CN103991449A - Vehicle travelling control method and system - Google Patents

Vehicle travelling control method and system Download PDF

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Publication number
CN103991449A
CN103991449A CN201410259608.6A CN201410259608A CN103991449A CN 103991449 A CN103991449 A CN 103991449A CN 201410259608 A CN201410259608 A CN 201410259608A CN 103991449 A CN103991449 A CN 103991449A
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China
Prior art keywords
vehicle
image
camera
road image
dead ahead
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Granted
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CN201410259608.6A
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Chinese (zh)
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CN103991449B (en
Inventor
刘佳
刘宏哲
钮文良
郑永荣
李鑫铭
马耀昌
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Beijing Union University
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Beijing Union University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure

Abstract

The invention discloses a vehicle travelling control method and system, and relates to the technical field of automatic control. Multiple road images at different angles in front of a vehicle are obtained in real time from cameras arranged on different positions of the vehicle, effective road images dead ahead the vehicle are obtained after processing of the images, lane line information is recognized from the road images dead ahead the vehicle, the deviation angle and the deviation distance between the current vehicle traveling direction and a required lane line are calculated, and the vehicle is further controlled to travel according to the deviation angle and the deviation distance. Complex formula calculations can be avoided, efficiency is improved, missed information can be obtained according to actual images, accuracy is further improved, the scheme is simple and efficient, the control is accurate and free of limiting of application scenes, images at multiple angles can be obtained conveniently under the complex conditions that many vehicles are on roads, parallel line travelling occurs frequently, the roads are not standard, the vehicle speed is high and the like, adaptability to multiple scenes is higher, and automatic control over the vehicles can be achieved better.

Description

A kind of vehicle advance control method and system
Technical field
The present invention relates to automatic control technology field, particularly advance control method and system of a kind of vehicle.
Background technology
Intelligent driving technology relates to the subjects such as cognitive engineering, Vehicle Engineering, electric and electronic engineering, Control Science and Engineering, artificial intelligence, and intelligent vehicle is the important symbol of weighing a national scientific research strength and industrial level.The appearance of automatic driving car, fundamentally changed the vehicular drive mode in traditional " people-Che-Lu " closed loop system, chaufeur is freed from fatigue driving, utilize advanced sensor and information technology control Vehicle Driving Cycle, allow operation conventional, lasting, rudimentary in driving-activity, that repeat automatically complete, can greatly improve efficiency and the safety of traffic system, improve the quality of mankind's movable living, there is social application widely and be worth.Meanwhile, the research of intelligent driving technology will greatly strengthen China in the core competitiveness of the aspects such as automobile active safety, to promoting China's automobile electronics and the automobile industry capability of independent innovation, has great strategic importance.
Because real road running environment is quite complicated; being advanced, vehicle carries out in the process of Based Intelligent Control; usually there will be lane mark is blocked etc. to the situation that affects lane mark identification; if vehicle is less on road; road is standard comparatively; and in the comparatively ideal situation of the lower geometric ratio of the speed of a motor vehicle; existing solution can be tackled some practical problemss that occur in real road to a certain extent; such as the problems such as the road causing due to some situation in above-mentioned road blocks, shade, the automatic control of vehicle under the state of realizing ideal.
Such as, current a kind of conventional solution, use clothoid curve as the road model of simplifying, how much complicated reconstructions of road have been avoided, improved the robustness of system to shade, its core concept be by algorithm to repairing owing to the stealth causing such as blocking in image, but need complicated formula algorithmic match, calculation of complex and inefficiency, and can lose efficacy when road does not meet model hypothesis.In addition, the road image being obtained by vehicle-mounted vidicon in this solution has strong transparent effect, main manifestations is that traffic lane line is more straight in image bottom, near vanishing point, become the curve of more complicated, such lane markings line model is compared with the lane markings line model under world coordinate system with parallel construction, obviously want complicated a lot, further cause the complexity of scheme and the effect of reparation, visible, in road, vehicle is more, the events such as doubling are more, road is lack of standardization, and the speed of a motor vehicle is comparatively fast etc. under nonideality, this scheme is due to the restriction of computation speed and algorithm itself, will be no longer applicable.
Another kind of conventional solution, in order to use simple lane markings line model to launch research, processes road image by the method for inverse perspective mapping, has eliminated the transparent effect of image.This system is fixed or changes slowly under prerequisite at hypothesis road width, detects the parallel lane mark with certain width, can and block shade and possess certain robustness, but this hypothesis is not suitable for width, converts road frequently.Visible, this scheme is due to the restriction of the computation model being used, and under the nonideality such as the event such as more, doubling of vehicle is more in road, road is lack of standardization and the speed of a motor vehicle is very fast, can not finely be suitable for.
Visible, under the multiple events such as, doubling more for vehicle in road, the nonideality such as road is lack of standardization, the speed of a motor vehicle is very fast, existing several solution all can not well tackle that lane mark blocks etc. affects the situation of lane mark identification, all exist in actual applications vehicle is advanced and controlled not accurate enoughly, even cannot realize the problem of control.
That is,, for this emerging technology field of intelligent driving,, all there are problems in the existing multiple solution of advancing and controlling for vehicle, can not well adapt to further developing and practical application request of intelligent driving technology.Therefore, in the urgent need to providing, a kind of scheme is simple efficient, precise control and the solution stronger to several scenes comformability, to be suitable for and to promote the fast development of intelligent driving technology.
Summary of the invention
In view of the above problems, the embodiment of the present invention provides a kind of vehicle advance control method and system, can provide that a kind of scheme for intelligent driving technology is simple efficient, precise control and the solution stronger to several scenes comformability, better to realize the automatic control that vehicle is advanced.
The embodiment of the present invention has adopted following technical scheme:
One embodiment of the invention provides a kind of vehicle control method of advancing, and described method comprises:
From being arranged on the vehicle front road image of several different angles of camera Real-time Obtaining of diverse location on vehicle;
Vehicle front road image described in several is carried out to the processing of image validity, obtain actv. vehicle dead ahead road image; Described actv. vehicle dead ahead road image is the image that includes vehicle front effective wagon diatom information;
From the road image of described actv. vehicle dead ahead, identify lane mark information;
According to the lane mark information identifying, calculate and depart from deviation angle and the deviation distance of answering traveler car diatom when vehicle in front direct of travel;
According to described deviation angle and deviation distance control vehicle, advance.
Described method also comprises carries out grouping management to being arranged on the camera at vehicle diverse location place, specifically comprises:
According to image coverage, camera is divided into groups: if can cover vehicle front effective wagon diatom information in the captured image angle in the position of a camera, using this camera as one group; If be arranged in the captured image angle of a plurality of cameras of vehicle relative position and can cover vehicle front effective wagon diatom information completely, this is arranged on to a plurality of cameras of vehicle relative position as one group;
Described vehicle front road image described in several is carried out to the processing of image validity, obtains actv. vehicle dead ahead road image and comprise:
The image by group camera being obtained by few order at the most according to the camera quantity comprising in grouping judges, determines the one group of image that comprises complete vehicle front effective wagon diatom information;
If the vehicle front road image of above-mentioned definite one group of image that comprises complete vehicle front effective wagon diatom information for taking from a camera, using this vehicle front road image as actv. vehicle dead ahead road image; If the vehicle front road image of above-mentioned definite one group of image that comprises complete vehicle front effective wagon diatom information for taking from multi-section camera, the vehicle front road image of this multi-section camera being taken combines, and obtains actv. vehicle dead ahead road image.
Vehicle diverse location place is provided with three cameras, wherein:
The first camera, is arranged at vehicle mirrors place, and camera lens is towards vehicle dead ahead, for Real-time Obtaining vehicle dead ahead road image;
Second camera, is vertically installed in the left side mirror of vehicle below, and camera lens is towards vehicle left front, for Real-time Obtaining vehicle left front road image;
The 3rd camera, is vertically installed in the right side mirror of vehicle below, and camera lens is towards vehicle right front, for Real-time Obtaining vehicle right front road image;
Describedly from being arranged on the vehicle front road image of several different angles of camera Real-time Obtaining of diverse location on vehicle, comprise:
From the first camera, obtain vehicle dead ahead road image, from second camera, obtain vehicle left front road image and obtain vehicle right front road image from the 3rd camera;
Described vehicle front road image described in several is carried out to the processing of image validity, obtains actv. vehicle dead ahead road image and comprise:
Whether the described vehicle dead ahead road image that judgement is obtained from the first camera is actv. vehicle dead ahead road image, judges the described vehicle dead ahead road image obtaining from the first camera, whether to comprise complete vehicle front effective wagon diatom information;
If actv. vehicle dead ahead road image, using described vehicle dead ahead road image as actv. vehicle dead ahead road image; If invalid vehicle dead ahead road image, splices the described vehicle left front road image obtaining from second camera and the vehicle right front road image that obtains from the 3rd camera, obtain actv. vehicle dead ahead road image.
Judge that the method that whether comprises complete vehicle front effective wagon diatom information in image comprises:
Lane mark left margin in recognition image and lane mark right margin;
From the every group of lane mark left margin and lane mark right margin that recognize, judgement actv. lane mark border group;
If actv. lane mark border group quantity is greater than preset value, confirm to comprise in described image complete vehicle front effective wagon diatom information.
Described the described vehicle left front road image obtaining from second camera and the vehicle right front road image that obtains from the 3rd camera are spliced, obtain actv. vehicle dead ahead road image and comprise:
The vehicle left front road image that second camera is obtained and the vehicle right front road image obtaining from the 3rd camera carry out geometric distortion correction and noise spot suppresses to process;
Vehicle left front road image after above-mentioned processing and vehicle right front road image are carried out to image registration;
Vehicle left front road image after registration and the overlapping region in vehicle right front road image are carried out to fusion treatment, realize Image Mosaics, obtain actv. vehicle dead ahead road image.
Describedly from the road image of described actv. vehicle dead ahead, identify lane mark information and comprise:
Described actv. vehicle dead ahead road image is carried out to inverse perspective mapping processing, eliminate the transparent effect in the road image of described actv. vehicle dead ahead;
Image after inverse perspective mapping is processed carries out lane mark adaptive threshold binary conversion treatment, obtains the lane mark edge image of binaryzation;
The lane mark information that described basis identifies calculates when vehicle in front direct of travel departs from answers the deviation angle of traveler car diatom and deviation distance to comprise:
Lane mark edge image to described binaryzation carries out Hough conversion, detect left margin point and the right margin point of lane mark, utilize left margin point and right margin point to calculate 2 points in lane mark imaginary center line, according to 2 calculating in the lane mark imaginary center line obtaining, work as vehicle in front direct of travel and depart from deviation angle and the deviation distance of answering traveler car diatom.
In addition, the embodiment of the present invention also provides a kind of vehicle control system of advancing, and described system comprises and is arranged on the camera at diverse location place on vehicle and the vehicle control convenience of advancing:
The described vehicle control convenience of advancing comprises:
Image collection module, for from being arranged on the vehicle front road image of several different angles of camera Real-time Obtaining of diverse location on vehicle;
Validity processing module, for vehicle front road image described in several is carried out to the processing of image validity, obtains actv. vehicle dead ahead road image; Described actv. vehicle dead ahead road image is the image that includes vehicle front effective wagon diatom information;
Lane mark identification module, for identifying lane mark information from described actv. vehicle dead ahead road image;
Runout information computing module, departs from deviation angle and the deviation distance of answering traveler car diatom for calculating according to the lane mark information that identifies when vehicle in front direct of travel;
The control module of advancing, advances for controlling vehicle according to described deviation angle and deviation distance.
The described vehicle control convenience of advancing also comprises camera administration module,
Described camera administration module, for dividing into groups to camera according to image coverage: if the captured image angle in the position of a camera can cover vehicle front effective wagon diatom information, using this camera as one group; If be arranged in the captured image angle of a plurality of cameras of vehicle relative position and can cover vehicle front effective wagon diatom information completely, this is arranged on to a plurality of cameras of vehicle relative position as one group;
Described validity processing module comprises:
Order judging unit, the image by group camera being obtained by few order at the most for the camera quantity comprising according to grouping judges, determines the one group of image that comprises complete vehicle front effective wagon diatom information;
Validation unit, for the one group of image that comprises complete vehicle front effective wagon diatom information of determining when described order judging unit, be the vehicle front road image from a camera shooting, using this vehicle front road image as actv. vehicle dead ahead road image; The one group of image that comprises complete vehicle front effective wagon diatom information of determining when described order judging unit is the vehicle front road image from the shooting of multi-section camera, the vehicle front road image of this multi-section camera being taken combines, and obtains actv. vehicle dead ahead road image.
Vehicle diverse location place is provided with three cameras, wherein:
The first camera, is arranged at vehicle mirrors place, and camera lens is towards vehicle dead ahead, for Real-time Obtaining vehicle dead ahead road image;
Second camera, is vertically installed in the left side mirror of vehicle below, and camera lens is towards vehicle left front, for Real-time Obtaining vehicle left front road image;
The 3rd camera, is vertically installed in the right side mirror of vehicle below, and camera lens is towards vehicle right front, for Real-time Obtaining vehicle right front road image;
Described image collection module, specifically for obtaining vehicle dead ahead road image, obtaining vehicle left front road image and obtain vehicle right front road image from the 3rd camera from second camera from the first camera;
Described order judging unit, specifically for the described vehicle dead ahead road image that obtains from the first camera of judgement, whether be actv. vehicle dead ahead road image, judge the described vehicle dead ahead road image obtaining from the first camera, whether to comprise complete vehicle front effective wagon diatom information;
Described validation unit, specifically for comprising complete vehicle front effective wagon diatom information when judgment result is that the described vehicle dead ahead road image obtaining from the first camera of described order judging unit, using described vehicle dead ahead road image as actv. vehicle dead ahead road image; When described vehicle dead ahead road image that judgment result is that of described order judging unit obtained from the first camera is invalid vehicle dead ahead road image, the described vehicle left front road image obtaining from second camera and the vehicle right front road image that obtains from the 3rd camera are spliced, obtain actv. vehicle dead ahead road image.
Described lane mark identification module comprises:
Inverse perspective mapping unit, for described actv. vehicle dead ahead road image is carried out to inverse perspective mapping processing, eliminates the transparent effect in the road image of described actv. vehicle dead ahead;
Binary conversion treatment unit, carries out lane mark adaptive threshold binary conversion treatment for the image after inverse perspective mapping is processed, and obtains the lane mark edge image of binaryzation;
Described runout information computing module, specifically for:
Lane mark edge image to described binaryzation carries out Hough conversion, detect left margin point and the right margin point of lane mark, utilize left margin point and right margin point to calculate 2 points in lane mark imaginary center line, according to 2 calculating in the lane mark imaginary center line obtaining, work as vehicle in front direct of travel and depart from deviation angle and the deviation distance of answering traveler car diatom.
Visible, a kind of vehicle that the embodiment of the present invention provides advance control method and system, from being arranged on the vehicle front road image of several different angles of camera Real-time Obtaining of diverse location on vehicle, several above-mentioned vehicle front road images are carried out to the processing of image validity, obtain actv. vehicle dead ahead road image, from the road image of actv. vehicle dead ahead, identify lane mark information, according to the lane mark information identifying, calculate and depart from deviation angle and the deviation distance of answering traveler car diatom when vehicle in front direct of travel, and then advance according to described deviation angle and deviation distance control vehicle.Like this, because the diverse location place at vehicle arranges respectively multi-section camera, just can photograph from different perspectives vehicle front image, when the road conditions due to complicated cause in certain angle, for vehicle, advance the reasons such as some important information of controlling is blocked while causing lacking, in the image that just can directly take from other angle, obtain.Therefore, the embodiment of the present invention has been avoided numerous and diverse formula algorithm, not only improved efficiency, and can lack obtaining of information according to real image, further improved accuracy, thereby make scheme simply efficient, precise control, and, be not subject to the restriction of application scenarios, more without vehicle in Road, the multiple event such as doubling, road is lack of standardization, under the complex situations such as the speed of a motor vehicle is very fast, the embodiment of the present invention can get the image of a plurality of angles very easily, can be stronger to several scenes comformability, better to realize the automatic control that vehicle is advanced.
Further, the embodiment of the present invention also comprises carries out image according to priority and carries out validity processing being arranged on multiple series of images that many groups camera at vehicle diverse location place takes, a plurality of cameras that arrange at vehicle diverse location place, wherein, if can cover vehicle front effective wagon diatom information in the captured image angle in the position of a camera, using this camera as one group; If be arranged in the captured image angle of a plurality of cameras of vehicle relative position and can cover vehicle front effective wagon diatom information completely, this is arranged on to a plurality of cameras of vehicle relative position as one group.The captured image of angle of the every group of camera setting arranging on vehicle can cover vehicle front effective wagon diatom information completely.When image being carried out to validity processing, preferentially for the grouping that comprises that camera quantity is few, can to the image of lesser amt, carry out lane mark identifying processing meeting on the basis of lane mark condition for identification, thereby further improve the efficiency that vehicle is advanced and controlled.
Further, the embodiment of the present invention, in the process of lane mark identification, on the basis of inverse perspective mapping, is further introduced the structural constraint condition of express highway, and has been introduced the interframe relation of video image, has further improved the accuracy of lane detection.
Further, the embodiment of the present invention is answered in the deviation angle of traveler car diatom and the process of deviation distance when vehicle in front direct of travel departs from calculating, also add the multiple limiting condition that lane mark is distributed, further to reduce search coverage, greatly improve efficiency of algorithm and accuracy.
Accompanying drawing explanation
A kind of vehicle that Fig. 1 provides for embodiment of the present invention control method diagram of circuit of advancing;
Fig. 2 is when vehicle in front direct of travel departs from deviation angle and the deviation distance schematic diagram of answering traveler car diatom in the embodiment of the present invention;
A kind of vehicle that Fig. 3 provides for embodiment of the present invention control method diagram of circuit of advancing;
Fig. 4 is camera setting position schematic diagram on vehicle in the embodiment of the present invention;
A kind of vehicle that Fig. 5 provides for embodiment of the present invention control system structured flowchart of advancing.
The specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
Referring to Fig. 1, the embodiment of the present invention provides a kind of vehicle control method of advancing, and specifically comprises the steps:
S101: from being arranged on the vehicle front road image of several different angles of camera Real-time Obtaining of diverse location on vehicle.
A kind of vehicle that the embodiment of the present invention realizes control method of advancing need to arrange camera on controlled vehicle, to obtain the road image of vehicle front, and then therefrom identifies lane mark information, control normal vehicle operation.
It should be noted that, if a camera is only set on vehicle, or replace during for camera fault and only at a plurality of cameras close or that similar position place arranges, if lacked part important information in the vehicle front image photographing, can only to image, modify by more existing algorithms, not only algorithm is complicated, efficiency is lower, image recovery effects is not good, but also probably cannot completely recover, cause vehicle to be advanced and control the not accurate enough problem that even cannot realize control.
Preferably, in the embodiment of the present invention, diverse location place at vehicle arranges respectively multi-section camera, like this, just can photograph from different perspectives vehicle front image, when the road conditions due to complicated cause in certain angle, for vehicle, advance the reasons such as some important information of controlling is blocked while causing lacking, in the image that just can directly take from other angle, obtain.Visible, the embodiment of the present invention has been avoided numerous and diverse formula algorithm, not only improved efficiency, and can lack obtaining of information according to real image, further improved accuracy, thereby make scheme simply efficient, precise control, and, be not subject to the restriction of application scenarios, more without vehicle in Road, the multiple event such as doubling, road is lack of standardization, under the complex situations such as the speed of a motor vehicle is very fast, the embodiment of the present invention can get the image of a plurality of angles very easily, can be stronger to several scenes comformability, better to realize the automatic control that vehicle is advanced.
As further scheme, in the embodiment of the present invention, the camera arranging at vehicle diverse location place, if in the captured vehicle front image of the angle that wherein a certain camera arranges, can not comprise complete vehicle front effective wagon diatom information, need to one or more camera be set again in the relative position of this camera, it is used in conjunction with, form one group of camera, the captured image of angle of the every group of camera setting arranging on vehicle can cover vehicle front effective wagon diatom information completely.
That is to say, the vehicle that the embodiment of the present invention the provides control method of advancing also comprises and carries out grouping management to being arranged on the camera at vehicle diverse location place, specifically comprises:
According to image coverage, camera is divided into groups: if can cover vehicle front effective wagon diatom information in the captured image angle in the position of a camera, using this camera as one group; If be arranged in the captured image angle of a plurality of cameras of vehicle relative position and can cover vehicle front effective wagon diatom information completely, this is arranged on to a plurality of cameras of vehicle relative position as one group.
Accordingly, in follow-up process of image being carried out to processing and identification lane mark, can comprise that camera quantity attempted by few order at the most according to grouping, can meet on the basis of lane mark condition for identification like this, the image of lesser amt is carried out to lane mark identifying processing, thereby further improve control efficiency.
In practical application, several cameras are set on vehicle, in which position, arrange, can according to practical application scene, control accuracy and cost etc. in many ways combined factors consider designed, designed.It should be noted that, 2 groups of cameras are at least set on vehicle, to realize the object of the invention.
S102: several above-mentioned vehicle front road images are carried out to the processing of image validity, obtain actv. vehicle dead ahead road image.
Wherein, described actv. vehicle dead ahead road image for including the image of vehicle front effective wagon diatom information in the situation that not blocking.
So-called effective wagon diatom information, specifically refers to vehicle is advanced and controlled required lane mark information.If the lane mark loss of learning comprising in image surpasses allowed band, will cause the follow-up lane mark information that cannot identify lane mark from image or identify to be not enough to calculate and depart from deviation angle and the deviation distance of answering traveler car diatom when vehicle in front direct of travel, therefore, effective wagon diatom information also can be understood as and can guarantee to identify vehicle front lane mark information and can meet the minimum lane mark information that departs from deviation angle and the deviation distance of answering traveler car diatom when vehicle in front direct of travel that calculates.
As preferred version, vehicle front road image described in several is carried out to the processing of image validity, obtain actv. vehicle dead ahead road image and can be specifically:
The image by group camera being obtained by few order at the most according to the camera quantity comprising in grouping judges, determines the one group of image that comprises complete vehicle front effective wagon diatom information;
If the vehicle front road image of above-mentioned definite one group of image that comprises complete vehicle front effective wagon diatom information for taking from a camera, using this vehicle front road image as actv. vehicle dead ahead road image; If the vehicle front road image of above-mentioned definite one group of image that comprises complete vehicle front effective wagon diatom information for taking from multi-section camera, the vehicle front road image of this multi-section camera being taken combines, and obtains actv. vehicle dead ahead road image.
That is to say, first for the grouping that comprises a camera, judge, judge and from the vehicle front road image that this camera obtains, whether comprise complete vehicle front effective wagon diatom information, if, using this vehicle front vehicle image as actv. vehicle dead ahead road image, for the identification of follow-up lane mark information, the picture analysis that just need not obtain other group camera has again judged.If do not comprise complete vehicle front effective wagon diatom information the vehicle front road image obtaining from this camera, more successively for comprising two, three.。。The grouping of camera judges, carry out successively, until include complete vehicle front effective wagon diatom information in definite image from certain group multi-section camera, follow-uply only need the image to obtaining from this group camera to combine, as actv. vehicle dead ahead road image, for subsequent extracted lane mark information.Visible, can to the image of lesser amt, carry out lane mark identifying processing meeting on the basis of lane mark condition for identification, further improve control efficiency.
Concrete, judge that the method that whether comprises complete vehicle front effective wagon diatom information in image can comprise following sub-step:
Lane mark left margin in recognition image and lane mark right margin;
From the every group of lane mark left margin and lane mark right margin that recognize, judgement actv. lane mark border group;
If actv. lane mark border group quantity is greater than preset value, confirm to comprise in described image complete vehicle front effective wagon diatom information.
In specific implementation, the method on identification border, lane mark left and right has a variety of, and the method for judgement effective wagon road line boundary group also has a variety of, such as, judge that a kind of specific embodiment that whether comprises complete vehicle front effective wagon diatom information in image can be:
First, in effective image area, look for the left margin of lane mark, every 5 row are looked for a bit (take pixel as unit), this point must meet three conditions: first this white pixel point has at least occurred several black pixel points before occurring, if met, take so this white pixel point must be all white pixel point in 20 * 20 (take pixel as unit) region that left upper apex is chosen, and turns right from this point, and this line also must occur black pixel point.
The second, the coordinate of the boundary point that record detects, if the point not satisfying condition in 5 row, this five-element's internal boundary points coordinate figure is initial value (abscissa is 0) so.
The 3rd, the every group of point recognizing (left and right boundary point finding in every 5 row is one group) judged, mainly using abscissa as foundation judgement, if left point or right some abscissa have one to be 0, or left some abscissa value is greater than right some abscissa value and thinks that this group point is invalid, the ordinate value of 2 is made as to 0 (for sequence is below prepared), simultaneously protocol failure point number.
The 4th, by ordinate value size, to effective group of some sequence, from the point of ordinate value maximum, start to get, calculate available point number, if reach requirement number, think that the place ahead lane mark information is effective wagon diatom information.
S103: identify lane mark information from the road image of actv. vehicle dead ahead.
Concrete, a kind of lane mark recognition methods can be:
Described actv. vehicle dead ahead road image is carried out to inverse perspective mapping processing, eliminate the transparent effect in the road image of described actv. vehicle dead ahead;
Image after inverse perspective mapping is processed carries out lane mark adaptive threshold binary conversion treatment, obtains the lane mark edge image of binaryzation.
Wherein, transparent effect refers to that the distance due to object and viewer increases a kind of visual effect that causes object to seem less.Actv. vehicle dead ahead road image is carried out to inverse perspective mapping processing, can eliminate the transparent effect in the road image of described actv. vehicle dead ahead.
Piece image comprises that object, background also have noise, want directly to extract object from many-valued digital image, the most frequently used method is set a threshold value T exactly, with T, the data of image is divided into two parts: the pixel group and the pixel group that is less than T that are greater than T.For the said method of grey level transformation, be called the binaryzation (BINARIZATION) of image.Here, the image after inverse perspective mapping is processed carries out lane mark adaptive threshold binary conversion treatment, can access the lane mark edge image of binaryzation.
Preferably, on the basis of inverse perspective mapping, further introduce the structural constraint condition (such as being the structural constraint condition of express highway) of road, and in conjunction with the interframe relation of video image, further improved the accuracy of lane mark identification.
Concrete, the structural constraint condition of road and the interframe relation of video image can include but not limited to:
1, lane mark is all in parallel relation, if the line segment detecting is not parallel, can ignore;
2, the width of lane mark is fixed, and the interval between lane mark is also fixed, and can fall to depart from point far away according to this condition filter;
3, near the lane mark that the data of a rear two field picture can obtain at former frame image, search for, can greatly shorten detection time;
Etc..
Visible, this algorithm, on the basis of inverse perspective mapping, is further introduced the structural constraint condition of express highway, and has introduced the interframe relation of video image, has realized the accurate detection of traffic lane line.
S104: calculate and depart from deviation angle and the deviation distance of answering traveler car diatom when vehicle in front direct of travel according to the lane mark information identifying.
It should be noted that, referring to Fig. 2, specifically illustrate and depart from deviation angle r and the deviation distance d that answers traveler car diatom when vehicle in front direct of travel.When departing from, vehicle in front direct of travel answers car body line of centers that the deviation distance d of traveler car diatom is vehicle and the relative position deviation between lane mark.
Concrete, according to the lane mark information identifying, calculate when vehicle in front direct of travel departs from and answer the deviation angle of traveler car diatom and a kind of implementation of deviation distance to be:
Lane mark edge image to described binaryzation carries out Hough conversion, detect left margin point and the right margin point of lane mark, utilize left margin point and right margin point to calculate 2 points in lane mark imaginary center line, according to 2 calculating in the lane mark imaginary center line obtaining, work as vehicle in front direct of travel and depart from deviation angle and the deviation distance of answering traveler car diatom.
Briefly, Hough conversion utilizes point-line duality of image space and Hough parameter space, and the test problems in image space is transformed into parameter space.By carry out simple cumulative statistics in parameter space, then at Hough parameter space, find the method detection of straight lines of accumulator/accum peak value.For example, nine line segments in image space are corresponding to nine accumulator/accum peak values in Hough parameter space.The transverse and longitudinal coordinate of Hough parameter space is respectively two parameter ρ and the θ of straight line polar equation: ρ=x * cos (θ)+y * sin (θ).Two parameters determining its corresponding line segment place straight line that the ρ of nine peak values and θ value are unique.And the length of line segment determines the size of the accumulated value that coordinate (ρ, θ) is located.
Lane mark edge image to described binaryzation carries out Hough conversion, detect left margin point and the right margin point of lane mark, utilize left margin point and right margin point to calculate 2 points in lane mark imaginary center line, according to 2 calculating in the lane mark imaginary center line obtaining, when vehicle in front direct of travel departs from, answer the deviation angle of traveler car diatom and the method for deviation distance to be specially:
By following the tracks of, detect lane mark (traffic lane line) left margin point (left side bearing the information point) (x obtaining above l0, y l0), (x l1, y l1) ..., (x ln, y ln) and right margin point (right side bearing information point) (x r0, y r0), (x r1, y r1) ..., (x rn, y rn) process.Utilize the information of left margin point and right margin point, obtain the point (x on road virtual line of centers i, y i), circular is x i = x Li + x Ri 2 , ( i = 0,1 . . . n ) , y i = y Li + y Ri 2 , ( i = 0,1 . . . n ) . From imaginary center line the first half, choose a bit (x up, y up), then from imaginary center line the latter half, choose a bit (x down, y down), can obtain vehicle shift angle and be:
departure distance is: d=-(w/2-x i) * 3.4+5, wherein w is picture traverse.
Preferably, in Hough conversion process, can add following some constraint:
(1) consider the extreme case that the adjacent one side of vehicle lane mark travels, lane mark distance from bottom image bottom centre (the being about vehicle center point) distance detecting is no more than 1 lane width;
(2) most information of left and right lane mark is distributed in respectively the left half and the right half region of image;
(3) in contrary transparent view, the angle of lane mark and vertical direction is not too large;
(4) the left and right lane mark detecting should keeping parallelism relation.Etc..
By constraint condition, can reduce search coverage, improve efficiency of algorithm and accuracy.
S105: advance according to described deviation angle and deviation distance control vehicle.
Concrete, according to deviation angle and deviation distance, control vehicle and answer the direction of traveler car diatom to continue to advance towards recurrence, in lane mark, travel guaranteeing.
Visible, the vehicle that the embodiment of the present invention the provides control method of advancing, from being arranged on the vehicle front road image of several different angles of camera Real-time Obtaining of diverse location on vehicle, several above-mentioned vehicle front road images are carried out to the processing of image validity, obtain actv. vehicle dead ahead road image, from the road image of actv. vehicle dead ahead, identify lane mark information, according to the lane mark information identifying, calculate and depart from deviation angle and the deviation distance of answering traveler car diatom when vehicle in front direct of travel, and then advance according to described deviation angle and deviation distance control vehicle.Like this, because the diverse location place at vehicle arranges respectively multi-section camera, just can photograph from different perspectives vehicle front image, when the road conditions due to complicated cause in certain angle, for vehicle, advance the reasons such as some important information of controlling is blocked while causing lacking, in the image that just can directly take from other angle, obtain.Therefore, the embodiment of the present invention has been avoided numerous and diverse formula algorithm, not only improved efficiency, and can lack obtaining of information according to real image, further improved accuracy, thereby make scheme simply efficient, precise control, and, be not subject to the restriction of application scenarios, more without vehicle in Road, the multiple event such as doubling, road is lack of standardization, under the complex situations such as the speed of a motor vehicle is very fast, the embodiment of the present invention can get the image of a plurality of angles very easily, can be stronger to several scenes comformability, better to realize the automatic control that vehicle is advanced.
Further, the embodiment of the present invention also comprises carries out image according to priority and carries out validity processing being arranged on multiple series of images that many groups camera at vehicle diverse location place takes, a plurality of cameras that arrange at vehicle diverse location place, wherein, if can cover vehicle front effective wagon diatom information in the captured image angle in the position of a camera, using this camera as one group; If be arranged in the captured image angle of a plurality of cameras of vehicle relative position and can cover vehicle front effective wagon diatom information completely, this is arranged on to a plurality of cameras of vehicle relative position as one group.The captured image of angle of the every group of camera setting arranging on vehicle can cover vehicle front effective wagon diatom information completely.When image being carried out to validity processing, preferentially for the grouping that comprises that camera quantity is few, can to the image of lesser amt, carry out lane mark identifying processing meeting on the basis of lane mark condition for identification, thereby further improve the efficiency that vehicle is advanced and controlled.
Further, the embodiment of the present invention, in the process of lane mark identification, on the basis of inverse perspective mapping, is further introduced the structural constraint condition of express highway, and has been introduced the interframe relation of video image, has further improved the accuracy of lane detection.
Further, the embodiment of the present invention is answered in the deviation angle of traveler car diatom and the process of deviation distance when vehicle in front direct of travel departs from calculating, also add the multiple limiting condition that lane mark is distributed, further to reduce search coverage, greatly improve efficiency of algorithm and accuracy.
Referring to Fig. 3, the embodiment of the present invention proposes a kind of vehicle control method of advancing.
Preferably, referring to Fig. 4, at vehicle diverse location place, be provided with three cameras, wherein:
The first camera 401, is arranged at vehicle mirrors place, and camera lens is towards vehicle dead ahead, for Real-time Obtaining vehicle dead ahead road image;
Second camera 402, is vertically installed in the left side mirror of vehicle below, and camera lens is towards vehicle left front, for Real-time Obtaining vehicle left front road image;
The 3rd camera 403, is vertically installed in the right side mirror of vehicle below, and camera lens is towards vehicle right front, for Real-time Obtaining vehicle right front road image.
Be appreciated that in the embodiment of the present invention and comprise altogether two camera groupings, the first camera is a grouping, and second camera and the 3rd camera form a grouping.
It should be noted that, the method to set up of above-mentioned camera is only a kind of preferred version, the embodiment of the present invention can also comprise the preferred plan of establishment of other multiple camera, such as the first camera is arranged at vehicle mirrors place, camera lens is towards vehicle dead ahead, for Real-time Obtaining vehicle dead ahead road image; The 4th camera is arranged at front insurance and shoulders place, and camera lens is towards vehicle dead ahead, for Real-time Obtaining vehicle dead ahead road image; Etc..Now, the image that the first camera and the 4th camera obtain is not in the situation that blocking, can cover vehicle front effective wagon diatom information comprehensively, therefore, form respectively separately a grouping, in such cases, the follow-up image validity of carrying out is when process, can be according to two predetermined priorities of camera shooting effect, such as judging whether the image that the first camera obtains comprises complete vehicle front effective wagon diatom information, and whether the image that the 4th camera obtains if do not judge again comprises complete vehicle front effective wagon diatom information by priority of agreement.
The embodiment of the present invention proposes a kind of vehicle control method of advancing, and specifically comprises the steps:
S301: obtain vehicle dead ahead road image, obtain vehicle left front road image and obtain vehicle right front road image from the 3rd camera from second camera from the first camera.
S302: whether the described vehicle dead ahead road image that obtains from the first camera of judgement is actv. vehicle dead ahead road image, judges the described vehicle dead ahead road image obtaining from the first camera, whether to comprise complete vehicle front effective wagon diatom information.
S303: if actv. vehicle dead ahead road image (comprising complete vehicle front effective wagon diatom information), using described vehicle dead ahead road image as actv. vehicle dead ahead road image; If (the vehicle front effective wagon diatom information comprising is sufficiently complete for invalid vehicle dead ahead road image, there is loss of learning), the described vehicle left front road image obtaining from second camera and the vehicle right front road image that obtains from the 3rd camera are spliced, obtain actv. vehicle dead ahead road image.
That is to say, according to grouping, comprise that camera quantity is by the few order of as many as, whether the image that preferential judgement is obtained from the first camera is effective, if effectively, directly from wherein identifying lane mark information, if invalid, then consider the image obtaining from second camera and the image that obtains from the 3rd camera to carry out combined and spliced, obtain actv. vehicle dead ahead road image, more therefrom identify lane mark information.Can to the image of lesser amt, carry out lane mark identifying processing meeting on the basis of lane mark condition for identification like this, thereby further improve control efficiency.
Wherein, the described vehicle left front road image obtaining from second camera and the vehicle right front road image that obtains from the 3rd camera are spliced, the mode that obtains actv. vehicle dead ahead road image comprises:
The vehicle left front road image that second camera is obtained and the vehicle right front road image obtaining from the 3rd camera carry out geometric distortion correction and noise spot suppresses to process;
Vehicle left front road image after above-mentioned processing and vehicle right front road image are carried out to image registration;
Vehicle left front road image after registration and the overlapping region in vehicle right front road image are carried out to fusion treatment, realize Image Mosaics, obtain actv. vehicle dead ahead road image.
Concrete, a kind of specific implementation can be:
Extract a two field picture of camera (second camera and the 3rd camera) on the side mirror of left and right, carry out image pretreatment, mainly comprise inhibition of image being carried out geometric distortion correction and noise spot etc., allow reference picture and image to be spliced not have obvious geometric distortion.
Carry out first two field picture registration, first utilize and extract local feature SIFT algorithm, extract the features such as key point position, yardstick, rotational invariants.Then, adopt the Euclidean distance of key point proper vector to be used as the similarity determination tolerance of key point in two width images, thereby complete the thick coupling of key point; Finally utilize RANSAC algorithm to eliminate and mate by mistake, set up perspective transformation matrix H.
From camera, read two field picture respectively, based on matrix H, carry out perspective transform, adopt to be fade-in gradually to go out algorithm fusion treatment is carried out in overlapping region, obtain spliced two field picture.
S304: identify lane mark information from the road image of above-mentioned actv. vehicle dead ahead.
This step specific implementation can be:
From the road image of described actv. vehicle dead ahead, identifying lane mark information comprises:
Described actv. vehicle dead ahead road image is carried out to inverse perspective mapping processing, eliminate the transparent effect in the road image of described actv. vehicle dead ahead;
Image after inverse perspective mapping is processed carries out lane mark adaptive threshold binary conversion treatment, obtains the lane mark edge image of binaryzation.
Preferably, this algorithm, on the basis of inverse perspective mapping, is further introduced the structural constraint condition of express highway, and has introduced the interframe relation of video image, has further realized the accuracy in detection of traffic lane line.
S305: calculate and depart from deviation angle and the deviation distance of answering traveler car diatom when vehicle in front direct of travel according to the lane mark information identifying.
This step specific implementation can be:
Lane mark edge image to described binaryzation carries out Hough conversion, detect left margin point and the right margin point of lane mark, utilize left margin point and right margin point to calculate 2 points in lane mark imaginary center line, according to 2 calculating in the lane mark imaginary center line obtaining, work as vehicle in front direct of travel and depart from deviation angle and the deviation distance of answering traveler car diatom.
Preferably, in Hough conversion process, added following some constraint:
(1) consider the extreme case that the adjacent one side of vehicle lane mark travels, lane mark distance from bottom image bottom centre (the being about vehicle center point) distance detecting is no more than 1 lane width;
(2) most information of left and right lane mark is distributed in respectively the left half and the right half region of image;
(3) in contrary transparent view, the angle of lane mark and vertical direction is not too large;
(4) the left and right lane mark detecting should keeping parallelism relation.
By constraint condition, can reduce search coverage, improve efficiency of algorithm and accuracy.
S306: advance according to described deviation angle and deviation distance control vehicle.
Visible, in the embodiment of the present invention, by multi-cam data fusion, can solve in the situation that the situations such as vehicle is more cause lane mark to block, vehicle is realized to the Based Intelligent Control of precise and high efficiency.
Referring to Fig. 5, a kind of vehicle providing for the embodiment of the present invention control system of advancing, described system comprises and is arranged on the camera 501 at diverse location place on vehicle and the vehicle control convenience 502 of advancing.
The described vehicle control convenience 502 of advancing comprises:
Image collection module 5021, for from being arranged on the vehicle front road image of camera 501 several different angles of Real-time Obtaining of diverse location on vehicle.
Validity processing module 5022, for vehicle front road image described in several is carried out to the processing of image validity, obtains actv. vehicle dead ahead road image.
Wherein, described actv. vehicle dead ahead road image is the image that includes vehicle front effective wagon diatom information.
Lane mark identification module 5023, for identifying lane mark information from described actv. vehicle dead ahead road image.
Runout information computing module 5024, departs from deviation angle and the deviation distance of answering traveler car diatom for calculating according to the lane mark information that identifies when vehicle in front direct of travel.
And the control module 5025 of advancing, for advancing according to described deviation angle and deviation distance control vehicle.
Further, the described vehicle control convenience of advancing also comprises camera administration module, for carrying out grouping management to being arranged on the camera at vehicle diverse location place.
Concrete, described camera administration module, for dividing into groups to camera according to image coverage: if the captured image angle in the position of a camera can cover vehicle front effective wagon diatom information, using this camera as one group; If be arranged in the captured image angle of a plurality of cameras of vehicle relative position and can cover vehicle front effective wagon diatom information completely, this is arranged on to a plurality of cameras of vehicle relative position as one group.
Accordingly, described validity processing module comprises:
Order judging unit, the image by group camera being obtained by few order at the most for the camera quantity comprising according to grouping judges, determines the one group of image that comprises complete vehicle front effective wagon diatom information.
And, validation unit, for the one group of image that comprises complete vehicle front effective wagon diatom information of determining when described order judging unit, be the vehicle front road image from a camera shooting, using this vehicle front road image as actv. vehicle dead ahead road image; The one group of image that comprises complete vehicle front effective wagon diatom information of determining when described order judging unit is the vehicle front road image from the shooting of multi-section camera, the vehicle front road image of this multi-section camera being taken combines, and obtains actv. vehicle dead ahead road image.
As a specific embodiment, preferred, vehicle diverse location place can be provided with three cameras, wherein:
The first camera, is arranged at vehicle mirrors place, and camera lens is towards vehicle dead ahead, for Real-time Obtaining vehicle dead ahead road image.
Second camera, is vertically installed in the left side mirror of vehicle below, and camera lens is towards vehicle left front, for Real-time Obtaining vehicle left front road image.
The 3rd camera, is vertically installed in the right side mirror of vehicle below, and camera lens is towards vehicle right front, for Real-time Obtaining vehicle right front road image.
It should be noted that, the method to set up of above-mentioned camera is only a kind of preferred version, the embodiment of the present invention can also comprise the preferred plan of establishment of other multiple camera, such as the first camera is arranged at vehicle mirrors place, camera lens is towards vehicle dead ahead, for Real-time Obtaining vehicle dead ahead road image; The 4th camera is arranged at front insurance and shoulders place, and camera lens is towards vehicle dead ahead, for Real-time Obtaining vehicle dead ahead road image; Etc..Now, the image that the first camera and the 4th camera obtain is not in the situation that blocking, can cover vehicle front effective wagon diatom information comprehensively, therefore, form respectively separately a grouping, in such cases, the follow-up image validity of carrying out is when process, can be according to two predetermined priorities of camera shooting effect, such as judging whether the image that the first camera obtains comprises complete vehicle front effective wagon diatom information, and whether the image that the 4th camera obtains if do not judge again comprises complete vehicle front effective wagon diatom information by priority of agreement.
Accordingly, described image collection module, specifically for obtaining vehicle dead ahead road image, obtaining vehicle left front road image and obtain vehicle right front road image from the 3rd camera from second camera from the first camera.
Described order judging unit, specifically for the described vehicle dead ahead road image that obtains from the first camera of judgement, whether be actv. vehicle dead ahead road image, judge the described vehicle dead ahead road image obtaining from the first camera, whether to comprise complete vehicle front effective wagon diatom information.
Described validation unit, specifically for comprising complete vehicle front effective wagon diatom information when judgment result is that the described vehicle dead ahead road image obtaining from the first camera of described order judging unit, using described vehicle dead ahead road image as actv. vehicle dead ahead road image; When described vehicle dead ahead road image that judgment result is that of described order judging unit obtained from the first camera is invalid vehicle dead ahead road image, the described vehicle left front road image obtaining from second camera and the vehicle right front road image that obtains from the 3rd camera are spliced, obtain actv. vehicle dead ahead road image.
Wherein, in validation unit, the described vehicle left front road image obtaining from second camera and the vehicle right front road image that obtains from the 3rd camera are spliced, and the specific embodiment that obtains actv. vehicle dead ahead road image can comprise:
The vehicle left front road image that second camera is obtained and the vehicle right front road image obtaining from the 3rd camera carry out geometric distortion correction and noise spot suppresses to process;
Vehicle left front road image after above-mentioned processing and vehicle right front road image are carried out to image registration;
Vehicle left front road image after registration and the overlapping region in vehicle right front road image are carried out to fusion treatment, realize Image Mosaics, obtain actv. vehicle dead ahead road image.
Preferably, described lane mark identification module comprises:
Inverse perspective mapping unit, for described actv. vehicle dead ahead road image is carried out to inverse perspective mapping processing, eliminates the transparent effect in the road image of described actv. vehicle dead ahead.
And binary conversion treatment unit, carries out lane mark adaptive threshold binary conversion treatment for the image after inverse perspective mapping is processed, and obtains the lane mark edge image of binaryzation.
Described runout information computing module, specifically for:
Lane mark edge image to described binaryzation carries out Hough conversion, detect left margin point and the right margin point of lane mark, utilize left margin point and right margin point to calculate 2 points in lane mark imaginary center line, according to 2 calculating in the lane mark imaginary center line obtaining, work as vehicle in front direct of travel and depart from deviation angle and the deviation distance of answering traveler car diatom.
In the embodiment of the present invention, in validity processing module, vehicle front road image described in several is carried out to the processing of image validity, obtain actv. vehicle dead ahead road image.Wherein, judge that the specific embodiment that whether comprises complete vehicle front effective wagon diatom information in image can comprise:
Lane mark left margin in recognition image and lane mark right margin;
From the every group of lane mark left margin and lane mark right margin that recognize, judgement actv. lane mark border group;
If actv. lane mark border group quantity is greater than preset value, confirm to comprise in described image complete vehicle front effective wagon diatom information.
It should be noted that, the modules in system embodiment of the present invention or the principle of work of submodule and treating process can, referring to the associated description in embodiment of the method shown in above-mentioned Fig. 1-Fig. 4, repeat no more herein.
Visible, the embodiment of the present invention provides a kind of vehicle control system of advancing, from being arranged on the vehicle front road image of several different angles of camera Real-time Obtaining of diverse location on vehicle, several above-mentioned vehicle front road images are carried out to the processing of image validity, obtain actv. vehicle dead ahead road image, from the road image of actv. vehicle dead ahead, identify lane mark information, according to the lane mark information identifying, calculate and depart from deviation angle and the deviation distance of answering traveler car diatom when vehicle in front direct of travel, and then advance according to described deviation angle and deviation distance control vehicle.Like this, because the diverse location place at vehicle arranges respectively multi-section camera, just can photograph from different perspectives vehicle front image, when the road conditions due to complicated cause in certain angle, for vehicle, advance the reasons such as some important information of controlling is blocked while causing lacking, in the image that just can directly take from other angle, obtain.Therefore, the embodiment of the present invention has been avoided numerous and diverse formula algorithm, not only improved efficiency, and can lack obtaining of information according to real image, further improved accuracy, thereby make scheme simply efficient, precise control, and, be not subject to the restriction of application scenarios, more without vehicle in Road, the multiple event such as doubling, road is lack of standardization, under the complex situations such as the speed of a motor vehicle is very fast, the embodiment of the present invention can get the image of a plurality of angles very easily, can be stronger to several scenes comformability, better to realize the automatic control that vehicle is advanced.
Further, the embodiment of the present invention also comprises carries out image according to priority and carries out validity processing being arranged on multiple series of images that many groups camera at vehicle diverse location place takes, a plurality of cameras that arrange at vehicle diverse location place, wherein, if can cover vehicle front effective wagon diatom information in the captured image angle in the position of a camera, using this camera as one group; If be arranged in the captured image angle of a plurality of cameras of vehicle relative position and can cover vehicle front effective wagon diatom information completely, this is arranged on to a plurality of cameras of vehicle relative position as one group.The captured image of angle of the every group of camera setting arranging on vehicle can cover vehicle front effective wagon diatom information completely.When image being carried out to validity processing, preferentially for the grouping that comprises that camera quantity is few, can to the image of lesser amt, carry out lane mark identifying processing meeting on the basis of lane mark condition for identification, thereby further improve the efficiency that vehicle is advanced and controlled.
Further, the embodiment of the present invention, in the process of lane mark identification, on the basis of inverse perspective mapping, is further introduced the structural constraint condition of express highway, and has been introduced the interframe relation of video image, has further improved the accuracy of lane detection.
Further, the embodiment of the present invention is answered in the deviation angle of traveler car diatom and the process of deviation distance when vehicle in front direct of travel departs from calculating, also add the multiple limiting condition that lane mark is distributed, further to reduce search coverage, greatly improve efficiency of algorithm and accuracy.
For the ease of the clear technical scheme of describing the embodiment of the present invention, in inventive embodiment, adopted the printed words such as " first ", " second " to distinguish the essentially identical identical entry of function and efficacy or similar item, it will be appreciated by those skilled in the art that the printed words such as " first ", " second " do not limit quantity and execution order.
One of ordinary skill in the art will appreciate that, the all or part of step realizing in above-described embodiment method is to come the hardware that instruction is relevant to complete by program, described program can be stored in a computer read/write memory medium, this program is when carrying out, comprise the steps: (step of method), described storage medium, as: ROM/RAM, magnetic disc, CD etc.
The foregoing is only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.All any modifications of doing within the spirit and principles in the present invention, be equal to replacement, improvement etc., be all included in protection scope of the present invention.

Claims (10)

1. the vehicle control method of advancing, is characterized in that, described method comprises:
From being arranged on the vehicle front road image of several different angles of camera Real-time Obtaining of diverse location on vehicle;
Vehicle front road image described in several is carried out to the processing of image validity, obtain actv. vehicle dead ahead road image; Described actv. vehicle dead ahead road image is the image that includes vehicle front effective wagon diatom information;
From the road image of described actv. vehicle dead ahead, identify lane mark information;
According to the lane mark information identifying, calculate and depart from deviation angle and the deviation distance of answering traveler car diatom when vehicle in front direct of travel;
According to described deviation angle and deviation distance control vehicle, advance.
2. the vehicle according to claim 1 control method of advancing, is characterized in that, described method also comprises carries out grouping management to being arranged on the camera at vehicle diverse location place, specifically comprises:
According to image coverage, camera is divided into groups: if can cover vehicle front effective wagon diatom information in the captured image angle in the position of a camera, using this camera as one group; If be arranged in the captured image angle of a plurality of cameras of vehicle relative position and can cover vehicle front effective wagon diatom information completely, this is arranged on to a plurality of cameras of vehicle relative position as one group;
Described vehicle front road image described in several is carried out to the processing of image validity, obtains actv. vehicle dead ahead road image and comprise:
The image by group camera being obtained by few order at the most according to the camera quantity comprising in grouping judges, determines the one group of image that comprises complete vehicle front effective wagon diatom information;
If the vehicle front road image of above-mentioned definite one group of image that comprises complete vehicle front effective wagon diatom information for taking from a camera, using this vehicle front road image as actv. vehicle dead ahead road image; If the vehicle front road image of above-mentioned definite one group of image that comprises complete vehicle front effective wagon diatom information for taking from multi-section camera, the vehicle front road image of this multi-section camera being taken combines, and obtains actv. vehicle dead ahead road image.
3. the vehicle according to claim 2 control method of advancing, is characterized in that, vehicle diverse location place is provided with three cameras, wherein:
The first camera, is arranged at vehicle mirrors place, and camera lens is towards vehicle dead ahead, for Real-time Obtaining vehicle dead ahead road image;
Second camera, is vertically installed in the left side mirror of vehicle below, and camera lens is towards vehicle left front, for Real-time Obtaining vehicle left front road image;
The 3rd camera, is vertically installed in the right side mirror of vehicle below, and camera lens is towards vehicle right front, for Real-time Obtaining vehicle right front road image;
Describedly from being arranged on the vehicle front road image of several different angles of camera Real-time Obtaining of diverse location on vehicle, comprise:
From the first camera, obtain vehicle dead ahead road image, from second camera, obtain vehicle left front road image and obtain vehicle right front road image from the 3rd camera;
Described vehicle front road image described in several is carried out to the processing of image validity, obtains actv. vehicle dead ahead road image and comprise:
Whether the described vehicle dead ahead road image that judgement is obtained from the first camera is actv. vehicle dead ahead road image, judges the described vehicle dead ahead road image obtaining from the first camera, whether to comprise complete vehicle front effective wagon diatom information;
If actv. vehicle dead ahead road image, using described vehicle dead ahead road image as actv. vehicle dead ahead road image; If invalid vehicle dead ahead road image, splices the described vehicle left front road image obtaining from second camera and the vehicle right front road image that obtains from the 3rd camera, obtain actv. vehicle dead ahead road image.
4. the vehicle according to claim 1 control method of advancing, is characterized in that, judges that the method that whether comprises complete vehicle front effective wagon diatom information in image comprises:
Lane mark left margin in recognition image and lane mark right margin;
From the every group of lane mark left margin and lane mark right margin that recognize, judgement actv. lane mark border group;
If actv. lane mark border group quantity is greater than preset value, confirm to comprise in described image complete vehicle front effective wagon diatom information.
5. the vehicle according to claim 3 control method of advancing, it is characterized in that, described the described vehicle left front road image obtaining from second camera and the vehicle right front road image that obtains from the 3rd camera are spliced, obtain actv. vehicle dead ahead road image and comprise:
The vehicle left front road image that second camera is obtained and the vehicle right front road image obtaining from the 3rd camera carry out geometric distortion correction and noise spot suppresses to process;
Vehicle left front road image after above-mentioned processing and vehicle right front road image are carried out to image registration;
Vehicle left front road image after registration and the overlapping region in vehicle right front road image are carried out to fusion treatment, realize Image Mosaics, obtain actv. vehicle dead ahead road image.
6. the vehicle according to claim 1 control method of advancing, is characterized in that, describedly from the road image of described actv. vehicle dead ahead, identifies lane mark information and comprises:
Described actv. vehicle dead ahead road image is carried out to inverse perspective mapping processing, eliminate the transparent effect in the road image of described actv. vehicle dead ahead;
Image after inverse perspective mapping is processed carries out lane mark adaptive threshold binary conversion treatment, obtains the lane mark edge image of binaryzation;
The lane mark information that described basis identifies calculates when vehicle in front direct of travel departs from answers the deviation angle of traveler car diatom and deviation distance to comprise:
Lane mark edge image to described binaryzation carries out Hough conversion, detect left margin point and the right margin point of lane mark, utilize left margin point and right margin point to calculate 2 points in lane mark imaginary center line, according to 2 calculating in the lane mark imaginary center line obtaining, work as vehicle in front direct of travel and depart from deviation angle and the deviation distance of answering traveler car diatom.
7. the vehicle control system of advancing, is characterized in that, described system comprises and is arranged on the camera at diverse location place on vehicle and the vehicle control convenience of advancing:
The described vehicle control convenience of advancing comprises:
Image collection module, for from being arranged on the vehicle front road image of several different angles of camera Real-time Obtaining of diverse location on vehicle;
Validity processing module, for vehicle front road image described in several is carried out to the processing of image validity, obtains actv. vehicle dead ahead road image; Described actv. vehicle dead ahead road image is the image that includes vehicle front effective wagon diatom information;
Lane mark identification module, for identifying lane mark information from described actv. vehicle dead ahead road image;
Runout information computing module, departs from deviation angle and the deviation distance of answering traveler car diatom for calculating according to the lane mark information that identifies when vehicle in front direct of travel;
The control module of advancing, advances for controlling vehicle according to described deviation angle and deviation distance.
8. the vehicle according to claim 7 control system of advancing, is characterized in that, the described vehicle control convenience of advancing also comprises camera administration module,
Described camera administration module, for dividing into groups to camera according to image coverage: if the captured image angle in the position of a camera can cover vehicle front effective wagon diatom information, using this camera as one group; If be arranged in the captured image angle of a plurality of cameras of vehicle relative position and can cover vehicle front effective wagon diatom information completely, this is arranged on to a plurality of cameras of vehicle relative position as one group;
Described validity processing module comprises:
Order judging unit, the image by group camera being obtained by few order at the most for the camera quantity comprising according to grouping judges, determines the one group of image that comprises complete vehicle front effective wagon diatom information;
Validation unit, for the one group of image that comprises complete vehicle front effective wagon diatom information of determining when described order judging unit, be the vehicle front road image from a camera shooting, using this vehicle front road image as actv. vehicle dead ahead road image; The one group of image that comprises complete vehicle front effective wagon diatom information of determining when described order judging unit is the vehicle front road image from the shooting of multi-section camera, the vehicle front road image of this multi-section camera being taken combines, and obtains actv. vehicle dead ahead road image.
9. the vehicle according to claim 8 control system of advancing, is characterized in that, vehicle diverse location place is provided with three cameras, wherein:
The first camera, is arranged at vehicle mirrors place, and camera lens is towards vehicle dead ahead, for Real-time Obtaining vehicle dead ahead road image;
Second camera, is vertically installed in the left side mirror of vehicle below, and camera lens is towards vehicle left front, for Real-time Obtaining vehicle left front road image;
The 3rd camera, is vertically installed in the right side mirror of vehicle below, and camera lens is towards vehicle right front, for Real-time Obtaining vehicle right front road image;
Described image collection module, specifically for obtaining vehicle dead ahead road image, obtaining vehicle left front road image and obtain vehicle right front road image from the 3rd camera from second camera from the first camera;
Described order judging unit, specifically for the described vehicle dead ahead road image that obtains from the first camera of judgement, whether be actv. vehicle dead ahead road image, judge the described vehicle dead ahead road image obtaining from the first camera, whether to comprise complete vehicle front effective wagon diatom information;
Described validation unit, specifically for comprising complete vehicle front effective wagon diatom information when judgment result is that the described vehicle dead ahead road image obtaining from the first camera of described order judging unit, using described vehicle dead ahead road image as actv. vehicle dead ahead road image; When described vehicle dead ahead road image that judgment result is that of described order judging unit obtained from the first camera is invalid vehicle dead ahead road image, the described vehicle left front road image obtaining from second camera and the vehicle right front road image that obtains from the 3rd camera are spliced, obtain actv. vehicle dead ahead road image.
10. the vehicle according to claim 7 control system of advancing, is characterized in that, described lane mark identification module comprises:
Inverse perspective mapping unit, for described actv. vehicle dead ahead road image is carried out to inverse perspective mapping processing, eliminates the transparent effect in the road image of described actv. vehicle dead ahead;
Binary conversion treatment unit, carries out lane mark adaptive threshold binary conversion treatment for the image after inverse perspective mapping is processed, and obtains the lane mark edge image of binaryzation;
Described runout information computing module, specifically for:
Lane mark edge image to described binaryzation carries out Hough conversion, detect left margin point and the right margin point of lane mark, utilize left margin point and right margin point to calculate 2 points in lane mark imaginary center line, according to 2 calculating in the lane mark imaginary center line obtaining, work as vehicle in front direct of travel and depart from deviation angle and the deviation distance of answering traveler car diatom.
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