CN103313039A - Daytime security prompt device and prompt method for highway tunnel entrance - Google Patents
Daytime security prompt device and prompt method for highway tunnel entrance Download PDFInfo
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- CN103313039A CN103313039A CN2013102074965A CN201310207496A CN103313039A CN 103313039 A CN103313039 A CN 103313039A CN 2013102074965 A CN2013102074965 A CN 2013102074965A CN 201310207496 A CN201310207496 A CN 201310207496A CN 103313039 A CN103313039 A CN 103313039A
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Abstract
The invention belongs to the technical field of tunnel entrance warning, and discloses a daytime security prompt device and prompt method for a highway tunnel entrance. The daytime security prompt device for the highway tunnel entrance comprises a camera, a single chip microcomputer and a display screen which are sequentially electrically connected, wherein the display screen is arranged on a shoulder at the right side of a lane into a tunnel in the direction towards the lane into a tunnel, and the camera is fixedly arranged on the wall of the right side of a tunnel at a tunnel entrance; and the projection point of the camera on a road surface is positioned at the center of the lane into the tunnel. The daytime security prompt device provided by the invention has the beneficial effects of low cost, is suitable for large-scale popularization, and has the advantages of intelligence, automation and high reliability.
Description
Technical field
The invention belongs to tunnel portal early warning technology field, particularly a kind of freeway tunnel entrance fail safe on daytime suggestion device and reminding method.
Background technology
When vehicle by day during the approaching freeway tunnel, because the inside and outside light intensity difference in tunnel is large, cause the driver can't see clearly in the situation of tunnel portal from the outside, tunnel, can only see black a slice.After vehicle entered the tunnel, the driver can carry out perception to the situation in the tunnel normally through after the scotopic process.The driver does not see the situation at tunnel portal place by day the time owing to the light problem, if the inside, tunnel exists static vehicle near the tunnel portal place, for example break down or the vehicle of accident, if the vehicle outside the tunnel still keeps entering the tunnel at a high speed at this moment, will cause the generation of serious collision accident.
Summary of the invention
The object of the invention is to propose a kind of freeway tunnel entrance fail safe on daytime suggestion device and reminding method.This freeway tunnel entrance fail safe on daytime suggestion device cost is low, is fit to large-scale promotion, and has advantages of that intellectuality, automation and reliability are high.
For realizing above-mentioned technical purpose, the present invention adopts following technical scheme to be achieved.
Technical scheme one:
A kind of freeway tunnel entrance fail safe on daytime suggestion device comprises: the camera, single-chip microcomputer and the display screen that are electrically connected successively; Wherein, described display screen is installed in and enters on the curb of right side, track, tunnel, and its installation direction is towards the track that enters the tunnel; Described camera is fixedly mounted on hole, right side, the tunnel wall at tunnel portal place, and the subpoint of camera on the road surface is positioned at the track central authorities that enter the tunnel.
Further characteristics and the improvement of technique scheme are:
Described single-chip microcomputer is installed on hole, right side, the tunnel wall at tunnel portal place.
Described display screen is 20m to 70m apart from the distance of tunnel portal.
Described single-chip microcomputer is electrically connected display screen by the I/O interface, is electrically connected camera by USB interface.
The height of described display screen is 2m, and is 75 degree with the track direction.
The height of described single-chip microcomputer is 4m.
Described display screen is LED display or LCDs.
Technical scheme two:
A kind of freeway tunnel entrance fail safe on daytime reminding method based on a kind of freeway tunnel entrance fail safe on daytime suggestion device claimed in claim 1, may further comprise the steps:
S1: take the subpoint of camera on tunnel road surface as starting point, the tunnel road surface in the tunnel is made range mark, and establishes corresponding a plurality of mark posts at a plurality of range marks place, the image of these mark posts of control camera collection; In the image that collects, identify the position of each mark post in image; The position of bidding bar in image is x, the subpoint of camera on tunnel road surface is y to the actual range of mark post, according to the corresponding relation of x and y, can draw the subpoint of camera on tunnel road surface to the computing formula y=f (x) of the actual range of mark post.
S2: the tunnel carriageway image of 200 meters scopes in the camera collection tunnel portal, and with the image transmitting that collects to single-chip microcomputer.
S3: single-chip microcomputer carries out the tunnel vehicle ' s contour to the image that collects and extracts, described that the image that collects is carried out the process that the tunnel vehicle ' s contour extracts is as follows: at first set a gray threshold, for each pixel in the two field picture, if the gray value of this pixel is more than or equal to gray threshold, then the gray value with this pixel changes 0 into, if instead the gray value of this pixel is less than gray threshold, then the gray value with this pixel changes 1 into; Gray value is that the shape that 0 pixel forms is the rear end out line that enters the tunnel vehicle in this two field picture.
S4: the mid point that will enter the rear end out line lower limb of tunnel vehicle is extracted as characteristic point.
S5: the position of vehicle characteristics point in image that enters the tunnel is x1, with the computing formula y=f (x) among the x1 substitution step S1, obtain camera 2 at subpoint on the tunnel road surface to the actual range y1 between the vehicle that enters the tunnel, y1=f (x1).The position fingering of vehicle characteristics point in image that enters the tunnel enters the rectilinear coordinates position of vehicle characteristics point in image in tunnel.
S6: the next frame image that single-chip microcomputer is received, execution in step S3 is to step S5, obtain camera 2 at subpoint on the tunnel road surface to the actual range y2 between the vehicle that enters the tunnel, y2=f (x2), x2 are the position of vehicle characteristics point in this two field picture that enters the tunnel; Then enter vertical relative velocity V=(y2-y1) of tunnel vehicle/t, t is the time and the difference that calculates the time of y1 that calculates y2; The position of vehicle characteristics point in this two field picture that enters the tunnel refers to the rectilinear coordinates position of vehicle characteristics point in this two field picture in tunnel.
S7: in single-chip microcomputer, judge whether the vertical relative velocity V enter the tunnel vehicle is lower than threshold speed, if be lower than this threshold speed, Single-chip Controlling display screen display reminding information then.
Further characteristics and the improvement of technique scheme are:
Before execution in step S3, single-chip microcomputer carries out filtering to the every two field picture that collects, described single-chip microcomputer is as follows to the process that the every two field picture that collects carries out filtering: for each pixel in the two field picture, calculate this pixel mean value of the interior pixel gray value of 3 * 3 scopes on every side, with the gray value of this mean value as this pixel.
In step S7, described threshold speed is 10km/h.
Beneficial effect of the present invention is: this freeway tunnel entrance fail safe on daytime suggestion device cost is low, is fit to large-scale promotion, and has advantages of that intellectuality, automation and reliability are high.
Description of drawings
Fig. 1 is the scheme of installation of freeway tunnel entrance fail safe on daytime suggestion device of the present invention;
Fig. 2 is the electrical connection diagram of freeway tunnel entrance fail safe on daytime suggestion device of the present invention.
Embodiment
The invention will be further described below in conjunction with accompanying drawing:
When vehicle by day during the approaching freeway tunnel, because the inside and outside light intensity difference in tunnel is large, thereby cause the driver can't see clearly in the situation of tunnel portal from the outside, tunnel, can only see black a slice.After vehicle entered the tunnel, the driver can carry out perception to the situation in the tunnel normally through after the scotopic process.The driver does not see the situation at tunnel portal place by day the time owing to the light problem, if the inside, tunnel exists static vehicle near the tunnel portal place, for example break down or the vehicle of accident, if the vehicle outside the tunnel still keeps entering the tunnel at a high speed at this moment, will cause the generation of serious collision accident.In the daytime situation, if vehicle is because fault or accident have been parked in the tunnel portal place, at this moment, if can automatically identify this situation, and outside the tunnel portal place, point out in the face of other vehicle drivers in real time, then can effectively avoid the generation of accident.
In order to achieve the above object, the embodiment of the invention has proposed a kind of freeway tunnel entrance fail safe on daytime suggestion device.As depicted in figs. 1 and 2, this freeway tunnel entrance fail safe on daytime suggestion device comprises: the camera 2, single-chip microcomputer 1 and the display screen 3 that are electrically connected successively; Wherein, single-chip microcomputer 1 is installed on hole, right side, the tunnel wall at tunnel portal place, and display screen 3 is installed in and enters on the curb of right side, track, tunnel, and its installation direction is towards the track that enters the tunnel; Camera 2 is fixedly mounted on hole, right side, the tunnel wall at tunnel portal place, and the subpoint of camera 2 on the road surface is positioned at the track central authorities that enter the tunnel.Single-chip microcomputer 1 is used for receiving the tunnel carriageway image of 200 meters scopes in the tunnel portal that camera 2 collects, be used for entering according to the image calculation that receives vertical relative velocity of tunnel vehicle, be used at the vertical relative velocity that enters the tunnel vehicle during greater than the threshold speed set, control display shields 3 display reminding information.
In this inventive embodiments, as shown in Figure 1, the installation process of camera 2, single-chip microcomputer 1 and display screen 3 is as follows:
After camera 2 installations, single-chip microcomputer 1 is installed again; Similar with the mounting means of camera 2, single-chip microcomputer 1 also can adopt various ways to be fixed on the wall of hole, right side, tunnel, preferably, single-chip microcomputer 1 is encapsulated in the can, and at this moment, single-chip microcomputer 1 can carry out the signal transmission by wire and the external world; Because the tunnel portal space is larger, single-chip microcomputer 1 small volume, the installation of single-chip microcomputer 1 is comparatively simple, considers from safety and angle easy to maintenance, single-chip microcomputer 1 is installed on hole, right side, the tunnel wall at tunnel portal place, and the height of single-chip microcomputer 1 is made as 4.0 meters.At this moment, use the USB connecting line that the USB interface of camera 2 with single-chip microcomputer 1 is connected.
After single-chip microcomputer 1 installation, display screen 3 is installed again; Because being the vehicles outside the tunnel, the main purpose of display screen 3 provides early warning information, therefore, in the preferred case, display screen 3 can be fixedly mounted on the right side curb that enters the track, tunnel at 50 meters of tunnel portal by support, display screen 3 highly is set to 2.0 meters, display screen 3 is (spending towards being 75 with the track direction of display screen 3) towards the track that enters the tunnel, when considering the infield of display screen 3, also will avoid the vegetation of trackside or other objects to block pilot's line of vision.After display screen 3 installations, single-chip microcomputer 1 is electrically connected display screen 3 by the I/O interface.
In the installation process of above camera 2, single-chip microcomputer 1 and display screen 3, camera 2, single-chip microcomputer 1 and display screen 3 all can adopt polytype product separately, and for example, camera 2 adopts culminant star YJS-01USB2.0 camera, and its valid pixel is 6,000,000; Single-chip microcomputer 1 is the Freescale series monolithic, and concrete model is S128; Display screen 3 is the outdoor Shan Hong of the P10 that has a showdown display screen.
The basic principle of the embodiment of the invention is to gather the tunnel carriageway image by the camera 2 with the top, tunnel that is fixedly mounted on the tunnel portal place, then the tunnel carriageway image that collects is reached single-chip microcomputer 1.Single-chip microcomputer 1 utilizes image processing program, obtain entering the accurate location of vehicle in the tunnel carriageway image in tunnel by image recognition, because camera 2 is fixedly mounted on the top, tunnel, therefore, can obtain the different positions of the vehicle that enters the tunnel in image constantly by image recognition, through how much calculate just can access enter the tunnel vehicle with respect to camera 2 at the vertical relative velocity between the floor projection point on the tunnel road surface, if in setting range, there is the vehicle of static or low speed driving, then the vehicle that is about to enter the tunnel of 3 pairs of display screens by tunnel outside is pointed out, impel its reduction speed of a motor vehicle or parking to dodge, prevent the generation of collision accident.
In embodiments of the present invention, according to statistics as can be known: when vehicle sails in the tunnel outside the tunnel, because scotopic effect, enter 200 meters later drivers of tunnel portal and substantially can see front vehicles clearly, therefore in this inventive embodiments, single-chip microcomputer 1 calculates car speed according to the tunnel carriageway image that is positioned at 200 meters scopes of tunnel portal.
In embodiments of the present invention, owing to the speed of a motor vehicle that enters the tunnel vehicle is generally higher, therefore, the processing speed of the sample frequency of camera 2 and single-chip microcomputer 1 must satisfy the requirement that freeway tunnel is avoided second accident warning device rapidity.Adopting the frequency acquisition of camera 2 in the present embodiment is 25Hz, and namely camera 2 per seconds gather 25 frame pictures to the track of 200 meters scopes of tunnel portal.The processing speed of 1 pair of image of single-chip microcomputer is set as 10Hz, and namely per second can carry out 10 tunnel face blocking-resistant safety assessments, meets freeway tunnel and avoids second accident warning device alarm decision rate requirement.Because the sample frequency of camera 2 is higher than the processing frequency of single-chip microcomputer 1, so system can work, and the phenomenon of picture lag can not occur.
The following describes the concrete course of work of the embodiment of the invention:
1) camera calibration
Specifically, take the subpoint of camera 2 on tunnel road surface as starting point rearward the direction of tunnel internal (namely towards) makes range mark, and make respectively corresponding a plurality of land markings at a plurality of range marks place, then go out to establish corresponding a plurality of mark posts (track, the tunnel central authorities in the forward travel direction enters the 200 meters scopes in tunnel establish mark post) at these land markings, control camera 2 gathers the image of these mark posts; A plurality of mark post images exert an influence during for fear of IMAQ, can carry out successively a plurality of mark posts establish and IMAQ (namely carried out a mark post establish with IMAQ after, carrying out establishing and IMAQ of another mark post).Then to a plurality of mark post images that the collect processing that performs an analysis, identify the position of each mark post in image.Because each mark post is known (range mark according to preamble draws this distance) to the distance of the subpoint of camera 2 on tunnel road surface, the bidding bar is x in the position in image, mark post is y to the actual range of the subpoint of camera 2 on tunnel road surface, namely mark post is in the rectilinear coordinates position in image in the position in image for mark post, and can draw mark post to the computing formula y=f (x) of the actual range of the subpoint of camera 2 on tunnel road surface this moment.
2) IMAQ and transmission
After camera 2 collected carriageway image, single-chip microcomputer 1 received the real-time carriageway image that camera 2 transmits, under normal circumstances, and camera 2 continuous operations, and the tunnel carriageway image of the interior 200 meters scopes of collection tunnel portal.
3) in single-chip microcomputer 1, carry out the image preliminary treatment: remove useless point and noise spot in the tunnel carriageway image.
The pretreated purpose of image is that removal camera 2 gathers the interfere information in the tunnel carriageway image.Specifically, in order to guarantee the reliability of this freeway tunnel entrance fail safe on daytime suggestion device work, needing that the tunnel carriageway image that camera 2 collects is carried out filtering processes, disturb to get rid of, in image processing process, at first road image is carried out filtering, preferably, adopt median filtering algorithm to carry out filtering.For the some pixels in the image, calculate this pixel mean value of the interior pixel gray value of 3 * 3 scopes on every side, with the gray value of this mean value as this pixel.By using 3 * 3 the median filtering algorithm can the elimination camera 2 existing interfere informations in the image that gather.
4) carrying out the tunnel vehicle ' s contour in single-chip microcomputer 1 extracts:
Specifically, process carrying out the gray scale comparison of light and shade through the pretreated road image of image, extract the backsight shape of vehicle in the tunnel carriageway image.Because camera 2 is installed in tunnel portal, therefore in the tunnel carriageway image that collects vehicle be shaped as the backsight shape.Adopting gray scale comparison of light and shade method that image is carried out profile in the image processing program herein extracts, detailed process is as follows: at first set a gray threshold, for the some pixels in the image, if the gray value of this pixel is more than or equal to gray threshold, think that then this pixel belongs to the vehicle ' s contour scope that enters the tunnel, change the gray value of this pixel into 0, if instead the gray value of this pixel is less than gray threshold, think that then this pixel does not belong to the vehicle ' s contour scope that enters the tunnel, this moment, the gray value with this pixel changed 1 into.(use single-chip microcomputer 1 to carry out computing) after all pixels of one two field picture are processed in this way, gray value is that the shape that 0 pixel forms is the shape that enters the tunnel vehicle in this two field picture so, at this moment, the profile that enters the tunnel vehicle has been finished with regard to extracting.
5) in single-chip microcomputer 1, extract the characteristic point that enters the tunnel vehicle:
Specifically, enter the profile of tunnel vehicle in extraction after, obtain entering the rear end out line of the vehicle (in road image) in tunnel.Have integrality owing to entering the rear end out line of the vehicle in tunnel, should be the approximate rectangular shape of a sealing, the wherein actual rear end that has represented the vehicle that enters the tunnel of the lower limb of rectangle so extract the vehicle ' s contour that enters the tunnel that obtains.Mid point with lower limb in the vehicle rearview profile in image processing program is extracted as characteristic point, concrete leaching process is: the result who extraction is entered the vehicle ' s contour in tunnel analyzes, identify according to the recognition rule of similar sealing rectangle and to enter the tunnel vehicle in the tunnel carriageway image, then from the Closed Graph picture of similar rectangle, choose the mid point of lower limb, obtain the position of lower limb mid point in image.
6) the vertical relative velocity that enters the tunnel vehicle in single-chip microcomputer 1 calculates:
Specifically, obtain entering the position (namely enter tunnel vehicle characteristics point rectilinear coordinates position in tunnel carriageway image) of tunnel vehicle characteristics point in the tunnel carriageway image afterwards, by calculating camera 2 subpoint and the actual range that enters the vehicle in tunnel on tunnel road surface; After carrying out double conversion, obtain corresponding vertical relative distance, again by calculating in real time vertical relative velocity of the vehicle that enters the tunnel.
Obtain entering after the position of vehicle characteristics point in the tunnel carriageway image in tunnel, utilize in the second step mark post to the computing formula y=f (x) of the actual range of the subpoint of camera 2 on tunnel road surface, can calculate the vehicle that enters the tunnel and camera 2 at the actual range between the subpoint on the tunnel road surface; Its detailed process is as follows: by single-chip microcomputer the position of vehicle characteristics point in the tunnel carriageway image that enters the tunnel identified, if enter position (advance for enter vehicle characteristics point the rectilinear coordinates position in tunnel carriageway image in the tunnel) x1 of vehicle characteristics point in the tunnel carriageway image in tunnel, in x1 substitution computing formula y=f (x), the vehicle characteristics point that can obtain entering the tunnel to camera 2 at the actual range y1 between the subpoint on the tunnel road surface (y1=f (x1)), namely drawn rear vehicle end to camera 2 at the actual range between the subpoint on the tunnel road surface.
Two two field pictures that single-chip microcomputer is received continuously are by above twice calculating (by computing formula y=f (x)), obtain two corresponding actual distance value, the actual distance value that once calculates before the actual distance value that obtains with a rear computing deducts, the fore-and-aft distance that draws between twice calculating is poor, poor divided by the time between twice calculating with fore-and-aft distance, thus acquisition enters vertical relative velocity of tunnel vehicle.
Because camera 2 is fixing, vertically relative velocity is actually the longitudinal velocity that enters the tunnel vehicle, when vertical relative velocity reduces gradually, show that the vehicle that enters the tunnel slows down or stops, this vehicle is potential danger to the vehicle that the back will enter the tunnel.Thereby can carry out rear car according to the speed that judgement enters the tunnel vehicle and enter the tunnel safety assessment.For example after vehicle enters the tunnel, be decelerated to gradually for a certain reason stop after, unsafe when rear car enters the tunnel, need to the driver that will enter the tunnel be pointed out.
7) safety evaluation and information send:
Specifically, single-chip microcomputer 1 constantly is advanced into vertical relative velocity calculating of tunnel vehicle according to the 6th stepping, thereby can obtain the real-time vertical relative velocity that enters the tunnel vehicle; Judge whether the vertical relative velocity that enters the tunnel vehicle is lower than threshold speed, if be lower than this threshold speed, thinks that then the vehicle that enters the tunnel threatens to the vehicle that the back will enter the tunnel this moment, at this moment, just can send information by display screen 3.For example, be lower than 10km/h if enter vertical relative velocity of tunnel vehicle, then remind vehicle driver's deceleration that will enter the tunnel or avoid entering the tunnel by display screen 3.
At this moment, can also carry out safety evaluation according to the vertical relative velocity that enters the tunnel vehicle, evaluation process is as follows: obtain entering after vertical relative velocity of tunnel vehicle, carry out rear car and enter the tunnel safety assessment, assessment result is divided into two kinds of situations: safety and dangerous.If assessment result is safety, then single-chip microcomputer 1 makes display screen 3 not show any information control display screen 3; If assessment result is dangerous, then single-chip microcomputer 1 shows dangerous information with control display screen 3, and the prompting driver is not suitable at this moment entering the tunnel or deceleration enters the tunnel.Concrete estimation flow is as follows:
Setup parameter S, S are the distance range that camera 2 gathers the tunnel carriageway image, and unit is rice, and the size of S is 200 meters.Setup parameter V, V is the vertical relative velocity that enters the tunnel vehicle, unit is m/s, the foundation that the Changing Pattern of V parameter and the result of variations in the S scope enter tunnel safety as car after judging, after entering the tunnel, vehicle is decelerated to for a certain reason parking, its longitudinal velocity can be reduced to zero gradually, and when the vertical relative velocity that enters the tunnel vehicle reduced most zero, single-chip microcomputer 1 control display screen 3 proposed danger warning information to the vehicle driver who enters the tunnel.
Critical piece of the present invention adopts camera 2 and single-chip microcomputer 1, and cost is low, simplicity of design, and high efficient and reliable, and also easy for installation.And have advantages of intelligent high, real-time.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (9)
1. freeway tunnel entrance fail safe on a daytime suggestion device is characterized in that, comprising: the camera (2), single-chip microcomputer (1) and the display screen (3) that are electrically connected successively; Wherein, described display screen (3) is installed in and enters on the curb of right side, track, tunnel, and its installation direction is towards the track that enters the tunnel; Described camera (2) is fixedly mounted on hole, right side, the tunnel wall at tunnel portal place, and the subpoint of camera (2) on the road surface is positioned at the track central authorities that enter the tunnel.
2. a kind of freeway tunnel entrance fail safe on daytime suggestion device as claimed in claim 1 is characterized in that, described single-chip microcomputer (1) is installed on hole, right side, the tunnel wall at tunnel portal place.
3. a kind of freeway tunnel entrance fail safe on daytime suggestion device as claimed in claim 1 is characterized in that, described display screen (3) is 20m to 70m apart from the distance of tunnel portal.
4. a kind of freeway tunnel entrance fail safe on daytime suggestion device as claimed in claim 1 is characterized in that, the height of described display screen (3) is 2m, and is 75 degree with the track direction.
5. a kind of freeway tunnel entrance fail safe on daytime suggestion device as claimed in claim 1 is characterized in that, the height of described single-chip microcomputer (1) is 4m.
6. a kind of freeway tunnel entrance fail safe on daytime suggestion device as claimed in claim 1 is characterized in that, described display screen (3) is LED display or LCDs.
7. freeway tunnel entrance fail safe on a daytime reminding method based on a kind of freeway tunnel entrance fail safe on daytime suggestion device claimed in claim 1, is characterized in that, may further comprise the steps:
S1: take the subpoint of camera (2) on tunnel road surface as starting point, the tunnel road surface in the tunnel is made range mark, and establishes corresponding a plurality of mark posts at a plurality of range marks place, and control camera (2) gathers the image of these mark posts; In the image that collects, identify the position of each mark post in image; The position of bidding bar in image is x, the subpoint of camera (2) on tunnel road surface is y to the actual range of mark post, according to the corresponding relation of x and y, can draw the subpoint of camera (2) on tunnel road surface to the computing formula y=f (x) of the actual range of mark post;
S2: camera (2) gathers the tunnel carriageway image of 200 meters scopes in the tunnel portal, and with the image transmitting that collects to single-chip microcomputer (1);
S3: single-chip microcomputer (1) carries out the tunnel vehicle ' s contour to the image that collects and extracts, described that the image that collects is carried out the process that the tunnel vehicle ' s contour extracts is as follows: at first set a gray threshold, for each pixel in the two field picture, if the gray value of this pixel is more than or equal to gray threshold, then the gray value with this pixel changes 0 into, if instead the gray value of this pixel is less than gray threshold, then the gray value with this pixel changes 1 into; Gray value is that the shape that 0 pixel forms is the rear end out line that enters the tunnel vehicle in this two field picture;
S4: the mid point that will enter the rear end out line lower limb of tunnel vehicle is extracted as characteristic point;
S5: the position of vehicle characteristics point in image that enters the tunnel is x1, with the computing formula y=f (x) among the x1 substitution step S1, obtain camera 2 at subpoint on the tunnel road surface to the actual range y1 between the vehicle that enters the tunnel, y1=f (x1);
S6: the next frame image that single-chip microcomputer is received, execution in step S3 is to step S5, obtain camera 2 at subpoint on the tunnel road surface to the actual range y2 between the vehicle that enters the tunnel, y2=f (x2), x2 are the position of vehicle characteristics point in this two field picture that enters the tunnel; Then enter vertical relative velocity V=(y2-y1) of tunnel vehicle/t, t is the time and the difference that calculates the time of y1 that calculates y2;
S7: in single-chip microcomputer (1), judge whether the vertical relative velocity V that enters the tunnel vehicle is lower than threshold speed, if be lower than this threshold speed, then single-chip microcomputer (1) control display shields (3) display reminding information.
8. a kind of freeway tunnel entrance fail safe on daytime reminding method as claimed in claim 7, it is characterized in that, before execution in step S3, single-chip microcomputer (1) carries out filtering to the every two field picture that collects, described single-chip microcomputer (1) is as follows to the process that the every two field picture that collects carries out filtering: for each pixel in the two field picture, calculate this pixel mean value of the interior pixel gray value of 3 * 3 scopes on every side, with the gray value of this mean value as this pixel.
9. a kind of freeway tunnel entrance fail safe on daytime reminding method as claimed in claim 7 is characterized in that, in step S7, described threshold speed is 10km/h.
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| CN106530738A (en) * | 2016-12-06 | 2017-03-22 | 清华大学 | Real-time traffic information generation and service method in tunnel and system thereof |
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