CN103236191B - Video-based safety precaution method for vehicle merging from highway ramp - Google Patents

Video-based safety precaution method for vehicle merging from highway ramp Download PDF

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CN103236191B
CN103236191B CN201310099688.9A CN201310099688A CN103236191B CN 103236191 B CN103236191 B CN 103236191B CN 201310099688 A CN201310099688 A CN 201310099688A CN 103236191 B CN103236191 B CN 103236191B
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vehicle
video
picture
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image
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CN103236191A (en
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王国锋
李东方
张鹏
彭玲玲
席阳
宋焕生
李建成
宋鹏飞
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CHINA HIGHWAY ENGINEERING CONSULTING GROUP Co Ltd
Changan University
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CHINA HIGHWAY ENGINEERING CONSULTING GROUP Co Ltd
Changan University
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Abstract

The invention belongs to the field of video detecting, and provides a video-based safety precaution method for vehicle merging from a highway ramp. The method includes arranging two cameras in the same directions as two ways on highway entrances to detect moving vehicles, marking vehicle trajectories, acquiring actual moving distance through calculation according to the vehicle trajectories in a continuous tracking frame, acquiring actual speed of the vehicles, acquiring time difference of vehicle entering the merging areas between the two ways through the speeds of vehicles on the two ways, and judging possibility of vehicle collisions through the time difference. Compared with the prior art, the video-based safety precaution method is not limited by environments, capable of performing real-time and reliable precaution for all vehicles in the video areas, easy to realize, high in accuracy, applicable to real-time traffic precaution for highway ramps, and wide in application prospect.

Description

A kind of expressway ramp vehicle based on video is incorporated to safe early warning method
Technical field
The invention belongs to field of video detection, be specifically related to a kind of expressway ramp vehicle based on video and be incorporated to safe early warning method.
Background technology
Recently, facing to the growth at full speed of China's highway mileage, traffic accidents increases year by year, and wherein expressway ramp mouth is Accident Area section.Particularly when light, weather are poor, very easily there is traffic hazard in ring road mouth.Expressway ramp vehicle based on video is incorporated to the rapid reaction capacity that safe early warning technology improves unusual condition, simultaneously can by the data of Real-time Obtaining promptly and accurately be transferred to vehicle supervision department, increase work efficiency and the operation level of whole road network.
Existing method is mainly directly judged the transport information of ring road mouth by driver, but result is vulnerable to the subjective impact of human pilot, and not only reaction is slow, and has stronger adaptability to the impact such as light, weather, cannot meet the needs of practical application.
Summary of the invention
The defect existed for prior art and deficiency, the object of the invention is to, provide a kind of expressway ramp vehicle based on video to be incorporated to safe early warning method, and the method can realize in real time vehicles all in range of video, early warning reliably.
In order to realize above-mentioned task, the present invention adopts following technical scheme to be achieved:
Expressway ramp vehicle based on video is incorporated to a safe early warning method, and the method is carried out according to following steps:
Step one, major trunk roads direction in the ring road opening's edge of expressway and set up the first video camera, the range of the first video camera is designated as L 1traffic video image on first camera acquisition major trunk roads, be designated as the first video image, adopt the target vehicle tracking of feature based to follow the tracks of to all vehicles being incorporated to region that drive towards in video camera range region the movement locus obtaining all cars;
The target vehicle tracking of described feature based is namely: adopt the frame differential method based on block of pixels to detect moving vehicle, utilize Moravec algorithm to extract corresponding angle point as target location to the moving image detected, and matched jamming is carried out to corresponding angle point;
Step 2, set up the second video camera in ring road mouth first video camera erection place of expressway along ring road direction, the range of the second video camera is designated as L 2, the traffic video figure on the second camera acquisition ring road, is designated as the second video image, adopts the target vehicle tracking of feature based to follow the tracks of to all vehicles being incorporated to region that drive towards in video camera range region the movement locus obtaining all cars;
Step 3, for the first video image, calculate the actual travel speed of each vehicle, namely in any xth two field picture, utilize the angle point of each car of Moravec algorithm, the interest value of more each angle point, the point that screening interest value is maximum, i.e. the most obvious point of feature in this region, as the position of each vehicle at xth two field picture; Adopt identical method, in xth+a two field picture, determine the position of each vehicle at xth+a two field picture, the position of each angle point in record image; Obtain the mapping relations between the capable and actual range of image pixel, i.e. mapping table, obtains the physical location S of each vehicle in xth two field picture according to mapping table i(i=1,2 ..., n), the physical location S in xth+a two field picture i' (i=1,2 ..., n), then have:
V i = ( S i , - S i ) V 0 a ( i = 1,2 . . . , n )
In formula:
V ithe travel speed of-each vehicle, unit: frame/s;
V 0-video playout speed, unit: frame/s;
The number of image frames of a-Continuous Tracking, unit: frame;
Step 4, for the second video image, calculate the actual travel speed of each vehicle, namely in any y two field picture, utilize the method for step 3 to determine that each vehicle is in the position of y two field picture, determine that each vehicle is in the position of y+a two field picture at y+a two field picture, the position of each angle point in record image; Obtain the mapping relations between the capable and actual range of image pixel, i.e. mapping table, obtains the physical location SS of each vehicle in y two field picture according to mapping table j(j=1,2 ..., m), the physical location SS in y+a two field picture j' (j=1,2 ..., m), then have:
VV j = ( SS j , - SS j ) V 0 a ( j = 1,2 . . . , m )
In formula:
VV ithe travel speed of-each vehicle, unit: frame/s;
V 0-video playout speed, unit: frame/s;
The number of image frames of a-Continuous Tracking, unit: frame;
Step 5, according to each vehicle in the first video image and the second video image apart from being incorporated to the actual range in region and the actual travel speed of individual vehicle, obtain any vehicle of major trunk roads to sail into and be incorporated to any vehicle on region and ring road and sail the mistiming being incorporated to region into, be designated as t, then have:
t = ( L 1 - S i , ) V i - ( L 2 - SS j , ) VV j ( i = 1,2 . . . , n , j = 1,2 . . . , m )
When | during t| > 5s, then two vehicles enters safety when being incorporated to district;
When | during t|≤5s, then two vehicles enters when being incorporated to district and may produce conflict, and shows the vehicle that may clash on the information table of major trunk roads and ring road.
Expressway ramp vehicle based on video of the present invention is incorporated to safe early warning method, compared with prior art, not by environmental restraint, can to carrying out in real time vehicles all in range of video, reliable early warning.And be easy to realization, accuracy is higher, be well suited for the real-time traffic early warning of expressway ramp, have broad application prospects.
Accompanying drawing explanation
Fig. 1 is that expressway ramp vehicle is incorporated to schematic diagram.
Fig. 2 is the schematic diagram of the movement locus of each vehicle on highway major trunk roads.
Fig. 3 is the schematic diagram of the movement locus of each vehicle on expressway ramp.
Fig. 4 is highway major trunk roads vehicle and ring road vehicle collision overhaul flow chart.
Fig. 5 is expressway ramp vehicle and trunk way vehicle collision overhaul flow chart.
Fig. 6 is the information table of highway major trunk roads, the vehicle that this feelings report display ring road runs.
Fig. 7 is the information table of expressway ramp, the vehicle that these feelings report display major trunk roads run.
In figure: black lines represents highway lines, the vehicle that the little dark squares representative of black may clash, Black oval represents the vehicle that highway runs, the track of the dark line shows vehicle operating on Black oval.
Below in conjunction with drawings and Examples, content of the present invention is described in further detail.
Embodiment
The present embodiment provides a kind of expressway ramp vehicle based on video and is incorporated to safe early warning method, utilize the correlation technique of video detection and image procossing, obtain actual range and the actual travel speed of vehicle on highway major trunk roads and ring road, arrive to it time being incorporated to district accurately to calculate, thus realize expressway ramp vehicle and be incorporated to safe real-time early warning.It should be noted that the mapping table in the present embodiment adopts the video camera geometric calibration method described in patent of invention " a kind of video camera geometric calibration method under linear model " (open (bulletin) number: CN102222332A) to obtain.
As shown in Figures 1 to 7, the method for the present embodiment specifically follows these steps to carry out:
Step one, major trunk roads direction in the ring road opening's edge of expressway and set up the first video camera, the range of the first video camera is designated as L 1traffic video image on first camera acquisition major trunk roads, be designated as the first video image, adopt the target vehicle tracking of feature based to follow the tracks of to all vehicles being incorporated to region that drive towards in video camera range region the movement locus obtaining all cars;
The target vehicle tracking of described feature based is namely: adopt the frame differential method based on block of pixels to detect moving vehicle, utilize Moravec algorithm to extract corresponding angle point as target location to the moving image detected, and matched jamming is carried out to corresponding angle point;
Step 2, set up the second video camera in ring road mouth first video camera erection place of expressway along ring road direction, the range of the second video camera is designated as L 2, the traffic video figure on the second camera acquisition ring road, is designated as the second video image, adopts the target vehicle tracking of feature based to follow the tracks of to all vehicles being incorporated to region that drive towards in video camera range region the movement locus obtaining all cars;
Step 3, for the first video image, calculate the actual travel speed of each vehicle, namely in any xth two field picture, utilize the angle point of each car of Moravec algorithm, the interest value of more each angle point, the point that screening interest value is maximum, i.e. the most obvious point of feature in this region, as the position of each vehicle at xth two field picture; Adopt identical method, in xth+a two field picture, determine the position of each vehicle at xth+a two field picture, the position of each angle point in record image; Obtain the mapping relations between the capable and actual range of image pixel, i.e. mapping table, obtains the physical location S of each vehicle in xth two field picture according to mapping table i(i=1,2 ..., n), the physical location S in xth+a two field picture i' (i=1,2 ..., n), then have:
V i = ( S i , - S i ) V 0 a ( i = 1,2 . . . , n )
In formula:
V ithe travel speed of-each vehicle, unit: frame/s;
V 0-video playout speed, unit: frame/s;
The number of image frames of a-Continuous Tracking, unit: frame;
Step 4, for the second video image, calculate the actual travel speed of each vehicle, namely in any y two field picture, utilize the method for step 3 to determine that each vehicle is in the position of y two field picture, determine that each vehicle is in the position of y+a two field picture at y+a two field picture, the position of each angle point in record image; Obtain the mapping relations between the capable and actual range of image pixel, i.e. mapping table, obtains the physical location SS of each vehicle in y two field picture according to mapping table j(j=1,2 ..., m), the physical location SS in y+a two field picture j' (j=1,2 ..., m), then have:
VV j = ( SS j , - SS j ) V 0 a ( j = 1,2 . . . , m )
In formula:
VV ithe travel speed of-each vehicle, unit: frame/s;
V 0-video playout speed, unit: frame/s;
The number of image frames of a-Continuous Tracking, unit: frame;
Step 5, according to each vehicle in the first video image and the second video image apart from being incorporated to the actual range in region and the actual travel speed of individual vehicle, obtain any vehicle of major trunk roads to sail into and be incorporated to any vehicle on region and ring road and sail the mistiming being incorporated to region into, be designated as t, then have:
t = ( L 1 - S i , ) V i - ( L 2 - SS j , ) VV j ( i = 1,2 . . . , n , j = 1,2 . . . , m )
When | during t| > 5s, then two vehicles enters safety when being incorporated to district;
When | during t|≤5s, then two vehicles enters and is incorporated to the danger that Qu Shiyou produces conflict, and on the information table of major trunk roads and ring road, show the vehicle of the danger producing conflict.
Below provide specific embodiments of the invention, it should be noted that the present invention is not limited to following specific embodiment, all equivalents done on technical scheme basis all fall into protection scope of the present invention.
Embodiment 1:
Major trunk roads direction in the ring road opening's edge of expressway and set up the first video camera, the range of the first video camera is L 1=150 meters, traffic video image on first camera acquisition major trunk roads, be designated as the first video image, adopt the target vehicle tracking of feature based to follow the tracks of to all vehicles being incorporated to region that drive towards in video camera range region the movement locus obtaining all cars.Set up the second video camera in ring road mouth first video camera erection place of expressway along ring road direction, the range of the second video camera is designated as L 2=150 meters, traffic video figure on second camera acquisition ring road, be designated as the second video image, adopt the target vehicle tracking of feature based to follow the tracks of to all vehicles being incorporated to region that drive towards in video camera range region the movement locus obtaining all cars.A vehicle is chosen arbitrarily for the first video image, the angle point passing through to choose on this vehicle in the 10th frame is as its target location, the angle point passing through to choose on this vehicle in the 30th frame, as its target location, obtains mapping table according to a kind of labeling method, obtains S 1=52 meters, S 1'=100 meter, can determine that this vehicle travels the actual range S of 20 frames 1'-S 1=48 meters, this vehicle is apart from the actual range L being incorporated to region 1-S 1'=50 meter.A vehicle is chosen arbitrarily for the second video image, in the 20th frame, is determined the physical location of this vehicle by screening angle point, in the 40th frame, determined the physical location of this vehicle by screening angle point, obtain mapping table according to a kind of labeling method, obtain SS 1=44 meters, SS 1'=60 meter, can determine that this vehicle travels the actual range SS of 20 frames 1’ – SS 1=16 meters, this vehicle is apart from the actual range L being incorporated to region 2-SS 1'=90 meter.Therefore the number of image frames n=20 frame of Continuous Tracking, video playout speed V 0=25 frames/s.Thus obtain the speed V of major trunk roads vehicle 1=60 meter per seconds, the speed VV of ring road vehicle 1=20 meter per seconds, major trunk roads vehicle sails into and is incorporated to vehicle on region and ring road and sails the mistiming being incorporated to region into | t|=3.67 <5 second second, think that major trunk roads vehicle and vehicle on ring road enter to be incorporated to district and to happen occasionally the danger conflicted, the information table of major trunk roads and ring road shows the vehicle that may clash, and human pilot judges according to the real-time information of advices plate.
Embodiment 2:
Major trunk roads direction in the ring road opening's edge of expressway and set up the first video camera, the range of the first video camera is L 1=150 meters, traffic video image on first camera acquisition major trunk roads, be designated as the first video image, adopt the target vehicle tracking of feature based to follow the tracks of to all vehicles being incorporated to region that drive towards in video camera range region the movement locus obtaining all cars.Set up the second video camera in ring road mouth first video camera erection place of expressway along ring road direction, the range of the second video camera is designated as L 2=150 meters, traffic video figure on second camera acquisition ring road, be designated as the second video image, adopt the target vehicle tracking of feature based to follow the tracks of to all vehicles being incorporated to region that drive towards in video camera range region the movement locus obtaining all cars.A vehicle is chosen arbitrarily for the first video image, the angle point passing through to choose on this vehicle in the 10th frame is as its target location, the angle point passing through to choose on this vehicle in the 20th frame, as its target location, obtains mapping table according to a kind of labeling method, obtains S 1=90 meters, S 1'=110 meter, can determine that this vehicle travels the actual range S of 20 frames 1'-S 1=20 meters, this vehicle is apart from the actual range L being incorporated to region 1-S 1'=40 meter.A vehicle is chosen arbitrarily for the second video image, in the 20th frame, is determined the physical location of this vehicle by screening angle point, in the 30th frame, determined the physical location of this vehicle by screening angle point, obtain mapping table according to a kind of labeling method, obtain SS 1=54 meters, SS 1'=60 meter, can determine that this vehicle travels the actual range SS of 20 frames 1’ – SS 1=6 meters, this vehicle is apart from the actual range L being incorporated to region 2-SS 1'=90 meter.Therefore the number of image frames n=10 frame of Continuous Tracking, video playout speed V 0=25 frames/s.Thus obtain the speed V of major trunk roads vehicle 1=50 meter per seconds, the speed VV of ring road vehicle 1=15 meter per seconds, major trunk roads vehicle sails into and is incorporated to vehicle on region and ring road and sails the mistiming being incorporated to region into | and t|=5.2 >5 second second, think that this vehicle of major trunk roads and this vehicle of ring road can not clash, two cars enters safety when being incorporated to district.

Claims (1)

1. the expressway ramp vehicle based on video is incorporated to a safe early warning method, it is characterized in that, the method is carried out according to following steps:
Step one, major trunk roads direction in the ring road opening's edge of expressway and set up the first video camera, the range of the first video camera is designated as L1, traffic video image on first camera acquisition major trunk roads, be designated as the first video image, adopt the target vehicle tracking of feature based to follow the tracks of to all vehicles being incorporated to region that drive towards in video camera range region the movement locus obtaining all cars;
The target vehicle tracking of described feature based is namely: adopt the frame differential method based on block of pixels to detect moving vehicle, utilize Moravec algorithm to extract corresponding angle point as target location to the moving image detected, and matched jamming is carried out to corresponding angle point;
Step 2, set up the second video camera in ring road mouth first video camera erection place of expressway along ring road direction, the range of the second video camera is designated as L 2, the traffic video figure on the second camera acquisition ring road, is designated as the second video image, adopts the target vehicle tracking of feature based to follow the tracks of to all vehicles being incorporated to region that drive towards in video camera range region the movement locus obtaining all cars;
Step 3, for the first video image, calculate the actual travel speed of each vehicle, namely in any xth two field picture, Moravec algorithm is utilized to calculate the angle point of each car, the interest value of more each angle point, the point that screening interest value is maximum, i.e. the most obvious point of feature in this region, as the position of each vehicle at xth two field picture; Adopt identical method, in xth+a two field picture, determine the position of each vehicle at xth+a two field picture, the position of each angle point in record image; Obtain the mapping relations between the capable and actual range of image pixel, i.e. mapping table, obtains the physical location S of each vehicle in xth two field picture according to mapping table i(i=1,2 ..., n), the physical location S ' in xth+a two field picture i(i=1,2 ..., n), then have:
V i = ( S i , - S i ) V 0 a ( i = 1,2 . . . , n )
In formula:
V ithe travel speed of-each vehicle, unit: frame/s;
V 0-video playout speed, unit: frame/s;
The number of image frames of a-Continuous Tracking, unit: frame;
Step 4, for the second video image, calculate the actual travel speed of each vehicle, namely in any y two field picture, utilize the method for step 3 to determine that each vehicle is in the position of y two field picture, determine that each vehicle is in the position of y+a two field picture at y+a two field picture, the position of each angle point in record image; Obtain the mapping relations between the capable and actual range of image pixel, i.e. mapping table, obtains the physical location SS of each vehicle in y two field picture according to mapping table j(j=1,2 ..., m), the physical location SS ' in y+a two field picture j(j=1,2 ..., m), then have:
VV j ( SS j , - SS j ) V 0 a ( j = 1,2 . . . , m )
In formula:
VV jthe travel speed of-each vehicle, unit: frame/s;
V 0-video playout speed, unit: frame/s;
The number of image frames of a-Continuous Tracking, unit: frame;
Step 5, according to each vehicle in the first video image and the second video image apart from being incorporated to the actual range in region and the actual travel speed of each vehicle, obtain any vehicle of major trunk roads to sail into and be incorporated to any vehicle on region and ring road and sail the mistiming being incorporated to region into, be designated as t, then have:
t = ( L 1 - S i , ) V i - ( L 2 - SS j , ) VV j ( i = 1,2 . . . , n , j = 1,2 . . . , m )
When | during t| > 5s, then two vehicles enters safety when being incorporated to district;
When | during t|≤5s, then two vehicles enters when being incorporated to district and may produce conflict, and shows the vehicle that may clash on the information table of major trunk roads and ring road.
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