CN103158620A - Vehicle pedestrian detection tracking early warning system - Google Patents
Vehicle pedestrian detection tracking early warning system Download PDFInfo
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- CN103158620A CN103158620A CN2013100964619A CN201310096461A CN103158620A CN 103158620 A CN103158620 A CN 103158620A CN 2013100964619 A CN2013100964619 A CN 2013100964619A CN 201310096461 A CN201310096461 A CN 201310096461A CN 103158620 A CN103158620 A CN 103158620A
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Abstract
The invention discloses a vehicle pedestrian detection tracking early warning system. The vehicle pedestrian detection tracking early warning system comprises an inactive mode monocular infrared camera, a monitor, an analog-digital conversion module, a power module and a processing circuit which are installed in a vehicle. The power module provides power for the entire system, the processing circuit acquires video image signals of the infrared camera through the analog-digital conversion module, and the video image signals are displayed on the monitor after data processing. The processing circuit adopts a hardware main body framework combining a field programmable gate array (FPGA) circuit module and an advanced RISC machines (ARM) circuit module, the infrared camera is arranged at the head portion of the vehicle, is hidden in a grid, and guarantees that the view field is not shielded, the installation position of the infrared camera is kept at the position of a central line of the vehicle, and the installation height of the infrared camera enables the camera to cover the area in front of the vehicle so that the road surface obtained in the video accounts for one half to two thirds of the view field. The vehicle pedestrian detection tracking early warning system has the advantages of improving the driving safety, and effectively avoiding most traffic accidents, thereby reducing life and property loss.
Description
Technical field
The present invention relates to a kind of automobile auxiliary security control loop, relate in particular to a kind of traffic detection tracking and early warning system based on the monocular infrared video, can specifically be applied to target detect, tracking and the range finding in the fields such as on-vehicle night vision, communications and transportation, video monitoring and public safety.
Background technology
Along with the fast development of automotive market and the reinforcement day by day of security protection consciousness, people are more and more higher to the requirement of automotive safety safeguards technique.Existing automobile lighting system sighting distance in the low situations of visbility such as night, snow sky or dense fog is not far, disadvantage poor effect becomes one of potential safety hazard of running car; in addition when driving a vehicle night; chaufeur usually can be disturbed by the light of the other side's vehicle and the blind area occur, also easily gets into an accident.The passive type infrared night vision system is carried out imaging according to the different principle of infrared light intensity that the object of different temperatures sends, the temperature of object is higher, the image that presents is brighter, so the passive type infrared night vision system can help the chaufeur navigation in the dark, make chaufeur can see driving environment clearly having in light and dark two kinds of situations, can be brighter than road surface and trees by the traffic that the passive type infrared night vision system is seen, so the driver can notice vehicle and the pedestrian in the place ahead immediately.
Chaufeur is because the reasons such as fatigue driving or dispersion attention also can cause Frequent Accidents in addition.Studies show that, chaufeur can be avoided 60% collision case as long as obtain 0.5 second pre-warning time before collision risk, if obtain pre-warning time before 1.5 seconds, can avoid 90% above traffic accident.Therefore, automobile is equipped with the incidence that a cover intelligent anticollision forewarn system can significantly reduce road accident, in the time of may bumping with front vehicles or pedestrian, automobile can carry out sound and light alarm, direction and the hazard level of prompting chaufeur dangerous article, chaufeur can take brake measure to avoid the generation of accident in case of necessity, also can pass through automobile CAN-bus, and forewarn system is controlled automobile and automatically implemented braking.
At present, the vehicle mounted infrared night vision device has applied to some high-end vehicles in front dress market and the rear dress market of small part, and the infrared camera before car directly shows the infrared image of catching on Liquid Crystal Display.During night running, the vehicle driver will watch road conditions attentively on one side, also need constantly watch infrared image, thereby comprehensively judge whether dangerous appearance, this mode has increased driver's burden, is easy to cause erroneous judgement or fails to judge, and can not effectively play auxiliary effect of driving.For existing anti-collision early warning system, the product based on monocular visible image capturing head of Israel Mobileye company occupies most market at present, but it is when using night, owing to can only surveying visible light, so observed range is nearer, limited its use at night.
Fpga chip in the market has powerful digital processing ability as data processing chip, the FPGA alerting ability is strong, parallel processing capability is powerful, operational performance is excellent, due to can programme, debug, programming and repetitive operation again, therefore can design and develop easily and verify, when circuit has a small amount of change, more can demonstrate the advantage of FPGA, satisfied the IR video stream amount large, process the high demand of requirement of real-time, realized data Quick Acquisition and processing.ARM chip in the market is as controller, and integrated a lot of functions have powerful transaction capabilities, peripherally just can provide diversified work, such as demonstration, runnable interface and application program etc. by means of simple.
On infrared imaging system is integrated, for further improving practicality and the ease for use of infrared imaging, the infrared image processing technology has become the study hotspot of infrared imaging field and image processing field, and corresponding operation platform also develops into embedded platform from upper computer, and becomes a kind of trend.The infrared image processing embedded platform structure of having reported mainly contains following two kinds: based on the infrared image processing device of ARM hardware structure, the collection of view data, processing and interface operation etc. are all completed on ARM (1); (2) based on the infrared image processing device of FPGA hardware structure, the collection of view data, processing and interface operation etc. are all completed on FPGA.Due to the ARM data-handling capacity a little less than, and video processnig algorithms comprises a large amount of data and calculates, if complete the video data processing with the ARM chip separately, can't guarantee the real-time of video processing.When video definition is higher, when data volume is larger, the ARM chip can't be completed the Processing tasks of data; Fpga chip can be realized the high speed processing task of mass data, but the FPGA development difficulty is high, and algorithm is transplanted complicated, is difficult to host computer procedure is transplanted to functions such as realizing interface display in FPGA.
Summary of the invention
in view of this, be necessary to provide a kind of efficient embedded infrared image processing system, realize target accurately detects, follow the tracks of, distance is accurately measured and early warning, improve the safety of driving, effectively avoid most traffic accident, thereby reduction life and property loss, other vehicles and the pedestrian outer to this vehicle detect and follow the tracks of range finding, calculate the distance with other vehicles or pedestrians, and send early warning, thereby, have infrared image is carried out certain algorithm process, can detect risk object, and send in time the infrared intelligent anti-collision early warning system of alarm, can greatly alleviate driver's burden.
the present invention realizes like this, a kind of traffic detects the tracking and early warning system, it comprises the passive type monocular noctovisor that is arranged in vehicle, telltale, analog-to-digital conversion module, power module, and treatment circuit, this power module is powered to whole system, this treatment circuit obtains the video signal of this noctovisor by this analog-to-digital conversion module, and carry out being sent in this telltale after data are processed and show, wherein, this treatment circuit adopts the hardware body framework of FPGA circuit module and the combination of ARM circuit module, after this noctovisor is arranged on the head of this vehicle and is hidden in grid and guarantee that the camera lens visual field of this noctovisor is not blocked, keep simultaneously the position of installation at the position of center line of this vehicle, the setting height(from bottom) of this noctovisor makes the camera lens visual field can cover this vehicle front zone, be paved with between a half field-of-view to three/two visual fields with the road surface that obtains in video.
Further improvement as such scheme, this FPGA circuit module comprises FPGR treater, Infrared video image signal BNG input circuit, video decode circuit, SRAM and warning circuit, and this ARM circuit module comprises arm processor, video compression coding circuit, SD card memory circuit, debugging communicating circuit and video and shows mutual circuit; Wherein, Infrared video image signal BNG input circuit is electrically connected at the video decode circuit, and video decode circuit, SRAM and warning circuit all are electrically connected at the FPGR treater; SD card memory circuit is electrically connected at the video compression coding circuit, and video compression coding circuit, debugging communicating circuit and video show that mutual circuit all is electrically connected at arm processor; FPGR treater and arm processor use the mode of bus to carry out the exchange of data, and whole treatment circuit is unified coordinative command by arm processor.
Further improvement as such scheme, the hardware architecture that analog-to-digital conversion module, power module and treatment circuit form is arranged on the operating console below of this vehicle, by cable, the video signal of this noctovisor is introduced this hardware architecture, this power module is received on the Cigarette lighter of this vehicle.
Preferably, telltale is arranged in the operator's compartment of this vehicle, is arranged on operating console top or hangs the forward sight that is arranged on this vehicle on glass, and the infrared video after by cable, this hardware architecture being processed is introduced this telltale and shown.
Further improvement as such scheme, this treatment circuit utilizes this video signal to detect and follow the tracks of range finding to the target vehicle before this vehicle and target pedestrian, calculating and target vehicle or target pedestrian's distance, and send early warning, this distance satisfies following formula:
Wherein, d is this vehicle-to-target vehicle or target pedestrian's distance; F is the effective focal length of this noctovisor; α is the pitch angle of this noctovisor; H is that the camera lens of this noctovisor is to the height on road surface; (x
0, y
0) be the optical axis of this camera lens and the intersection point on picture plane, be the initial point of photo coordinate system; (x, y) for the P point in the projection coordinate of picture on the plane, this P point is taken from target vehicle or the target pedestrian who confirms through following the tracks of, as with the R point apart from d of this vehicle, this treatment circuit judges whether this is scheduled to collision distance less than one apart from d, and during less than this predetermined collision distance, start audible alarm apart from d at this, and start display alarm.
Preferably, according to the characteristics of infrared video, namely vehicle and pedestrian's temperature is relatively high, and this treatment circuit adopts the way of rim detection and feature identification, detects target vehicle and target pedestrian and locates.
Again preferably, this treatment circuit adopts the Kalman filter method in conjunction with Mean Shift method, sets up vehicle, pedestrian's trace model, and upgrades the target model parameter in tracing process, the impact that this vehicle of filtering brings in vibration processes, and the empty target of filtration fraction.
Preferably, the change calculations of dimension scale in video goes out instantaneous collision time to this treatment circuit according to target vehicle or pedestrian, and this instantaneous collision time satisfies following formula:
Wherein, T
mBe instantaneous collision time; Δ t is instantaneous collision time T
mAnd the interval between current time in two moment; S be two constantly in videos the ratio of target vehicle or pedestrian's size change, target vehicle or pedestrian near the time, S〉1; The instantaneous collision time T of this treatment circuit judgement
mWhether less than a pre-warning time, and at instantaneous collision time T
mDuring less than this pre-warning time, start audible alarm, and start display alarm.
Again preferably, this treatment circuit is to instantaneous collision time T
mCarry out acceleration correction, obtain to satisfy following formula modification collision time:
Wherein, T represents instantaneous collision time T
mThe correction collision time that obtains through acceleration correction;
Represent instantaneous collision time T
mTo the time differentiate; Whether this treatment circuit judgement revises collision time T less than the anti-collision warning time, and during the time, starts audible alarm less than this anti-collision warning at correction collision time T, and starts display alarm.
Further, this treatment circuit divides section to adopt different corresponding sound and light alarm modes according to different apart from d or different correction collision time T, and the icon that makes the frequency of alarm sound and power and display alarm is along with the variation of distance d or revise the variation of collision time T and minute section changes.
traffic of the present invention detects the operation principles of tracking and early warning system, and its noctovisor carries out imaging according to the infrared ray of target reflection or radiation, the output analog video image signals, treatment circuit adopts the hardware body framework of FPGA circuit module and the combination of ARM circuit module, receives the analog video image signals of noctovisor output, through analog-to-digital conversion module (as the A/D decoding chip), carries out the video signal digitalisation, utilize the FPGA circuit module to complete the collection of data, and realize image processing algorithm in the FPGA circuit module, the view data that gathers is processed, difference characteristic according to object and background infrared emanation, this algorithm accurately detects the object edge, draw out the object profile, real-time tracking is carried out in the movement of object to be shown, and by the distance measurement function in algorithm, detected target is found range, for follow-up use provides credible target thing and range information, thereby realize the detection to object in vision signal, follow the tracks of and range finding, Infrared video image data after processing, sending into the ARM circuit module shows and compresses storage, realize Real-time image display, provide for relevant departments the reference of tracing to the source simultaneously, thereby this treatment circuit has been given full play to the advantage of FPGA and ARM.
compare with the common image processing apparatus based on ARM or DSP or FPGA unitary core hardware, combine the advantage of FPGA and ARM due to the present invention, the algorithm and application program is divided open shop, processing capacity is stronger, real-time is higher, the algorithm of operation not only possesses the target detect function, also possesses target tracking, range finding and early warning function, makes the image handling property outstanding, more diversified, than visible light, infrared video can be observed longer-distance vehicle and pedestrian at night and greasy weather, target detect in conjunction with vehicle and pedestrian, follow the tracks of, range finding and early warning technology, thereby need not chaufeur constantly observes the infrared video in telltale judge whether dangerous situation, but when the collision time that target is arranged during less than time of setting (perhaps the distance of target less than set apart from the time), system can send sound and light alarm, and the degree with car danger, the frequency of sound and power can change thereupon, thereby chaufeur can take appropriate measures and avoid the generation of accident.
Description of drawings
The traffic that Fig. 1 provides for better embodiment of the present invention detects the module composition schematic diagram of tracking and early warning system.
Fig. 2 is the structural representation that in Fig. 1, traffic detects the treatment circuit of tracking and early warning system.
Fig. 3 is applied to the module composition schematic diagram that traffic that traffic in Fig. 1 detects the tracking and early warning system detects the tracking and early warning device.
Fig. 4 is the range measurement principle schematic diagram that in Fig. 3, traffic detects the tracking and early warning device.
Fig. 5 is the vehicle-mounted schematic diagram that in Fig. 1, traffic detects the tracking and early warning system.
Fig. 6 is the birds-eye view of Fig. 5.
Fig. 7 is the target detect tracking range finding schematic diagram that in Fig. 3, traffic detects the tracking and early warning device.
Fig. 8 is the contrast schematic diagram of instantaneous collision time and acceleration correction collision time.
The specific embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
Traffic of the present invention detects the tracking and early warning system, comprises the passive type monocular noctovisor 11, telltale 12, analog-to-digital conversion module 13, power module 14 and the treatment circuit 15 that are arranged in vehicle, as shown in Figure 1.This treatment circuit 15 is undertaken being shown in this telltale 12 after data are processed by the video signal that this analog-to-digital conversion module 13 obtains this noctovisor 11.
in the present embodiment, this treatment circuit 15 adopts the main body hardware architecture of FPGA circuit module 16 and 17 combinations of ARM circuit module, receive the analog video image signals of noctovisor 11 outputs, through analog-to-digital conversion module 13(such as A/D decoding chip), carry out the video signal digitalisation, utilize FPGA circuit module 16 to complete the collection of data, and realize image processing algorithm in FPGA circuit module 16, the view data that gathers is processed, difference characteristic according to object and background infrared emanation, this algorithm accurately detects the object edge, draw out the object profile, real-time tracking is carried out in the movement of object to be shown, and by the distance measurement function in algorithm, detected target is found range, for follow-up use provides credible target thing and range information, thereby realize the detection to object in vision signal, follow the tracks of and range finding, Infrared video image data after processing, sending into ARM circuit module 17 shows and compresses storage, realize Real-time image display, provide for relevant departments the reference of tracing to the source simultaneously, thereby this treatment circuit has been given full play to the advantage of FPGA and ARM.
In brief, it is analog-to-digital conversion module 13 that noctovisor 11 is inputted the A/D processing module with analog video image signals, after changing through modulus, send into FPGA circuit module 16 and complete the identification of object, tracking, detection range finding and warning function, the infrared video input after processing is sent into ARM circuit module 17 and is completed the video signal compression storage and show.
As shown in Figure 2, this FPGA circuit module 16 comprises FPGR treater, Infrared video image signal BNG input circuit (BNG input), video decode circuit (video decode), SRAM(SRAM DDR2), warning circuit (audible alarm), I2C etc., this ARM circuit module 17 comprises arm processor, video compression coding circuit (video compression coding), SD card memory circuit (storage of SD card), debugging communicating circuit and video and shows mutual circuit; Wherein, Infrared video image signal BNG input circuit is electrically connected at the video decode circuit, and video decode circuit, SRAM and warning circuit all are electrically connected at the FPGR treater; SD card memory circuit is electrically connected at the video compression coding circuit, and video compression coding circuit, debugging communicating circuit (RJ45, UART USB, SPI), video show that mutual circuit (showing the output user interactions) all is electrically connected at arm processor; FPGR treater and arm processor use the mode of bus to carry out the exchange of data, and whole treatment circuit is unified coordinative command by arm processor.These power module 14 power supplies are carried out the power supply input to whole system, as producing FPGA circuit module 16 and the needed all types of power supplys of ARM circuit module 17.
Noctovisor 11 carries out imaging according to the infrared ray of target reflection or radiation, the output analog video image signals.The FPGA circuit module 16 for the treatment of circuit 15 receives the analog video signal of noctovisor 11 outputs, through the A/D decoding chip, carries out the video signal digitalisation.Utilize the large digital processing ability data acquisition of the FPGA circuit module Final 16, and realize image processing algorithm in FPGA circuit module 16, difference characteristic according to object and background infrared emanation, object is detected, follows the tracks of and finds range, simultaneously the risk object that detects is carried out Realtime Alerts and process.The fpga chip of FPGA circuit module 16 can be realized the high speed processing of mass data, can satisfy system to the hardware requirement of Infrared video image real time signal processing.Through the IR video stream that FPGA circuit module 16 is processed, send in ARM circuit module 17 with the BT656 form, carry out real-time demonstration and the compression storage of video file, for relevant departments provide the reference of tracing to the source.
Now the society electronic system, breaking away from software can't move substantially, on above-mentioned hardware system (being traffic detection tracking and early warning system), develop traffic and detected tracking and early warning method software, be that traffic detects the tracking and early warning device, traffic detects the tracking and early warning application of installation in above-mentioned hardware system, and the subsequent function that the present invention is directed to above-mentioned hardware system realizes that part describes in detail.
Traffic detects the tracking and early warning application of installation in the vehicle that passive type monocular noctovisor is installed, namely be applied to be equipped with in the vehicle of traffic detection tracking and early warning system, other vehicles and the pedestrian outer to this vehicle detect and follow the tracks of range finding, the distance of calculating and other vehicles or pedestrians, and send early warning.
The system that traffic detects the tracking and early warning device consists of as shown in Figure 3, and this traffic detects the tracking and early warning device and comprises that image pre-processing module 1, detection module 2, tracking module 3, range finder module 4, judge module 5, demonstration and warning module 6, brake command form module 7, module 8 when surveying.
traffic detects the tracking and early warning device and adopts 1 pair of Infrared video image signal that obtains from noctovisor 11 of image pre-processing module to carry out pretreatment, then pass through 2 pairs of vehicles of detection module, the pedestrian detects, get rid of the obstacle of vibration impact of this vehicle through tracking module 3, detected target is carried out predicting tracing, through range finder module 4, according to the corresponding relation between world coordinates and image coordinate, calculate the distance between each target and noctovisor 11, afterwards, judge by judge module 5, to show in telltale 12 with the Infrared video image signal of target identification and range information by demonstration and warning module 6 at last, and set according to the user, can report to the police or report to the police according to the collision time that calculates according to safety distance, in case of emergency, can form module 7 by brake command and by the CAN bus of automobile, automobile be implemented braking, namely by the CAN bus of this vehicle, automobile is implemented braking.
Subsequently traffic is detected the tracking and early warning device carry out detailed expansion explanation.
At first, image pre-processing module 1 is used for the Infrared video image signal that obtains from this noctovisor 11 is carried out pretreatment: by the filtering method filtering noise, then use the method for adaptive histogram equalization to strengthen picture contrast.For subsequent detection, tracking, range finding and early warning link lay the foundation.
Secondly, detection module 2 is used for other vehicles or pedestrians of this video signal are detected and locate, and detects target vehicle or target pedestrian.Detect 2 main realizations of mould to detection and the location of the target such as vehicle and pedestrian in video signal, characteristics according to infrared video, the temperature that is the targets such as vehicle and pedestrian is relatively high, adopt the way of rim detection and feature identification, can detect each target is target vehicle or target pedestrian.
Afterwards, tracking module 3 is used for target vehicle or target pedestrian are carried out predicting tracing, further follows the tracks of and confirms.Tracking module 3 mainly carries out predicting tracing to targets such as detected target vehicle or target pedestrians, further each target is confirmed.Adopt the Kalman filter method in conjunction with Mean Shift method, set up the target tracking models such as vehicle, pedestrian, and upgrade the target model parameter in tracing process, the impact that this vehicle of filtering brings in vibration processes, and the empty target of filtration fraction.
Then, range finder module 4 is used for calculating through the target vehicle of tracking confirmation or target pedestrian's distance, and as shown in Figure 4, this distance satisfies following formula:
Wherein, d is this vehicle-to-target vehicle or target pedestrian's distance; F is the effective focal length of this noctovisor 11; α be the pitch angle of this noctovisor 11 be also noctovisor 11 setting angle α; H is that the camera lens of this noctovisor 11 is to the height on road surface; (x
0, y
0) be the optical axis of this camera lens and the intersection point on picture plane, be the initial point of photo coordinate system; (x, y) in the projection coordinate of picture on the plane, this P point is taken from through following the tracks of target vehicle or the target pedestrian of confirmation for the P point, as with the R point apart from d of this vehicle.
Then, judge module 5 is used for judging whether this is scheduled to collision distance less than one apart from d.
At last, show and warning module 6 is used for during less than this predetermined collision distance, starting audible alarm, and starting display alarm apart from d at this.This demonstration and warning module 6 also can be used for dividing section to adopt different corresponding sound and light alarm modes according to different apart from d, and minute section changes along with the variation of distance d to make the frequency of alarm sound and the icon of power and display alarm.
Certainly, also can collision time shows and early warning by calculating.During survey, module 8 is used for going out instantaneous collision time according to target vehicle or pedestrian in the change calculations of video dimension scale, and this instantaneous collision time satisfies following formula:
Wherein, T
mBe instantaneous collision time; Δ t is instantaneous collision time T
mAnd the interval between current time in two moment; S be two constantly in videos the ratio of target vehicle or pedestrian's size change, target vehicle or pedestrian near the time, S〉1.
Actual conditions may comprise accelerated movement or decelerated movement, so in order to obtain collision time more accurately, need to be to instantaneous collision time T
mCarry out acceleration correction, correcting module is used for instantaneous collision time T
mCarry out acceleration correction, obtain to satisfy following formula modification collision time:
Wherein, T represents instantaneous collision time T
mThe correction collision time that obtains through acceleration correction;
Represent instantaneous collision time T
mTo the time differentiate;
This judge module 5 also is used for judgement and whether revises collision time T less than the anti-collision warning time;
Demonstration and warning module 6 also are used for during the time, starting audible alarm less than this anti-collision warning at correction collision time T, and start display alarm.
In sum, the user can setpoint distance d early warning or correction collision time T(or instantaneous collision time T
m) early warning.During setpoint distance d early warning, according to the early warning distance of setting, when have target apart from d during less than early warning distance, the warning of sounding, and show corresponding icon at telltale 12, and can set different sound and light alarm mode corresponding to distance, the icon that the frequency of sound and power and telltale show is along with distance d changes; Set and revise collision time T(or instantaneous collision time T
m) during early warning, according to the pre-warning time of setting, as the correction collision time T(that target is arranged or instantaneous collision time T
m) during less than pre-warning time, the warning of sounding, and show corresponding icons at telltale 12, and can set different correction collision time T(or instantaneous collision time T
m) corresponding different sound and light alarm modes, the icon that the frequency of sound and power and telltale 12 show is along with revising collision time T(or instantaneous collision time T
m) change.In addition, when less than certain apart from d or revise collision time T(or instantaneous collision time T
m) in emergency circumstances, brake command forms module 7 can implement braking to automobile by the CAN bus of automobile.
than visible light, infrared video can be observed longer-distance vehicle and pedestrian at night and greasy weather, target detect in conjunction with vehicle and pedestrian, follow the tracks of, range finding and early warning technology, thereby need not chaufeur constantly observes the infrared video in telltale judge whether dangerous situation, but as the correction collision time T that target is arranged during less than time of setting (perhaps the distance of target less than set apart from the time), system can send sound and light alarm, and the degree with car danger, the frequency of sound and power can change thereupon, thereby chaufeur can take appropriate measures and avoid the generation of accident.In addition, in case of emergency, when less than certain apart from d or revise collision time T, when chaufeur was not taken measures, system can implement braking to automobile by the CAN bus of automobile.
Traffic detection tracking and early warning system when mounted, as Fig. 5 and shown in Figure 6, noctovisor 11 is arranged on this vehicle head, after being hidden in grid, the camera lens visual field that guarantees noctovisor 11 is not blocked, and keeps simultaneously the installation site near this left and right vehicle wheel center; The hardware architecture that analog-to-digital conversion module 13, power module 14 and treatment circuit 15 form is arranged on the operating console below of this vehicle, by cable, the video signal of noctovisor 11 is introduced this hardware architecture, power module 14 is received on the Cigarette lighter of this vehicle, and noctovisor 11, treatment circuit 15 and telltale 12 are powered.Telltale 12 is arranged on the indoor correct position of this vehicular drive, as be arranged on above operating console, perhaps hang and be arranged on the forward sight position of waiting on glass, the mistake cable is introduced this hardware architecture with the video signal of noctovisor 11, outputs to telltale 12 to show; Adjust the setting height(from bottom) h of noctovisor 11, according to setting height(from bottom) h, camera parameter and a position, demarcation position, calculate camera setting angle α.The setting height(from bottom) h of this noctovisor 11 makes the camera lens visual field can cover this vehicle front zone, is paved with between a half field-of-view to three/two visual fields with the road surface that obtains in video.Start can be carried out infrared detection, tracking, range finding and the alarm of this vehicle front target, and result as shown in Figure 7.Subsequent, the present invention does more detailed application example.
Embodiment 1: the traffic of monocular infrared video detects the tracking and early warning system applies in truck
Noctovisor 11 is installed on the grid place of truck, recording noctovisor 11 height h and pitch angle overhead is setting angle α.noctovisor 11 is connected with the flush bonding module that comprises image processing function by bnc interface, flush bonding module is realized the frequency pretreatment of infrared view image signal, noise is carried out filtering and figure is strengthened, detect according to the detected characteristics of pedestrian and vehicle, and carry out further confirming to obtain target pedestrian and target vehicle by track algorithm, get rid of empty target, height h and pitch angle α according to the noctovisor 11 that has recorded, vehicle and pedestrian are adopted location algorithm, draw the distance of each target, and calculate the collision time of each target according to the variation ratio of target size in two two field pictures.By the AV interface, the Infrared video image signal is outputed to Liquid Crystal Display, target in the infrared video that Liquid Crystal Display shows adopts rectangle frame to mark, and mark the distance of each target in the rectangle frame bottom, as shown in Figure 7, automobile is that the target in track, this vehicle place, the track of both sides all mark with rectangle frame, and marks the distance of each target under rectangle frame.Report to the police if set safety distance, in case the distance that target is arranged less than safety distance, the buzzer phone on flush bonding module is reported to the police; Report to the police if set collision time, according to the concrete time of setting, such as 2.5 s, in case the collision time that target arranged during less than 2.5 s, buzzer phone is reported to the police.Whole system adopts the cigar lighter socket power supply of automobile.
Fig. 8 is instantaneous collision time T
mWith the contrast of acceleration correction collision time T, suppose that the distance between two cars is 30 m, the two relative rate of onset of car are 10 m/s, relative acceleration is 2 m/s
2(two cars accelerate close).When target is far away, instantaneous collision time T
mObviously greater than acceleration correction collision time T; When target was nearer, two kinds of collision times trended towards unanimously.In addition, instantaneous collision time T
mAlong with the variation of time presents non-linearly, instantaneous collision time T is described
mCan not react exactly real collision time, present the trend of good linear change through the correction collision time T of acceleration correction.
The above is only preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a traffic detects the tracking and early warning system, it comprises the passive type monocular noctovisor that is arranged in vehicle, telltale, analog-to-digital conversion module, power module, and treatment circuit, this power module is powered to whole system, this treatment circuit obtains the video signal of this noctovisor by this analog-to-digital conversion module, and carry out being sent in this telltale after data are processed and show, it is characterized in that, this treatment circuit adopts the hardware body framework of FPGA circuit module and the combination of ARM circuit module, after this noctovisor is arranged on the head of this vehicle and is hidden in grid and guarantee that the camera lens visual field of this noctovisor is not blocked, keep simultaneously the position of installation at the position of center line of this vehicle, the setting height(from bottom) of this noctovisor makes the camera lens visual field can cover this vehicle front zone, be paved with between a half field-of-view to three/two visual fields with the road surface that obtains in video.
2. traffic as claimed in claim 1 detects the tracking and early warning system, it is characterized in that, this FPGA circuit module comprises FPGR treater, Infrared video image signal BNG input circuit, video decode circuit, SRAM and warning circuit, and this ARM circuit module comprises arm processor, video compression coding circuit, SD card memory circuit, debugging communicating circuit and video and shows mutual circuit; Wherein, Infrared video image signal BNG input circuit is electrically connected at the video decode circuit, and video decode circuit, SRAM and warning circuit all are electrically connected at the FPGR treater; SD card memory circuit is electrically connected at the video compression coding circuit, and video compression coding circuit, debugging communicating circuit and video show that mutual circuit all is electrically connected at arm processor; FPGR treater and arm processor use the mode of bus to carry out the exchange of data, and whole treatment circuit is unified coordinative command by arm processor.
3. traffic as claimed in claim 1 detects the tracking and early warning system, it is characterized in that, the hardware architecture that analog-to-digital conversion module, power module and treatment circuit form is arranged on the operating console below of this vehicle, by cable, the video signal of this noctovisor is introduced this hardware architecture, this power module is received on the Cigarette lighter of this vehicle.
4. traffic as claimed in claim 3 detects the tracking and early warning system, it is characterized in that, telltale is arranged in the operator's compartment of this vehicle, be arranged on operating console top or hang the forward sight that is arranged on this vehicle on glass, the infrared video after by cable, this hardware architecture being processed is introduced this telltale and is shown.
5. traffic as claimed in claim 1 detects the tracking and early warning system, it is characterized in that, this treatment circuit utilizes this video signal to detect and follow the tracks of range finding to the target vehicle before this vehicle and target pedestrian, calculating and target vehicle or target pedestrian's distance, and send early warning, this distance satisfies following formula:
Wherein, d is this vehicle-to-target vehicle or target pedestrian's distance; F is the effective focal length of this noctovisor; α is the pitch angle of this noctovisor; H is that the camera lens of this noctovisor is to the height on road surface; (x
0, y
0) be the optical axis of this camera lens and the intersection point on picture plane, be the initial point of photo coordinate system; (x, y) for the P point in the projection coordinate of picture on the plane, this P point is taken from target vehicle or the target pedestrian who confirms through following the tracks of, as with the R point apart from d of this vehicle, this treatment circuit judges whether this is scheduled to collision distance less than one apart from d, and during less than this predetermined collision distance, start audible alarm apart from d at this, and start display alarm.
6. traffic as claimed in claim 5 detects the tracking and early warning system, it is characterized in that, according to the characteristics of infrared video, namely vehicle and pedestrian's temperature is relatively high, this treatment circuit adopts the way of rim detection and feature identification, detects target vehicle and target pedestrian and locates.
7. traffic as claimed in claim 6 detects the tracking and early warning system, it is characterized in that, this treatment circuit adopts the Kalman filter method in conjunction with Mean Shift method, set up vehicle, pedestrian's trace model, and upgrade the target model parameter in tracing process, the impact that this vehicle of filtering brings in vibration processes, and the empty target of filtration fraction.
8. traffic as claimed in claim 5 detects the tracking and early warning system, it is characterized in that, the change calculations of dimension scale in video goes out instantaneous collision time to this treatment circuit according to target vehicle or pedestrian, and this instantaneous collision time satisfies following formula:
Wherein, T
mBe instantaneous collision time; Δ t is instantaneous collision time T
mAnd the interval between current time in two moment; S be two constantly in videos the ratio of target vehicle or pedestrian's size change, target vehicle or pedestrian near the time, S〉1; The instantaneous collision time T of this treatment circuit judgement
mWhether less than a pre-warning time, and at instantaneous collision time T
mDuring less than this pre-warning time, start audible alarm, and start display alarm.
9. traffic as claimed in claim 8 detects the tracking and early warning system, it is characterized in that, this treatment circuit is to instantaneous collision time T
mCarry out acceleration correction, obtain to satisfy following formula modification collision time:
Wherein, T represents instantaneous collision time T
mThe correction collision time that obtains through acceleration correction;
Represent instantaneous collision time T
mTo the time differentiate; Whether this treatment circuit judgement revises collision time T less than the anti-collision warning time, and during the time, starts audible alarm less than this anti-collision warning at correction collision time T, and starts display alarm.
10. traffic as claimed in claim 9 detects the tracking and early warning system, it is characterized in that, this treatment circuit divides section to adopt different corresponding sound and light alarm modes according to different apart from d or different correction collision time T, and the icon that makes the frequency of alarm sound and power and display alarm is along with the variation of distance d or revise the variation of collision time T and minute section changes.
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