CN103692993A - Binocular far infrared intelligent assistant safety driving system - Google Patents

Binocular far infrared intelligent assistant safety driving system Download PDF

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Publication number
CN103692993A
CN103692993A CN201210365530.7A CN201210365530A CN103692993A CN 103692993 A CN103692993 A CN 103692993A CN 201210365530 A CN201210365530 A CN 201210365530A CN 103692993 A CN103692993 A CN 103692993A
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Prior art keywords
sensor
far infrared
infrared
ordinate
life entity
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CN201210365530.7A
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Inventor
王鹏飞
覃奋
刘峰
李文军
朱振幅
刘忠领
石春雷
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No207 Institute Of No2 Research Institute Of Avic
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No207 Institute Of No2 Research Institute Of Avic
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Priority to CN201210365530.7A priority Critical patent/CN103692993A/en
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Abstract

The invention relates to a binocular far infrared intelligent assistant safety driving system, and belongs to the technical field of photoelectric image processing. According to the binocular far infrared intelligent assistant safety driving system, two special far infrared sensors, which are capable of carrying out real-time dynamic posture adjustment, and a wireless network mobility comprehensive information interaction platform, which is embedded into a driving instrument board in a vehicle, are arranged at the front end of the vehicle, so that intelligent judgment and dynamic tracking are carried out on longitudinal separations, speed, acceleration and dangerousness of different dynamic or static targets at depth coordinates in the front of the travelling vehicle, front vehicles, pedestrians or animals can be promoted or warned at night through starting a remote warming illuminating system, and meanwhile, a driver can be prompted to decelerate or adopt a brake measure, when a distance is lower than a safety distance and the driver has no reaction, an assistant brake system is triggered to realize automatic safety driving to provide important guarantee for zero casualty accident, and meanwhile, through a 3G network platform, the vehicle is subjected to real-time location, and the intelligent traffic management is realized.

Description

A kind of binocular far infrared intelligent auxiliary security control loop
Technical field
The present invention relates to opto-electronic image processing technical field, be specifically related to a kind of binocular far infrared intelligent auxiliary security control loop.
Background technology
Along with the develop rapidly of Chinese Automobile Industry ', automobile pollution sharply increases, and road network becomes increasingly complex, and people are also more and more higher to the requirement of automotive safety safeguards technique.The continuous maturation of 3G technology, the greatly developing and widespread use of the aspects such as design theory, new material, technology, automotive safety technology is gradually to electronization, intelligent direction development.
The radiations heat energies such as automobile, pedestrian, animal are large, suitable far infrared, the i.e. infrared Detection Techniques of passive type.Far infrared night vision technology, by accepting the infrared ray of the object transmitting of absolute temperature more than zero degree (273 ℃), detect this object, can realize round-the-clock detection, without extra transmitting infrared radiation source, detection range is far away, good stability, long service life, have fog penetrating function.Present utmost point individual brand automobile has been applied far infrared night vision technology, and function ratio is more single, and with Internet of Things, does not combine.Along with domestic far-infrared technique is constantly progressive, sensor process manufacturing cost constantly reduces, and it can be more and more obvious at the technical application advantage of automobile intelligent safety, and market has potentiality.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention is in order to realize vehicle drive intellectuality, safe technological development and to apply, how a kind of binocular far infrared intelligent auxiliary security control loop is provided, it can realize the image processing method case of high precision binocular range finding, development of automobile is become to integrated terminal with powerful information interaction function of Internet of Things, realize automobile thing connection and traffic intelligence management.
(2) technical scheme
In order to address the above problem, the invention provides a kind of binocular far infrared intelligent auxiliary security control loop, described system comprises: infrared pickoff, TV sensor, A and D converter, central process unit, demonstration and alarm unit and communication unit;
Described infrared pickoff and TV sensor are arranged at vehicle front, and for surveying and receiving target signal, auxiliary human eye is surveyed, and generates analog sensed signal; Described analog sensed signal comprises infrared ray analog sensed signal and image simulation transducing signal: described infrared pickoff is for generating infrared ray analog sensed signal according to the life entity heat feature higher than background heat, and described TV sensor is for synthetic image analog sensed signal;
Described A and D converter is for being converted to digital signal output by the analog sensed signal of described infrared pickoff and TV sensor generation;
Described central process unit is for going out position, working direction and the velocity information of the life entity of current vehicle front according to described Digital Signal Analysis, and judges that whether the distance of life entity of vehicle front is excessively near, generates alerting signal when hypotelorism;
Described demonstration and alarm unit are reported to the police in the mode of alarm lamp flicker for show position the while of the life entity of vehicle front according to described alerting signal on display screen;
Described communication unit is for transmitting by network the position of the life entity of described current vehicle front, working direction and velocity information in real time to outside.
Wherein, described system also comprises braking auxiliary unit, and it,, for continuing certain predetermined after the time period at described alarm operation, when chaufeur is not made respective reaction yet, is automatically controlled vehicle and accelerate or brake.
Wherein, described communication unit adopts 3G signalling methods to communicate.
Wherein, described infrared pickoff and TV sensor are identical far infrared camera shot machine, the position C2 that its two planes of delineation surveying are positioned in same plane and the position C1 of infrared pickoff is positioned at the left side, TV sensor is positioned at the right, the directional bearing of these two far infrared camera shot machines separately determined axis of ordinate is parallel to each other, and horizontal shaft overlaps, and the spacing between pick up camera in x direction is assumed to be critical distance b; Coordinate origin while supposing unified computing is set as the position C1 of infrared pickoff;
Suppose that life entity loca is P, its coordinate is (x, y, z), and its location point that is mapped to the determined axis of ordinate of infrared pickoff is M, and its location point that is mapped to the determined axis of ordinate of TV sensor is N, and the distance between M and N is b;
Suppose that the subpoint of P in described two planes of delineation is respectively P1 and P2, the abscissa of P1 is X1, the abscissa of P2 is X2+b, suppose this plane and infrared pickoff directional bearing the intersection point of definite axis of ordinate be L, suppose this plane and TV sensor directional bearing the intersection point of definite axis of ordinate be R, the ordinate of P1 and P2 is F, and this F is the focal length of pick up camera;
Relatively similar triangle PMCl and PlLCl obtain formula (1):
x z = x 1 F - - - ( 1 )
In like manner, according to similar triangle PNC2 and PlRC2, obtain formula (2):
x - b z = x 2 F - - - ( 2 )
Merge above-mentioned two formulas and can obtain the depth information of life entity loca P in sensor coordinate system:
z = bF x 2 - x 1 ;
This depth information draws by above-mentioned central process unit analytical calculation, and this depth information and default distance threshold are compared, and when above-mentioned depth information is greater than distance threshold, generates above-mentioned alerting signal.
(3) beneficial effect
All-weather binocular far infrared Visual intelligent auxiliary security control loop provided by the present invention, by being arranged on, two of vehicle fronts are special can carry out in real time the far-infrared sensor of dynamic attitude adjustment and be embedded in the wireless network mobile integrated information exchange platform in pilot dash board in car, fore-and-aft distance to driving the place ahead depth coordinate Different Dynamic or static object, speed, acceleration/accel and danger are carried out intelligent decision and are dynamically followed the tracks of, can be by starting long-range warning lighting system to front vehicles at night, row human or animal reminds or warns, remind person for driving a car slow down or take brake measure simultaneously, lower than safety distance and person for driving a car do not do while reacting, can trigger auxiliary braking system, realizing automatic safe drives, zero casualty accident provides important guarantee, simultaneously by 3G network platform, vehicle is located in real time, realize intelligent transportation manage.
Compared with prior art, technical solution of the present invention possesses following some technique effect:
(1) the place ahead 30m occurs that obstacle can be identified automatically and early warning at a distance;
(2) fore-and-aft distance of front vehicles, speed, acceleration/accel and dangerous intelligent display;
(3) fusion of the place ahead IR Scene and tv scene shows.
Accompanying drawing explanation
Fig. 1 is the applied far infrared imagery schematic diagram of technical solution of the present invention.
Fig. 2 is all-weather binocular vision intelligence auxiliary security control loop provided by the present invention.
Fig. 3 is the applied binocular stereo vision geometric model of technical solution of the present invention.
Fig. 4 is the applied algorithm flow chart of technical solution of the present invention.
The specific embodiment
For making object of the present invention, content and advantage clearer, below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.
In order to address the above problem, the invention provides a kind of binocular far infrared intelligent auxiliary security control loop, described system comprises: infrared pickoff, TV sensor, A and D converter, central process unit, demonstration and alarm unit and communication unit;
Described infrared pickoff and TV sensor are arranged at vehicle front, and for surveying and receiving target signal, auxiliary human eye is surveyed, and generates analog sensed signal; Described analog sensed signal comprises infrared ray analog sensed signal and image simulation transducing signal: described infrared pickoff is for generating infrared ray analog sensed signal according to the life entity heat feature higher than background heat, and described TV sensor is for synthetic image analog sensed signal;
Described A and D converter is for being converted to digital signal output by the analog sensed signal of described infrared pickoff and TV sensor generation;
Described central process unit is for going out position, working direction and the velocity information of the life entity of current vehicle front according to described Digital Signal Analysis, and judges that whether the distance of life entity of vehicle front is excessively near, generates alerting signal when hypotelorism;
Described demonstration and alarm unit are reported to the police in the mode of alarm lamp flicker for show position the while of the life entity of vehicle front according to described alerting signal on display screen;
Described communication unit is for transmitting by network the position of the life entity of described current vehicle front, working direction and velocity information in real time to outside.
Wherein, described system also comprises braking auxiliary unit, and it,, for continuing certain predetermined after the time period at described alarm operation, when chaufeur is not made respective reaction yet, is automatically controlled vehicle and accelerate or brake.
Wherein, described communication unit adopts 3G signalling methods to communicate.
Wherein, described infrared pickoff and TV sensor are identical far infrared camera shot machine, the position C2 that its two planes of delineation surveying are positioned in same plane and the position C1 of infrared pickoff is positioned at the left side, TV sensor is positioned at the right, the directional bearing of these two far infrared camera shot machines separately determined axis of ordinate is parallel to each other, and horizontal shaft overlaps, and the spacing between pick up camera in x direction is assumed to be critical distance b; Coordinate origin while supposing unified computing is set as the position C1 of infrared pickoff;
Suppose that life entity loca is P, its coordinate is (x, y, z), and its location point that is mapped to the determined axis of ordinate of infrared pickoff is M, and its location point that is mapped to the determined axis of ordinate of TV sensor is N, and the distance between M and N is b;
Suppose that the subpoint of P in described two planes of delineation is respectively P1 and P2, the abscissa of P1 is X1, the abscissa of P2 is X2+b, suppose this plane and infrared pickoff directional bearing the intersection point of definite axis of ordinate be L, suppose this plane and TV sensor directional bearing the intersection point of definite axis of ordinate be R, the ordinate of P1 and P2 is F, and this F is the focal length of pick up camera;
Relatively similar triangle PMCl and PlLCl obtain formula (1):
x z = x 1 F - - - ( 1 )
In like manner, according to similar triangle PNC2 and PlRC2, obtain formula (2):
x - b z = x 2 F - - ( 2 )
Merge above-mentioned two formulas and can obtain the depth information of life entity loca P in sensor coordinate system:
z = bF x 2 - x 1 ;
This depth information draws by above-mentioned central process unit analytical calculation, and this depth information and default distance threshold are compared, and when above-mentioned depth information is greater than distance threshold, generates above-mentioned alerting signal.
Below in conjunction with drawings and Examples, illustrate the present invention.
Embodiment
Algorithm flow chart shown in schematic diagram as shown in Figure 1, the system framework figure shown in Fig. 2 and Fig. 4, all-weather binocular vision that the present embodiment provides intelligence auxiliary security control loop, it mainly comprises two sensors of the infrared and TV of car front end and is embedded in the 3G wireless network mobile integrated information exchange platform in pilot dash board in car.Infrared and TV sensor is surveyed and receiving target signal, can imitate human eye and survey; Be embedded in car the wireless network mobile integrated information exchange platform in pilot dash board based on 32 RAM+DSP double-core CPU, the functions such as integrated 3G communication, GPS location, infrared acquisition, TV detection, multimedia, telemanagement and monitoring.The echo signal that the place ahead is surveyed realizes infrared imaging and television imaging, fore-and-aft distance, speed, acceleration/accel and the danger of driving the place ahead depth coordinate Different Dynamic or static object are carried out intelligent decision and dynamically followed the tracks of, accessing Internet, realizes real time information and shares.
In night or the mist snow day lower situation of visbility, can be by starting infrared warning detection system, performance far-infrared sensor penetrating fog function, bio-identification function simultaneously that have by this system, the feature higher than background heat according to life entity heat, can certainly employ red circle demonstrates the position of life entity and has row human or animal with sound prompting driver the place ahead, simultaneously this technique of display also will demonstrate the parameters such as the working direction of life entity and speed, if excessively near apart from vehicle, remind person for driving a car to slow down or take brake measure, realizing automatic safe drives.Vehicle-mounted far microprocessor module is directly controlled and is shown and early warning subsystem, exploitation moves in module take the early warning expert decision-making analysis system that automobile collision preventing safety distance and stopping distance model be foundation, data after DSP processes are as input, as calculated, produce safe early warning distance, really realize safe driving intellectuality.
Wherein, for related depth information, i.e. the account form to the fore-and-aft distance of driving the place ahead depth coordinate Different Dynamic or static object, adopts following manner to carry out:
Described infrared pickoff and TV sensor are identical far infrared camera shot machine, its geometric relationship as shown in Figure 3, the position C2 that its two planes of delineation surveying are positioned in same plane and the position C1 of infrared pickoff is positioned at the left side, TV sensor is positioned at the right, the directional bearing of these two far infrared camera shot machines separately determined axis of ordinate is parallel to each other, and horizontal shaft overlaps, and the spacing between pick up camera in x direction is assumed to be critical distance b; Coordinate origin while supposing unified computing is set as the position C1 of infrared pickoff;
Suppose life entity loca, scene point is P, and its coordinate is (x, y, z), its location point that is mapped to the determined axis of ordinate of infrared pickoff is M, its location point that is mapped to the determined axis of ordinate of TV sensor is N, and the distance between M and N is b;
In Fig. 3, suppose that the subpoint of P in described two planes of delineation is respectively P1 and P2, the abscissa of P1 is X1, the abscissa of P2 is X2+b, suppose this plane and infrared pickoff directional bearing the intersection point of definite axis of ordinate be L, suppose this plane and TV sensor directional bearing the intersection point of definite axis of ordinate be R, the ordinate of P1 and P2 is F, this F is the focal length of pick up camera;
Relatively similar triangle PMCl and PlLCl obtain formula (1):
x z = x 1 F - - - ( 1 )
In like manner, according to similar triangle PNC2 and PlRC2, obtain formula (2):
x - b z = x 2 F - - - ( 2 )
Merge above-mentioned two formulas and can obtain the depth information of life entity loca P in sensor coordinate system:
z = bF x 2 - x 1 ;
This depth information draws by above-mentioned central process unit analytical calculation, and this depth information and default distance threshold are compared, and when above-mentioned depth information is greater than distance threshold, generates above-mentioned alerting signal.
By the depth information of deriving above in known various scene, can be realized by calculating parallax.In three-dimensional stereoscopic visual system, system is wanted to calculate parallax, and an important prerequisite is exactly to find the conjugate pair of left and right image pair subpoint (in scene, the subpoint of same point in different images is called conjugate pair), i.e. Stereo matching.A kind of quick, high-precision matching technique is the basis that guarantees the precision of binocular range finding.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the technology of the present invention principle; can also make some improvement and distortion, these improvement and distortion also should be considered as protection scope of the present invention.

Claims (4)

1. a binocular far infrared intelligent auxiliary security control loop, is characterized in that, described system comprises: infrared pickoff, TV sensor, A and D converter, central process unit, demonstration and alarm unit and communication unit;
Described infrared pickoff and TV sensor are arranged at vehicle front, and for surveying and receiving target signal, auxiliary human eye is surveyed, and generates analog sensed signal; Described analog sensed signal comprises infrared ray analog sensed signal and image simulation transducing signal: described infrared pickoff is for generating infrared ray analog sensed signal according to the life entity heat feature higher than background heat, and described TV sensor is for synthetic image analog sensed signal;
Described A and D converter is for being converted to digital signal output by the analog sensed signal of described infrared pickoff and TV sensor generation;
Described central process unit is for going out position, working direction and the velocity information of the life entity of current vehicle front according to described Digital Signal Analysis, and judges that whether the distance of life entity of vehicle front is excessively near, generates alerting signal when hypotelorism;
Described demonstration and alarm unit are reported to the police in the mode of alarm lamp flicker for show position the while of the life entity of vehicle front according to described alerting signal on display screen;
Described communication unit is for transmitting by network the position of the life entity of described current vehicle front, working direction and velocity information in real time to outside.
2. binocular far infrared intelligent auxiliary security control loop as claimed in claim 1, it is characterized in that, described system also comprises braking auxiliary unit, it is for continuing certain predetermined after the time period at described alarm operation, when chaufeur is not made respective reaction yet, automatically control vehicle and accelerate or brake.
3. binocular far infrared intelligent auxiliary security control loop as claimed in claim 1, is characterized in that, described communication unit adopts 3G signalling methods to communicate.
4. binocular far infrared intelligent auxiliary security control loop as claimed in claim 1, it is characterized in that, described infrared pickoff and TV sensor are identical far infrared camera shot machine, the position C2 that its two planes of delineation surveying are positioned in same plane and the position C1 of infrared pickoff is positioned at the left side, TV sensor is positioned at the right, the directional bearing of these two far infrared camera shot machines separately determined axis of ordinate is parallel to each other, and horizontal shaft overlaps, and the spacing between pick up camera in x direction is assumed to be critical distance b; Coordinate origin while supposing unified computing is set as the position C1 of infrared pickoff;
Suppose that life entity loca is P, its coordinate is (x, y, z), and its location point that is mapped to the determined axis of ordinate of infrared pickoff is M, and its location point that is mapped to the determined axis of ordinate of TV sensor is N, and the distance between M and N is b;
Suppose that the subpoint of P in described two planes of delineation is respectively P1 and P2, the abscissa of P1 is X1, the abscissa of P2 is X2+b, suppose this plane and infrared pickoff directional bearing the intersection point of definite axis of ordinate be L, suppose this plane and TV sensor directional bearing the intersection point of definite axis of ordinate be R, the ordinate of P1 and P2 is F, and this F is the focal length of pick up camera;
Relatively similar triangle PMCl and PlLCl obtain formula (1):
x z = x 1 F - - - ( 1 )
In like manner, according to similar triangle PNC2 and PlRC2, obtain formula (2):
x - b z = x 2 F - - - ( 2 )
Merge above-mentioned two formulas and can obtain the depth information of life entity loca P in sensor coordinate system:
z = bF x 2 - x 1 ;
This depth information draws by above-mentioned central process unit analytical calculation, and this depth information and default distance threshold are compared, and when above-mentioned depth information is greater than distance threshold, generates above-mentioned alerting signal.
CN201210365530.7A 2012-09-27 2012-09-27 Binocular far infrared intelligent assistant safety driving system Pending CN103692993A (en)

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CN108844486A (en) * 2018-04-12 2018-11-20 西安交通大学 It is a kind of to determine image distance binocular bionic three-dimensional measuring instrument
CN108928297A (en) * 2018-06-11 2018-12-04 信利光电股份有限公司 A kind of vehicle assistant drive method and apparatus
CN108769654A (en) * 2018-06-26 2018-11-06 李晓勇 A kind of three-dimensional image display method
CN108891416A (en) * 2018-07-12 2018-11-27 南京梵科智能科技有限公司 A kind of vehicle safe driving system

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Application publication date: 20140402