* when Vth, determining the proximity speed.
8. —种车辆超速检测装置,其特征在于,包括:当前限制速度确定单元,用于根据所拍摄的车外图像中限速标志牌上的速度标识信息和解除限速标志牌信息,确定车当前所在路段的限制速度;当前车速确定单元,用于根据所拍摄的车内车速显示仪表图像上的速度指示信息,确定被检测车的当前车速;超速检测单元,用于根据所述当前车速和限制速度,进行超速检测。 8. - Species speeding detection device comprising: a current limiting speed determining means, according to the speed of the signs out of the image captured by the vehicle speed identification information and the releasing speed-limit signs information, determining the vehicle where the speed limit of the current road section; current vehicle speed determining unit for indicating the vehicle speed according to the speed indicator information of the captured image, determining a current vehicle speed detected by the vehicle; speed detection means, based on said current vehicle speed and speed limit, overspeed detection.
9.如权利要求8所述的装置,其特征在于,还包括:控制报警单元,用于在所述超速检测单元检测到超速时,控制报警装置进行报警。 9. The apparatus according to claim 8, characterized in that, further comprising: an alarm control means for when said detecting means detects the overspeed speed, alarm control and alarm devices.
10.如权利要求8所述的装置,其特征在于,所述当前限制速度确定单元,具体包括: 限速单元,用于在所拍摄的车外图像中检测到限速标志牌时,根据所述限速标志牌中的速度标识信息确定车当前所在路段的限制速度,并将所述限制速度设为有效;解除限速单元,用于在所拍摄的车外图像中检测到解除限速标志牌时,将限制速度设为无效;所述当前车速确定单元确定当前车速和超速检测单元检测超速,均以限制速度有效为前提。 10. The apparatus according to claim 8, wherein said current limiting speed determination unit specifically comprises: when the speed limit means for detecting the speed limit signs in the captured image outside the vehicle in accordance with the speed of said speed limit signs in the vehicle identification information to determine a current road segment where the speed limit, the speed limit and the set effective; release rate limiting means for detecting the captured image outside the vehicle speed limit signs in the release when the card, the speed limit is invalidated; vehicle speed determination means determines that the current vehicle speed and the current speed detecting unit detects overspeed, the speed limit are effective as a precondition.
11.如权利要求9所述的装置,其特征在于,所述超速检测单元具体用于根据所述当前车速和限制速度差值所属的预设数值范围,确定超速程度,不同预设数值范围对应不同程度的超速;所述控制报警单元具体用于对不同程度的超速,控制报警装置以不同方式进行报警。 11. The apparatus according to claim 9, wherein the overspeed detection unit is adapted to preset numerical range according to the current speed limit and the vehicle speed difference belongs, to determine the extent of overspeed, different ranges of values ​​corresponding to the preset varying degrees of speed; the alarm control unit is configured for different levels of speed, controls the alarm means an alarm in different ways.
12. —种车辆超速报警系统,其特征在于,包括: 权利要求9〜11任一所述的车辆超速检测装置;第一摄像装置,安装在所述车辆上,以第一设定频率进行车外图像拍摄,并将拍摄的车外图像发送给所述车辆超速检测装置;第二摄像装置,安装在所述车辆上,以第二设定频率进行车内车速显示仪表图像拍摄, 并将拍摄的车速显示仪表图像发送给所述车辆超速检测装置;报警装置,由所述车辆超速检测装置中的控制报警单元控制,在车辆超速时报警。 12. - kind of vehicle speed alarm system comprising: a vehicle speed detecting device as claimed in any one of claims 9~11; a first image pickup means, mounted on said vehicle at a first frequency set vehicle external image capturing, and the photographed image is transmitted to the exterior of the vehicle speed detecting means; a second imaging means mounted on the vehicle, the vehicle speed display instrument for capturing an image at a second frequency set, and the shooting speed indicator image is transmitted to the vehicle speed detecting means; alarm means, an alarm of the vehicle speed detecting means is controlled by a control alarm unit when the vehicle speed.
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